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针对成像跟踪器低采样率帧频特性对光电跟踪伺服系统控制性能的影响,提出了一种基于输入多采样率控制原理的满意PID控制器。应用输入多采样率控制原理,提高了控制系统的稳定度,减小了跟踪器的低采样率帧频特性对系统跟踪性能的影响。将输入多采样率PID控制器的参数求解转换为满足极点约束和方差约束的多目标满意优化问题,从而使伺服系统的跟踪性能满足指定的快速性和精度指标要求。对所提出方法的有效性进行了实验验证,结果表明:在成像跟踪器的输出帧频为25Hz的条件下,所提出的输入多采样率满意PID控制器能够减小光电跟踪伺服系统工作模式切换带来的超调和振荡,对0.5Hz正弦信号的动态跟踪精度能够提高2个像素点;能够有效降低成像跟踪器的低采样率帧频特性对伺服系统控制性能的影响,提高了系统跟踪目标的稳定性、动态性和跟踪精度。
In view of the influence of the low sampling rate of the image tracker on the control performance of the photoelectric tracking servo system, a satisfactory PID controller based on the input multi-sampling rate control principle is proposed. The application of input multi-sample rate control principle improves the stability of the control system and reduces the impact of the low sampling rate of the tracker on the tracking performance of the system. The input multi-sampling rate PID controller parameters are converted to meet the pole constraints and variance constraints multi-objective optimization problem, so that the tracking performance of the servo system to meet the specified requirements of rapidity and accuracy indicators. The effectiveness of the proposed method is verified by experiments. The results show that the proposed PID algorithm can reduce the switching of the optoelectronic tracking servo system under the condition of output frequency of 25 Hz. Can improve the dynamic tracking accuracy of the 0.5Hz sinusoidal signal by 2 pixels. It can effectively reduce the influence of the low sampling rate of the imaging tracker on the control performance of the servo system, and improve the tracking accuracy of the system. Stability, dynamics and tracking accuracy.