舰载电视跟踪仪鲁棒自稳定控制

船体在海面上受风、浪、流的影响而发生周期性的横摇、纵摇和艏摇运动, 直接安装在甲板上的电视跟踪仪将跟随船体发生同样幅度的摇摆运动, 从而使视轴摆动, 造成电视图像模糊, 甚至丢失目标. 为了保证电视跟踪仪海上跟踪测量的平稳性和准确性, 基于惯性导航系统给出的横摇和纵摇位置数据, 建立了包含艏摇的完整的三自由度船摇自稳定数学模型, 并且在 Matlab 仿真环境中采用闭环增益成形控制算法进行了三自由度船摇自稳定系统的数字仿真, 结果表明所设计方法能够提高舰载电视跟踪仪的跟踪精度并使电视图像清晰.

Robust Self-Stabilization Control of the Shipborne TV Tracker

Because a ship does roll,pitch and yaw rotations under the influences of wind,wave and current,the TV tracker on deck sways with the same range as the ship body,which makes its line of sight(LOS) unstable and the TV image blur,even makes the TV tracker lose its object.In order to ensure the TV tracker's measuring stabilization and precision on the sea,the mathematical self-stabilization model of the ship-swaying is established based on the position data of the roll,pitch and yaw obtained from inertia navigation system which is connected with the TV tracker.The closed-loop gain shaping control algorithm is used to isolate the velocity disturbance of the ship-swaying.The self-stabilization simulation is realized using Matlab and the simulation results show that the design can improve the tracking precision of shipborne TV tracker and make the TV image clearer.