A Method of Controlling an Optical-electronic Turret by Fusion of PI Controller and Kalman Filter

doi:10.3969/j.issn.1000-1093.2013.10.022

Abstract

Abstract: Since the image stabilization and target tracking of a optical-electronic turret require precise and effective position control, a control method of optical-electronic turret, including the precise position control of DC motor using the fusion of PI controller and Kalman filter and the predicted parameter self-adaption for PI control, is proposed. This method replaces a differentiation element which is in the PID controller with Kalman filter in order to simplify the parameters tuning of the PID controller,while the contorl performance is unchanged. And the predicted self-adaption for PI controller is achieved using the inverse model of DC motor and Kalman prediction. The experimental result shows that, compared with the common PID controller, the proposed method has better dynamic property, and can improve the control performance of shipborne optical-electronic turret.

Key words: automatic control technology, optical-electronic technology, optical-electronic turret, Kalman filter, parameter self-adaption

CLC Number:

TN29

MIN Chao-bo, ZHANG Jun-ju, CHANG Ben-kang, LIU Lei, SUN Bin. A Method of Controlling an Optical-electronic Turret by Fusion of PI Controller and Kalman Filter[J]. Acta Armamentarii, 2013, 34(10): 1334-1340.

References

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