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针对空间光通信精跟踪系统存在非线性、时延滞后的特性而难于建立精确的数学模型,设计了基于前馈补偿的模糊比例、积分和微分(PID)控制系统。采用camera-link接口的高帧频可开窗口CMOS相机和大规模FPGA芯片,设计了精跟踪处理控制平台。将图像处理、前馈补偿和模糊PID控制等功能全部集成在FPGA芯片内部,大大降低了系统体积和成本;将模糊PID与前馈补偿相结合,极大提高了系统的控制精度和抑制外部干扰的能力。测试结果表明,该系统稳定精度高、抗干扰能力强。
Because of the non-linearity and lag delay of the optical tracking system, it is difficult to establish an accurate mathematical model. The fuzzy proportional, integral and derivative (PID) control system based on feedforward compensation is designed. Using the high frame rate camera-link interface can open the window CMOS camera and large-scale FPGA chip, designed a tracking control platform. The functions of image processing, feed-forward compensation and fuzzy PID control are all integrated in the FPGA chip, which greatly reduces the system size and cost. The combination of fuzzy PID and feedforward compensation greatly improves the system’s control accuracy and suppresses external interference Ability. The test results show that the system has high stability and high anti-interference ability.