光电跟踪伺服系统的动态非线性控制方法

摘要

为提高伺服系统的跟踪精度和响应速度,提出一种非线性PID控制方法.对比了光电跟踪系统捕获与跟踪响应的特征,给出快速稳定的非线性控制方法,并以某光电跟踪系统为例进行实验与分析.结果表明,该方法能实现从捕获到跟踪过程的平滑、快速过渡,保证稳定跟踪中的精度,已得到成功应用.%To improve the accuracy and response performance of servo system, put forward a nonlinear PID control scheme. After comparing the performance of acquiring and tracking response, the design method of the controller which fast response and stable is described. Then the method is verified and analyzed in an electro-optical tracking system. The result shows that nonlinear PID control scheme not only increases the speed of closed-loop response, but also improves the settling performance while switching acquisition to tracking modes, and successfully used in the application.