机电工程技术2025，Vol.54Issue(6)：1-6,57,7.DOI:10.3969/j.issn.1009-9492.2025.06.001
基于视觉跟踪的激光指示转台闭环控制方法
Closed-loop Control Method of Laser Indication Turntable Based on Visual Tracking
摘要
Abstract
A visual servo closed-loop control method based on model predictive control(MPC)is proposed for the dynamic target indication problem of a portable laser pointer turntable based on visual tracking.Firstly,the laser pointer turntable prediction model is constructed using the image Jacobian matrix and discretized.To address the issue of low accuracy and significant fluctuations in MPC during actual turntable control,an incremental prediction equation for MPC is constructed,and constraints are imposed on the input and its variations.By designing a cost function that includes the weighted sum of squared output error,input variation,and final output error,and solving it under given constraints,the visual servo control of the laser pointer turntable is achieved.To verify the effectiveness of the proposed method,a visual-based portable two-axis turntable is set up,and experimental validation is conducted.The experimental results show that for static targets,the repeat pointing accuracy reaches 0.017°;in the scaled experiment,for targets at 1 km with a speed not exceeding 75 km/h,the pointing error is controlled within0.08°.The experimental results prove the effectiveness of the method,providing a theoretical basis for the implementation of portable laser pointer turntables.关键词
模型预测控制/激光指示转台/目标跟踪/视觉伺服控制Key words
model predictive control/laser indication turntable/target tracking/visual servo control分类
计算机与自动化引用本文复制引用
陈诗雨,王霖,刘峰,王向军..基于视觉跟踪的激光指示转台闭环控制方法[J].机电工程技术,2025,54(6):1-6,57,7.基金项目
国家自然科学基金(51575388) （51575388）
