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A review on precision control methodologies for optical-electric tracking control system
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摘要:
精密控制技术离不开光机电结构配置、电机驱动、传感器、控制算法以及载荷平台的发展，它是实现高精度光电跟踪的必要手段。无论固定地基平台还是运动平台，扰动抑制、目标跟踪以及分布式智能协同的三大关键技术始终是光电跟踪控制系统面临的技术难点。本文综述了针对上述几大关键问题的精密控制技术，展示了一些先进和前沿控制技术的研究成果，同时指出未来重点研究方向的主要思路。根据扰动影响的不同机理，从精密驱动、惯性稳定、振动控制三个方面介绍了相应扰动抑制技术的研究进展以及热点，并强调基于Stewart平台的振动与指向一体化技术是空间光电跟踪系统的重要技术方向。复合轴控制系统仍然是提高目标跟踪最有效的根本方式，最基本的技术问题是提高精跟踪倾斜镜跟踪系统的性能。观测器控制尤其是仅有误差测量的观测器技术特别适用于复合轴光电跟踪系统，发展三级或者更高级的复合轴系统应该特别注意高性能电机的应用。最后，提出多智能协同光电系统是光电跟踪领域未来重点的发展方向，需要研究多智能体的协同定位、编队控制以及载荷平台一体化等精密控制技术。
Abstract:Precision control methodologies are necessary to implement high-precision optical-electric tracking performance, and depend on structural configuration, actuator drive, sensors, control algorithm and load platform. However, the optical-electric tracking system is facing with the three key technologies, disturbance rejection, target tracking and distributed intelligent coordination, both foundation platform and moving platform. In this paper, precision control methodologies aiming at the above several key technical problems are summarized, and the research results of some advanced and frontier control technologies are presented, and the main ideas of the future key research directions are pointed out. In addition, the research progress and hotspot of disturbance rejection technology from three aspects of precision drive, inertial stability as well as vibration control according to the different mechanism of disturbance influence are introduced, and the integrated technology of vibration and direction based on Stewart platform is an important technical direction of space optical-electric tracking system are emphasized. The composite axis control system is still the most effective fundamental way to improve the target tracking, and the most essential technical problem is to improve the closed-loop performance of the tip-tilt mirror system in precision tracking. It has to be mentioned that observer control is especially suitable for composite axis optical-electric tracking system, especially the observer technology based solely on error, and the development of three or more advanced composite shaft systems has to pay special attention to the application of high performance motors. Eventually, it is proposed that multi-intelligence cooperative optoelectronic system is the key development direction in the field of optical-electric tracking in the future, and it is necessary for the system to develop multi-agent cooperative positioning, formation control and load platform integration and other precise control technologies.
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Overview: The optical-electric tracking system characterizes a high-dynamic tracking system with the only line of sight error available, and its tracking accuracy is one of the key indexes for the optical–electric tracking control system. Precision control methodologies are necessary tools to implement high-precision tracking performance. Facing different applying areas, the tracking control system has to have a different performance to satisfy with conditions, and need to require high-performance control techniques. In another way, control techniques promote the development of the tracking control system. In essence, control methodologies only push the closed-loop performance to close to sensor resolution. Obviously, there is no method to reach this point. So, it is necessary to investigate suitable control methodologies to improve performance of the tracking control system. The optical-electric tracking system from single stage type to the dual-stage type is inseparable from the progress of actuator, sensor, materials, and mechanical structures. But, due to complex disturbances and maneuver target inducing dynamic lag errors in the hash working condition, the tracking performance could not meet the mission. High control bandwidth is usually restricted in a finite sampling rate of a charge-coupled device (CCD) based tracking loop, which hinders a good closed-loop performance. As far as tracking control is concerned, a rate feedforward controller is usually used to improve the control performance; however, it is restricted by the line-of-sight (LOS) rate, which is required to be estimated due to only the LOS error available in the CCD-based tracking control system. Besides that, it is also affected by the inverse of the control model. Vibration rejection is a key technology of practical engineering, especially in optical telescopes with a stable accuracy of μrad level. The closed-loop performance of optical telescopes is largely determined by the control bandwidth, while it is severely limited by the low sampling rate and large time delay of the image sensor, so it is difficult to mitigate structural vibrations in optical telescopes, especially wideband vibrations because they exist universally and greatly affect the stability of the system. Different from general motion control and visual servoing system, the tracking system has to accommodate for being applied in different platforms, which requires solving the three problems of disturbance rejection, target tracking and cooperative position. This paper reviews and investigates state of art control techniques and methodologies in the tracking control system, and also looks into the future research.
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图 4 速度跟踪误差曲线$\dot \theta $=0.1°sin(0.5t)。(a)无加速度反馈；(b)有加速度反馈
Figure 4. Velocity tracking error $\dot \theta $=0.1°sin(0.5t). (a) Without acceleration feedback; (b) Acceleration feedback
图 6 初始速度和初始位置估计原理
Figure 6. Schematic diagram of estimation of initial velocity and position
图 10 1.2 m望远镜风扰下的定位精度
Figure 10. The tracking accuracy of 1.2 m telescope in the condition of wind disturbance
图 13 单、双电机正弦轨迹跟踪误差
Figure 13. Tracking error of single and dual motor sinusoidal trajectory
图 14 基于加速度反馈的直线轨迹跟踪
Figure 14. Linear trajectory tracking based on acceleration feedback
图 31 基于编码器测量合成目标的前馈控制方法
Figure 31. Feedforward control method based oncomposite of position encoder
图 39 不同控制器作用下的闭环误差对比图
Figure 39. Spectra of closed-loop errors with different controllers
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