Xie Ruihong, Zhang Tao, Li Jiaquan, Dai Ming
Graduate University of Chinese Academy of Sciences, Beijing 100039, China.
Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics Chinese Academy of Sciences, Changchun 130033, China.
Sensors (Basel). 2017 May 9;17(5):1071. doi: 10.3390/s17051071.
This paper investigates the problem of compensating miss-distance delay in opto-electronic platform tracking servo system. According to the characteristic of LOS (light-of-sight) motion, we setup the Markovian process model and compensate this unknown time-varying delay by feed-forward forecasting controller based on robust H∞ control. Finally, simulation based on double closed-loop PI (Proportion Integration) control system indicates that the proposed method is effective for compensating unknown time-varying delay. Tracking experiments on the opto-electronic platform indicate that RMS (root-mean-square) error is 1.253 mrad when tracking 10° 0.2 Hz signal.
本文研究了光电平台跟踪伺服系统中脱靶量延迟补偿问题。根据视线（LOS）运动特性，建立了马尔可夫过程模型，并基于鲁棒H∞控制的前馈预测控制器对这种未知时变延迟进行补偿。最后，基于双闭环PI（比例积分）控制系统的仿真表明，所提方法对未知时变延迟补偿有效。在光电平台上的跟踪实验表明，跟踪10° 0.2 Hz信号时，均方根（RMS）误差为1.253 mrad。
