Research On Cooperative Control Consistency Of Photoelectric Tracking System On Moving Base

The moving base photoelectric tracking system can obtain image information flexibly and in real time,and has a close connection with many important application fields such as national defense construction,strategic investigation and astronomical observation.Therefore,it is necessary to improve the tracking accuracy and anti-disturbance ability of the system.In this thesis,a topological structure model of multi-motion mechanism is established based on graph theory and matrix theory for the photoelectric tracking system with two axes and two frames.From the perspective of multi-motor cooperative control,the robustness,consistency tracking control and distributed optimization problems of the system are mainly studied,and the effectiveness of the proposed strategy is proved by MATLAB simulation.(1)The moving base photoelectric tracking system is often affected by external environment and internal disturbance in the actual movement process,resulting in poor tracking performance and robustness of the system.To solve this problem,various disturbance sources of the system are decomposed into equivalent input disturbances of topology dynamic model and moving node model.And a finite time disturbance observer based on non-singular terminal sliding mode is proposed to estimate and compensate the disturbance effectively,so as to improve the anti-disturbance performance and stability accuracy of the system.(2)During the actual movement of the moving base photoelectric tracking system,the visual axis pointing deviation caused by the speed change of the carrier relative to the moving target and the control error of the stable tracking platform and the internal scanning mechanism of the load reduce the tracking accuracy of the visual axis to the moving target.Therefore,from the control point of view,the tracking problem of photoelectric tracking system is transformed into the consistency problem of finite time distributed cooperative control of multiple actuators.For the leader-follower second-order cooperative control system,an adaptive consistent tracking controller based on non-singular terminal sliding mode is designed,,which realizes fast and stable tracking,so that the system has good tracking performance.(3)The moving base photoelectric tracking system is a motion system with the ability of perception,communication and execution,and each actuator completes complex tracking tasks through coordination and cooperation.In practical applications,in order to make each actuator better coordination and further optimize the performance of the controller.Therefore,starting from the optimization problem of photoelectric tracking system,an event-triggered distributed optimization algorithm is proposed.The optimization algorithm ensures that all actuators converge to the optimal solution of the optimization problem,reduces the update times of the controller,and improves the service life of the actuator.