一种采用图像误差反馈的Risley棱镜光电跟踪系统的闭环控制方法
张文博，吴圣雨，陶冶*
（四川大学 机械工程学院，四川 成都 610065）
摘要：为了解决采用图像误差反馈的Risley棱镜闭环控制问题，本文提出一种基于逆解算法的闭环控制方法。该方法首先根据两个棱镜的角度通过正向精确解析法计算视轴的指向矢量，再根据图像误差计算目标的偏离矢量，通过矢量合成可得到目标的方位，然后根据目标方位利用逆解算法可计算得到两组解，最后再利用本文提出的最优解算法来完成系统的闭环控制。另外，本文通过构建系统的仿真模型，分别对基于一级近轴近似法和两步法这两种逆解算法的跟踪精度进行了分析，仿真结果验证了该闭环控制方法的可行性。并根据仿真结果，提出一种求逆解的优化方法，不仅可获取较高的跟踪精度，而且提高了棱镜控制的平滑性，优化了系统控制的奇异性问题。
关键词：Risley棱镜；闭环控制；逆解；最优解；图像误差反馈
中图分类号：TP211+.6 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.08.002
文章编号：1006-0316 (2023) 08-0008-08
A Closed Loop Control Method of Risley Prism Photoelectric Tracking System Using Image Error Feedback
ZHANG Wenbo，WU Shengyu，TAO Ye
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：In order to solve the problems in closed loop control of Risley prism using image error feedback, a closed loop control method based on inverse solution algorithm is proposed. The direction vector of the axis of sight is first calculated through the forward accurate analytical method according to the angle of the two prisms. The deviation vector of the target is then calculated according to the image error, and the orientation of the target is obtained through vector synthesis. According to the orientation of the target, the inverse solution algorithm can be used to calculate two groups of solutions. Finally, the optimal solution algorithm proposed is used to complete the closed-loop control of the system. In addition, by building the simulation model of the system, this paper analyzes the tracking accuracy of the two inverse solutions based on the first order paraxial approximation method and the two-step method respectively. The simulation results verify the feasibility of the closed-loop control method. An optimization method for solving the inverse solution is proposed, which can not only obtain high tracking accuracy, but also improve the smoothness of the prism control and optimize the singularity of the system control.
Key words：Risley prism；closed-loop control；inverse solution；optimal solution；image error feedback
———————————————
收稿日期：2023-01-09
基金项目：四川省科技计划重点研发项目（2021YFG0193）；四川大学－达州市人民政府校市战略合作专项项目（2020CDDZ-05）
作者简介：张文博（1998－），男，河南周口人，硕士研究生，主要研究方向为数控技术及装备，E-mail：2930169476@qq.com。*通讯作者：陶冶（1984－），男，辽宁抚顺人，博士，副教授，主要研究方向为复杂机电系统精密测量与控制、创新设计理论与方法等，E-mail：yetao@scu.edu.cn。
（四川大学 机械工程学院，四川 成都 610065）
摘要：为了解决采用图像误差反馈的Risley棱镜闭环控制问题，本文提出一种基于逆解算法的闭环控制方法。该方法首先根据两个棱镜的角度通过正向精确解析法计算视轴的指向矢量，再根据图像误差计算目标的偏离矢量，通过矢量合成可得到目标的方位，然后根据目标方位利用逆解算法可计算得到两组解，最后再利用本文提出的最优解算法来完成系统的闭环控制。另外，本文通过构建系统的仿真模型，分别对基于一级近轴近似法和两步法这两种逆解算法的跟踪精度进行了分析，仿真结果验证了该闭环控制方法的可行性。并根据仿真结果，提出一种求逆解的优化方法，不仅可获取较高的跟踪精度，而且提高了棱镜控制的平滑性，优化了系统控制的奇异性问题。
关键词：Risley棱镜；闭环控制；逆解；最优解；图像误差反馈
中图分类号：TP211+.6 文献标志码：A doi：10.3969/j.issn.1006-0316.2023.08.002
文章编号：1006-0316 (2023) 08-0008-08
A Closed Loop Control Method of Risley Prism Photoelectric Tracking System Using Image Error Feedback
ZHANG Wenbo，WU Shengyu，TAO Ye
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：In order to solve the problems in closed loop control of Risley prism using image error feedback, a closed loop control method based on inverse solution algorithm is proposed. The direction vector of the axis of sight is first calculated through the forward accurate analytical method according to the angle of the two prisms. The deviation vector of the target is then calculated according to the image error, and the orientation of the target is obtained through vector synthesis. According to the orientation of the target, the inverse solution algorithm can be used to calculate two groups of solutions. Finally, the optimal solution algorithm proposed is used to complete the closed-loop control of the system. In addition, by building the simulation model of the system, this paper analyzes the tracking accuracy of the two inverse solutions based on the first order paraxial approximation method and the two-step method respectively. The simulation results verify the feasibility of the closed-loop control method. An optimization method for solving the inverse solution is proposed, which can not only obtain high tracking accuracy, but also improve the smoothness of the prism control and optimize the singularity of the system control.
Key words：Risley prism；closed-loop control；inverse solution；optimal solution；image error feedback
———————————————
收稿日期：2023-01-09
基金项目：四川省科技计划重点研发项目（2021YFG0193）；四川大学－达州市人民政府校市战略合作专项项目（2020CDDZ-05）
作者简介：张文博（1998－），男，河南周口人，硕士研究生，主要研究方向为数控技术及装备，E-mail：2930169476@qq.com。*通讯作者：陶冶（1984－），男，辽宁抚顺人，博士，副教授，主要研究方向为复杂机电系统精密测量与控制、创新设计理论与方法等，E-mail：yetao@scu.edu.cn。
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