机载激光武器高精度跟踪控制技术研究

机载激光武器系统是一种定向能武器系统，对跟踪精度要求较高，传统PID控制无法满足其高精度跟踪需求。建立了预瞄模型、探测器模型、快速反射镜模型、时滞模型等数学模型，搭建完整的仿真系统，并创新性地采用自抗扰控制算法和复合轴控制结构相结合的控制方式，以提高控制精度。通过功能验证试验验证文中搭建的仿真系统，加入实际采集的某运输机扰动，其跟踪精度为5.16 μrad，相较于传统PID控制，跟踪精度提高25倍。同时给出一种虚拟战场场景，经文中搭建的仿真模型验证，其俯仰轴和偏航轴的跟踪精度均小于10 μrad。

Research on high precision tracking control technology of airborne laser weapon

The airborne laser weapon system is a kind of directional energy weapon system, which has a higher tracking accuracy requirement than other weapon systems, so that the traditional PID control cannot meet the requirements of high precision control. A compound axis servomechanism with preview model was used to build a complete simulation system, including detector model, fast mirror model and time delay model, etc. In order to improve the control accuracy, the active disturbance rejection control algorithm and the compound axis control structure were combined. The simulation system built in the article was verified by the function verification test of some transport disturbance data collected in practice. The results show that the tracking accuracy of the system is 5.16 μrad, which is 25 times of the traditional PID control. At the same time, a virtual battlefield scene was given, which was verified by the simulation system built in this paper. The tracking accuracy of pitch axis and yaw axis were both less than 10 μrad.