【摘要】 针对跟踪传感器延迟对伺服系统的精度和稳定性的不利的影响,本文提出了一种补偿方法。根据已延迟的跟踪传感器信号通过卡尔曼预测滤波来计算当前的目标位置和速度信号,并将这两个信号分别作为伺服系统的位置引导信号和速度顺馈信号进行闭环跟踪。理论分析和仿真数据表明,卡尔曼预测滤波能够在几帧内预测得到较准确的目标位置和速度信号,该补偿方法能够有效地提高伺服系统的跟踪精度和稳定性。更多还原

【Abstract】 As the delay signal of tracking sensor has bad effect on precision and stability of servo system, the compensation method is adopted that the latest signals of the position and the velocity of the target are predicted according to the delay signal of the tracking sensor by Kalman filter, and the servo system is controlled based on these predicted signals. The academic analysis and the simulation data show that the exact position and velocity signals can be obtained and the precision and stability of servo system can be improved.更多还原