引用本文:陈志权,李世尧,朱波,张特,杨宝庆,胡天江.网络化多转台系统：空间瞄准点等距共线分布控制[J].控制理论与应用,2025,42(2):289~298.[点击复制]
CHEN Zhi-quan,LI Shi-yao,ZHU Bo,ZHANG Te,YANG Bao-qing,HU Tian-jiang.Networked multi-turntable system: uniform collinear distribution control of spatial aiming points[J].Control Theory and Technology,2025,42(2):289~298.[点击复制]
网络化多转台系统：空间瞄准点等距共线分布控制
Networked multi-turntable system: uniform collinear distribution control of spatial aiming points
摘要点击 3386  全文点击 9  投稿时间：2023-04-20  修订日期：2024-08-30
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DOI编号  10.7641/CTA.2023.30242
  2025,42(2):289-298
中文关键词  网络化转台  分布式控制  等距共线分布  编队控制  坐标变换
英文关键词  networked turntable  distributed control  uniform collinear distribution  formation control  coordinate transformation
基金项目  国家自然科学基金项目(62373386, 61973327)资助.
作者单位邮编
陈志权 中山大学航空航天学院 518107
李世尧 中山大学航空航天学院 
朱波* 中山大学航空航天学院 510275
张特 电子科技大学航空航天学院 
杨宝庆 哈尔滨工业大学航天学院 
胡天江 中山大学航空航天学院 
中文摘要
      网络化多转台系统在航空航天领域有重要的应用前景. 本文针对多转台协同瞄准线目标这一应用场景, 提出多瞄准点在线段内实现等间距共线分布的控制问题. 首先在投影平面上构建了瞄准点位置编队控制协议; 再利用瞄准点位置和转台姿态角之间的非线性可逆坐标变换关系, 获得了多转台姿态角协同控制协议; 利用矩阵特征值相关知识, 解析了瞄准点位置渐近收敛的条件; 构建了多个两自由度转动平台辨识模型在环的仿真环境, 验证了算法的有效性, 分析了设计参数对收敛速度和稳定性的影响.
英文摘要
      The networked multi-turntable system has many important applications in the field of aerospace. In this paper, the scenario was considered with a group of servo turntables pointing to a line target, and the control problem was formulated of realizing a uniform collinear distribution of the projection points. Firstly, a position control protocol for the formation of projection points was constructed on the projection plane. By using the nonlinear invertible coordinate transformation relationship between aiming point position and turntable attitude angle, the multi-turntable attitude angle cooperative control protocol is obtained. With the knowledge of matrix eigenvalues, the convergence conditions of the algorithm were analyzed, and the simulation environment of several two-degree-of-freedom rotating platform identification models in the loop was constructed. The effectiveness of the protocol was verified and the influence of design parameters on the convergence rate and stability was analyzed.