摘要
随着被测目标运动速度和加速度的不断提高，导致光电经纬仪电视跟踪的动态误差急剧增大。现有的控制方法已渐渐不能满足控制精度的要求，如何提高伺服系统的跟踪精度成为近年来研究的热点。本论文介绍了一种动态高型控制方法，利用该方法可以较大幅度减小跟踪误差。
本文首先介绍了国内外光测设备跟踪伺服系统的发展情况，阐述了本文的研究意义。然后建立了电视跟踪伺服系统的数学模型，并利用SIMULINK建立了系统的仿真模型。
本文深入探讨了动态高型控制方法在光电经纬仪跟踪伺服系统中的实际工程应用，提出了一种不同于前人的动态高型控制方法。从理论上分析了动态高型控制方法之所以能够提高跟踪精度的原因及其对系统动态性能的影响，并对该方法进行了仿真研究。
针对动态高型控制方法使系统动态性能变差的问题，提出了利用预测滤波技术改善系统动态性能的方法，进一步提出了利用指数函数将阶跃输入信号分段以降低系统超调量的方法，并通过数学仿真验证了这两种方法的有效性。
最后，对本文提出的动态高型控制方法进行了实验验证，取得了与仿真研究相一致的结果，实际证明了该方法的正确性和工程应用价值。针对实验中出现的问题，提出了自己的看法，并提出了可能的解决方法。
With the increase of the velocity and acceleration of the moving target, it produces a large accretion of dynamic error of O-E theodolite. The control methods in existence can not suffice for the needs of tracking precision bit by bit. How to improve the tracking precision has come to be the disquisitive highlight recently. A dynamic high type control method is introduced in this dissertation. It can minish the dynamic error greatly by using this method.
Firstly, developments of optic measuring instruments' servo systems are put forward in the dissertation and significances of the dissertation are set forth. Mathematic models of servo system are set up and simulation diagrams are established with SIMULINK.
Application of dynamic high type control method in the servo system of O-E theodolite is discussed in detail in the dissertation. A method differing from the former is brought forward. Why dynamic high type control method can improve tracking precision is analyzed in theory and effects on dynamic performances of the method are analyzed, too. A mathematic simulation is carried out.
In order to deduce the effects on dynamic performances, a method by using prediction filter is introduced. To minish overshoot subsection of input signal with exponent is adopted. These methods are proved by mathematic simulation.
Lastly, the theories discussed in this dissertation are tested with experiments. The experiment results are same as the simulation results, which verifies that the dynamic high type control method discussed in the dissertation is correct and it is very valuable for engineering. Aiming at the problems in the experiments some opinions and possible solutions are advanced.
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