基于自校正控制的空间光通信精跟踪系统设计.doc

基于自校正控制的空间光通信精跟踪系统设计 摘　要: 针对空间光通信捕获、跟踪、对准（acquisition,tracking,pointing,ATP）系统的精跟踪单元高度复杂、被控对象参数模型难以精确获得、存在慢变化随机干扰的特点,提出采用自校正PID（proportional,integral and derivative）控制来设计精跟踪的控制器,改善了系统动态性能,增强了系统对不确定因素的适应性。采用遗忘因子递推最小二乘法来进行参数辨识,能在线调整适应对象参数的变化,增强了系统的适应性和鲁棒性。通过仿真验证了算法的控制性能和参数辨识效果,算法的实时性也满足系统设计的要求。给出了ATP精跟踪系统的设计框图,进行了2.3 km的精跟踪实验。实验结果表明精跟踪系统采用自校正PID控制有较好的跟踪精度。[著者文摘] 关键词: 捕获、跟踪、对准 自校正PID 最小二乘 辨识 精跟踪 Fine tracking system design of space optical communication based on self-tuning control Zuo Tao,Huang Haibo,Xiao Yongjun 1 College of Information Science and Engineering,Wuhan University of Science and Technology,Wuhan 430081,China; 2 School of Electrical ＆ Information Engineering,Hubei University of Automotive Technology,Shiyan 442002,China; 3 School of Electronic Information,Wuhan University,Wuhan 430079,China Abstract: Due to the complexity of fine tracking,it is difficult to acquire the parametric models of controlled objects accurately that are randomly disturbed and have slow changes;A self-tuning PID（proportional,integral and derivative） controller is proposed for fine tracking to improve the dynamic property and make the system adaptable to uncertain factors.The RLS algorithm with forgetting factor is applied to identify the parameters,which enables in-line adjustment to fit the parameter changing of the object and enhance the adaptability and the robustness of the system.Simulation verifies the control performance and parameter identification effect of the algorithm;and the algorithm also meets the real-time requirements of the system design.The block diagram of the ATP fine tracking system is presented and 2.3 km fine tracking experiment was carried out.Experiment results demonstrate that adopting self-tuning PID control algorithm in fine tracking system can achieve better tracking accuracy.[著者文摘] Key words: acquisition; tracking and pointing（ATP）; self-tuning PID; least squares; identification; fine tracking 多机器人主—从行星式编队控制 郑秀娟 吴怀宇 程磊 陈洋 张玉礼 摘　要: 研究了二阶积分器描述的多机器人主