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浏览/检索结果: 共7条，第1-7条 帮助 限定条件 内容类型：会议论文    专题：长春光学精密机械与物理研究所    第一署名单位    第一作者单位    通讯作者单位     已选(0)清除 条数/页：5101520253035404550556065707580859095100   排序方式：请选择作者升序作者降序题名升序题名降序发表日期升序发表日期降序提交时间升序提交时间降序 Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏  |  浏览/下载：23/0  |  提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control  fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking  and reduces the tracking error and the chattering of the control output. 2012 IEEE.   The sequence measurement system of the IR camera (EI CONFERENCE) 会议论文 International Symposium on Photoelectronic Detection and Imaging 2011: Advances in Infrared Imaging and Applications, May 24, 2011 - May 24, 2011, Beijing, China Geng A.-H.; Han H.-X.; Zhang H.-B. 收藏  |  浏览/下载：31/0  |  提交时间：2013/03/25 Currently  the IR cameras are broadly used in the optic-electronic tracking  optic-electronic measuring  fire control and optic-electronic countermeasure field  but the output sequence of the most presently applied IR cameras in the project is complex and the giving sequence documents from the leave factory are not detailed. Aiming at the requirement that the continuous image transmission and image procession system need the detailed sequence of the IR cameras  the sequence measurement system of the IR camera is designed  and the detailed sequence measurement way of the applied IR camera is carried out. The FPGA programming combined with the SignalTap online observation way has been applied in the sequence measurement system  and the precise sequence of the IR camera's output signal has been achieved  the detailed document of the IR camera has been supplied to the continuous image transmission system  image processing system and etc. The sequence measurement system of the IR camera includes CameraLink input interface part  LVDS input interface part  FPGA part  CameraLink output interface part and etc  thereinto the FPGA part is the key composed part in the sequence measurement system. Both the video signal of the CmaeraLink style and the video signal of LVDS style can be accepted by the sequence measurement system  and because the image processing card and image memory card always use the CameraLink interface as its input interface style  the output signal style of the sequence measurement system has been designed into CameraLink interface. The sequence measurement system does the IR camera's sequence measurement work and meanwhile does the interface transmission work to some cameras. Inside the FPGA of the sequence measurement system  the sequence measurement program  the pixel clock modification  the SignalTap file configuration and the SignalTap online observation has been integrated to realize the precise measurement to the IR camera. Te sequence measurement program written by the verilog language combining the SignalTap tool on line observation can count the line numbers in one frame  pixel numbers in one line and meanwhile account the line offset and row offset of the image. Aiming at the complex sequence of the IR camera's output signal  the sequence measurement system of the IR camera accurately measures the sequence of the project applied camera  supplies the detailed sequence document to the continuous system such as image processing system and image transmission system and gives out the concrete parameters of the fval  lval  pixclk  line offset and row offset. The experiment shows that the sequence measurement system of the IR camera can get the precise sequence measurement result and works stably  laying foundation for the continuous system. 2011 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).   Evaluation of the operating range for ground-based infrared imaging tracking system (EI CONFERENCE) 会议论文 International Symposium on Photoelectronic Detection and Imaging 2011: Advances in Infrared Imaging and Applications, May 24, 2011 - May 24, 2011, Beijing, China Zhang B.; Zhang Z.-D.; Zhang S.-M. 收藏  |  浏览/下载：34/0  |  提交时间：2013/03/25 Ground-based infrared imaging tracking system (GIITS) is of great importance for aerial target warning and guard. The operating range is one of the key performance specifications  on the other  which should be calculated  calculate the radiation power received on the detector in order to analysis whether the output signal meets the detection requirements or not  analyzed and studied during the whole GIITS design process. The operating range is mostly influenced by a few factors  without considering the effect of the background radiation. By improving of the traditional method  including atmospheric attenuation  a new operating range calculation model of the GIITS was established based on two requirements. One is that the image size of observed target should meet the requirement of the processor signal extraction. The number of the pixel occupied by target image should be more than 9. The other is that the signal noise ratio (SNR) of the GIITS should not be less than 5 to meet the requirements of the target detection probability and spatial frequency. The SNR calculation equation in form of energy is deduced and the radiation characteristic of the observed target and background are analyzed. When evaluate the operating range of the GIITS using the new method  the performance of GIITS and feature of target and background. This paper firstly makes analysis and summarization on the definite localizations of the traditional operating range equation of the GIITS. The localizations are mainly in two aspects. On one hand  we should successively calculate two operating range values according to two requirements mentioned above and choose the minimum value as the analytic result. In the end  the dispersion of the image and the effect of image dispersion are not considered in the traditional method  an evaluation of operating range for fighter aircraft is accomplished as an example. The influence factors in every aspect on operating range were explored by the calculated result. The new operating range calculation model provides the theoretical basis for the design and applications as well as the comprehensive evaluation of a GIITS. 2011 Copyright Society of Photo-Optical Instrumentation Engineers (SPIE).   Feed-forward control to stabilize optical axis based on accelerometer (EI CONFERENCE) 会议论文 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010, Changchun, China Wenfeng B.; Juan C.; Hu W. 收藏  |  浏览/下载：16/0  |  提交时间：2013/03/25 In the optoelectronic tracking system  the azimuth and elevation system determine the pointing precision of the optical axis. We discuss how to stabilize the optical axis by apply the feed forward control based on the accelerometer output. Both the acceleration and speed are applied to the compound controller. The experimental results show that when the azimuth servo system works at maximum speed 50/s and maximum accelerate 30/s2  the maximum tracking error of the system is 1.08'  with the feed forward compensation  so the precision is increased 6 times compared to that of without compound control. 2010 IEEE.   Kalman filter for pointing deviation delay compensation in a TV tracker (EI CONFERENCE) 会议论文 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering, CMCE 2010, August 24, 2010 - August 26, 2010, Changchun, China Juan C.; Wang Q.-P.; Jian C. 收藏  |  浏览/下载：17/0  |  提交时间：2013/03/25 Considering the pointing deviation delay in the TV tracker  which heavily worsens the tracking precision  here we offer an improved Kalman filter algorithm to compensate the delay. The output speed from the filter is fed forward to the speed loop for the compound control to increase the speed constant. The simulation results based on the experiment data show that the method can effectively estimate the position  consequently the speed and accelerate and the tracking precision is improved. The estimation precision of the speed and accelerate depend on that if the state model is coherent with the movement of the real target. 2010 IEEE.   Nonlinear control design for system with mechanical resonance based on two tracking-differentiators (EI CONFERENCE) 会议论文 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, August 4, 2010 - August 7, 2010, Xi'an, China Huang P.; Ge W.; Li J.; Xiu J.; Li Y.; Chen L. 收藏  |  浏览/下载：15/0  |  提交时间：2013/03/25 A nonlinear control strategy for controlling a motion system with mechanical resonance is presented in this paper. A mathematical model of the servo system is derived according to the parameters of an actual system. By using two Tracking-Differentiators  reference input and system output are tracked and their differential signals are given simultaneously. A nonlinear PD control law in velocity loop is designed based on non-smooth feedback. The simulation results show that the control law is superior remarkably in performance to linear PD control law and the classical PID control law. Tracking-Differentiator resolves the contradiction between rapidity and overshoot of system response. The nonlinear PD control law improves system dynamic performance and intensifies the ability of disturbance rejection. The control design achieved in this paper makes the servo system more robust. 2010 IEEE.   System identification of tracking error and evaluation of tracking performance using BP neural network (EI CONFERENCE) 会议论文 International Symposium on Photoelectronic Detection and Imaging 2009: Advances in Infrared Imaging and Applications, June 17, 2009 - June 19, 2009, Beijing, China Zhang N.; Shen X.-H. 收藏  |  浏览/下载：14/0  |  提交时间：2013/03/25 A novel approach for evaluating the tracking performance of optoelectronic theodolite is proposed. First  an equivalent mathematic model of tracking error is established. Then  the equivalent sine signal is inputted to the equivalent model  and the outputs are sampled. The results of evaluating the tracking performance are obtained based on the statistical calculation of output produced by equivalent model. Equivalent model using the BP (Backprogration) neural network structure is identified. The training method of BP neural network adopts the LM (Levenberg-Marquardt) algorithm for the sake of speeding up training process. The BP neural network is trained and tested by using the training and testing samples gotten from the simulation model of optoelectronic theodolite tracking system under MATLAB/SIMULINK. The estimate errors of equivalent model including average error  maximum error and standard error are 2.5872e-0060  2.8 and 1.9. The results show that the equivalent model identified based on BP neural network meets the needs of evaluating the tracking performance of optoelectronic theodolite. The accurate evaluation of tracking performance is achieved. 2009 SPIE.