This paper concerns the improvement on proportional-integration-derivative (PID) control for the electro-optical tracking system for high-mobility targets. To achieve higher tracking precision and stronger disturbance rejection while fully utilizing the existing PID loop, the add-on integration module is proposed and seamlessly integrated into the conventional PID loop. It is proven that for any given conventional PID controller parameters, the add-on integration module based PID control can improve the ability of error attenuation at low frequency and keep the stability of resulting closed-loop system. More importantly, the feasible set of all parameters in the added module is explicitly given. Based on the feasible set, the non-dominated sorting genetic algorithm II (NSGA-II) is adopted to obtain the globally optimal controller’s parameter under certain performance indices. The experiments are carried out for a typical electro-optical tracking test bed with several reference signals. It is shown that the proposed method has much smaller tracking errors than the existing PID method.

本文涉及对用于高机动目标的电光跟踪系统的比例积分微分（PID）控制的改进。为了在充分利用现有PID回路的同时实现更高的跟踪精度和更强的抗干扰性，提出了附加集成模块并将其无缝集成到常规PID回路中。事实证明，对于任何给定的常规PID控制器参数，基于附加集成模块的PID控制都可以提高低频误差衰减的能力，并保持最终闭环系统的稳定性。更重要的是，明确给出了添加模块中所有参数的可行集。根据可行集，采用非支配排序遗传算法II（NSGA-II）在一定性能指标下获得全局最优控制器参数。实验是针对具有几个参考信号的典型电光跟踪测试台进行的。结果表明，与现有的PID方法相比，该方法具有较小的跟踪误差。