光电跟踪系统鲁棒自调整内模控制设计与分析

光电跟踪系统广泛应用于制导武器、航空航天观测设备以及靶场光电测量仪器等领域。针对光电成像测量时滞和模型不确定性，设计了一种鲁棒自调整内模控制算法。给出基于相位裕度和幅值裕度指标的系统控制器整定方程，分析得到了模型失配情况下的系统鲁棒稳定条件以及参数的设计准则，引入基于二次型性能指标的优化方法在线自适应调整控制滤波器参数来提高系统的控制性能和鲁棒性。在光电跟踪转台上的实验结果表明，所设计算法可有效地克服光电图像跟踪器测量时滞所造成的跟踪偏差，跟踪精度小于1密位，保证了成像传感器对目标的快速准确跟踪。

Analysis and design of robust self-tuning IMC for opto-electronic tracking system

Opto-electronic tracking system has developed rapidly and has been used widely in the military area and civil area such as missile seeker, airborne opto-electronic(O-E) reconnaissance, optical measuring equipment in shooting range etc. Considering the measurement time-delay and plant model uncertainty, a robust internal model control(IMC) strategy is designed for the opto-electronic tracking system. Equations for designing the IMC controller from gain and phase margin specifications are derived in detail. The robust stability condition under plant/model mismatch is derived. The optimization method based on quadratic cost function is introduced to adjust online controller parameter. Experimental result that the tracking precision is less than 1 mil, show that the proposed design method is effective to overcome tracking error causing by measurement time-delay of imaging tracker.