CN101709975A - Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform - Google Patents

Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform Download PDF

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Publication number
CN101709975A
CN101709975A CN200910241242A CN200910241242A CN101709975A CN 101709975 A CN101709975 A CN 101709975A CN 200910241242 A CN200910241242 A CN 200910241242A CN 200910241242 A CN200910241242 A CN 200910241242A CN 101709975 A CN101709975 A CN 101709975A
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platform
moment
unbalanced
remote sensing
torque motor
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CN200910241242A
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Chinese (zh)
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CN101709975B (en
Inventor
房建成
戚自辉
钟麦英
穆全起
张延顺
周向阳
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北京航空航天大学
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Abstract

The invention relates to an estimation and compensation method for unbalanced moment of an aerial remote sensing inertially stabilized platform, which comprises the following steps: estimating the unbalanced moment of the platform according to the acceleration of the platform and the current information of a moment motor measured in real time; then calculating the current value of the moment motor required for offsetting the unbalanced moment; and compensating the current value on current setting of a current loop of the moment motor, so that the moment motor outputs resisting moment which is of equal size and in opposite direction to the unbalanced moment to inhibit the disturbance of the unbalanced moment of the stable platform, reduce the requirement for the moment rigidity of the stabilized platform and increase the stabilization accuracy of the stabilized platform. The invention has the characteristics of good stability and high precision and is suitable for aerial remote sensing inertially stabilized platforms with unbalanced moment for tracking the local geographical level.

Description

A kind of unbalanced moment of aerial remote sensing inertially stabilized platform is estimated and compensation method
Technical field
The present invention relates to a kind of unbalanced moment of aerial remote sensing inertially stabilized platform estimates and compensation method, can be used for of the compensation of the airborne remote sensing of various middle and high precision, be particularly suitable for the airborne remote sensing inertially stabilized platform that has mass unbalance and follow the tracks of local geographical level with the inertially stabilized platform unbalanced moments.
Background technology
The airborne remote sensing system maneuverability, real-time repeated measures, remote sensing equipment convertibility, obtain high-definition remote sensing data capability, financial cost and stereopsis etc. a lot of aspect, all have a special advantages.Therefore, at western developed country, be used for city planning and base map and survey and draw about high resolution space data more than 65% and rely on the airborne remote sensing system to guarantee.The high resolving power earth observation is the important directions of airborne remote sensing system development, but because the influence of air turbulence and carrier aircraft oneself factor, and the carrier aircraft body can't held stationary, causes the imaging load optical axis that is installed on the carrier aircraft to rock, and image quality descends.The high resolving power airborne remote sensing platform that inertially stabilized platform is formed is the effective measures that address this problem.Inertially stabilized platform is used to isolate the angular motion of carrier aircraft, follows the tracks of local geographical level, eliminates the influence of disturbance torque to imaging load, makes imaging load stablize imaging.The airborne remote sensing inertially stabilized platform is a branch of spiral shell tenacious tracking device, and its 26S Proteasome Structure and Function and traditional airborne photoelectric hang the storehouse similarity, hangs the storehouse but be different from traditional airborne photoelectric.Photoelectricity hangs the storehouse only needs to carry antenna, the first-class little load of guiding, thus photoelectricity to hang the storehouse generally lighter, load-bearing capacity is little; And airborne remote sensing need be carried the bigger science camera of quality with inertially stabilized platform, and for the science camera of many camera lenses, its quality can reach 100kg especially, and the weight of platform self requires generally to be no more than 40kg simultaneously.Therefore, it is big from anharmonic ratio that airborne remote sensing has a carrying with inertially stabilized platform, the demanding characteristics of lasting accuracy.
Lasting accuracy is one of the key technical indexes of inertially stabilized platform, has reflected the inhibition ability of stable platform to disturbance torque.The disturbance torque of platform mainly comprises unbalanced moments, moment of friction, and control system is generally by the effective inhibition of FEEDBACK CONTROL realization to various disturbance torques.Control system can characterize with moment rigidity the inhibition ability of disturbance torque, and moment rigidity is big more, and control system is strong more to the inhibition ability of disturbance torque, and the lasting accuracy of platform is high more.Can improve moment rigidity by the open-loop gain that improves control system, yet the increase that the open-loop gain of control system can not be unlimited, and the increase open-loop gain can cause the stability margin of system to descend, strengthen the design difficulty of control system, so the moment rigidity of platform is a finite value, excessive disturbance torque can make platform can't satisfy the requirement of lasting accuracy.
Because factors such as mismachining tolerance, generally all there is mass eccentricity in inertially stabilized platform, conventional solution is to overcome mass eccentricity by increasing balancing weight, and unbalanced moments is limited within the very little amplitude, relies on FEEDBACK CONTROL promptly to satisfy the requirement of platform stable precision.Yet airborne remote sensing need be carried multiple load with inertially stabilized platform, the centroid position difference of different loads, and barycenter can be moved in the course of the work, is difficult to overcome mass eccentricity by the mode of counterweight.Because platform bearer under the effect of acceleration of gravity and aircraft disturbing acceleration, produces bigger unbalanced moments than big, cause the lasting accuracy of platform to descend, can't satisfy the requirement of platform stable precision by the method that improves control system moment rigidity.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome conventional FEEDBACK CONTROL suppresses scarce capacity to the bigger unbalanced moments of amplitude defective, provide a kind of unbalanced moment of aerial remote sensing inertially stabilized platform to estimate and compensation method, reduce requirement platform moment rigidity.
Technical solution of the present invention is: a kind of unbalanced moment of aerial remote sensing inertially stabilized platform estimates and compensation method that concrete steps are as follows:
(1) adopts the mems accelerometer be installed on the airborne remote sensing inertial platform to measure to be applied to sky on the platform framework to real time acceleration information, comprised gravity acceleration g and acceleration of motion a to real time acceleration information in described day;
(2) adopt Hall current sensor to measure the electric current I that is installed in the torque motor on the framework, the torque motor electric current I is carried out filtering, obtain average current by low-pass filter
(3) according to the acceleration information and the torque motor average current that obtain in step (1) and the step (2) Estimate the unbalanced moments M of platform Esti, M esti = K T · I ~ · g + a g , K wherein TBe the torque motor moment coefficient;
(4) with the unbalanced moments M that obtains in the step (3) EstiDivided by torque motor moment coefficient K T, obtain being used to compensate the needed electric current I of unbalanced moments Comp
(5) with the I that obtains in the step (4) CompCompensate on torque motor electric current loop given;
(6) periodic repeating step (1)~(5).
The principle of invention is: inertially stabilized platform is followed the tracks of local level, and under stable situation, control system is by the effect of close-loop feedback, output of control moment motor and the opposing torque that disturbance torque is equal, direction is opposite.The torque and the proportional M of armature supply of torque motor output m=K TI can obtain
K T·I=M eg+M ea+M f
In the formula, K TBe torque motor moment coefficient, M EgBe the unbalanced moments component of platform at acceleration of gravity effect underframe, M EaBe the unbalanced moments component of platform at airplane motion disturbing acceleration effect underframe, M fBe moment of friction.
Because air turbulence is a stochastic process, and its average is zero, all can be considered white noise so the unbalanced moments component of airplane motion disturbing acceleration effect underframe, moment of friction and counter electromotive force of motor disturb.So, can obtain the unbalanced moments component that framework only produces under the gravity acceleration g effect by the armature electric current is carried out the Butterworth low-pass filtering:
K T · I ~ = M eg = m · g · l e
In the formula, K TBe the torque motor moment coefficient, Be filtered armature electric current, M EgBe the unbalanced moments component of platform at acceleration of gravity effect underframe, m is the framework quality, l eMass eccentricity distance for framework.
Gravity acceleration g and airplane motion disturbing acceleration a can be obtained by accelerometer measures, and then the computing formula in the unbalanced moments of the acting in conjunction underframe of acceleration of gravity and airplane motion disturbing acceleration is:
M esti=m(g+a)l e
2. can get the mass eccentricity distance by formula l e = K T · I ~ m · g , And the estimate equation that 3. the substitution formula obtains the framework unbalanced moments is
M esti = K T · I ~ · g + a g
Estimate unbalanced moments M EstiAfter, be M in the input end of torque motor electric current loop compensation size Esti/ K TThe given signal of electric current, electric current loop output and M EstiEqual and opposite in direction, the compensating torque that direction is opposite, thereby effective inhibition that realization is disturbed unbalanced moments, the lasting accuracy of raising platform.
The present invention's advantage compared with prior art is: by the real-time unbalanced moments that estimates stable platform, control compensation then feedovers in control system, thereby good restraining the stable platform unbalanced moments disturb, reduction improves the lasting accuracy and the stability margin of stable platform to the requirement of stable platform control system moment rigidity.
Description of drawings
Fig. 1 is a invention process step synoptic diagram;
Fig. 2 for airborne remote sensing with three inertially stabilized platform structural representations;
Fig. 3 is for using the roll frame and the pitching frame control system transport function block diagram of airborne remote sensing inertially stabilized platform of the present invention;
Fig. 4 is the mems accelerometer schematic diagram;
Fig. 5 is Hall current sensor and signal conditioning circuit thereof;
Fig. 6 is the ADC part schematic diagram of TMS320F28335;
Fig. 7 does not adopt the angular speed output of inertially stabilized platform of the present invention under the unbalanced moments effect when being MATLAB emulation;
Fig. 8 has adopted the angular speed output of inertially stabilized platform of the present invention under the unbalanced moments effect when being MATLAB emulation.
Embodiment
Inertially stabilized platform and POS (position, attitude measurement system) collaborative work can be regarded as an angle positional servosystem.POS is installed on the platform, resolves and export attitude information, and this attitude error angle can be regarded the feedback information of platform attitude as.As shown in Figure 2, the airborne remote sensing inertially stabilized platform is respectively roll frame, pitching frame and orientation frame from outside to inside, and the roll frame rotates around X-axis, and the pitching frame rotates around Y-axis, and the orientation frame rotates around the Z axle.Roll frame, pitching frame are followed the tracks of local geographical level, and the orientation frame is followed the tracks of the carrier aircraft course, and the control system of three frameworks is relatively independent.The present invention only is applied to roll frame and pitching frame, and the orientation frame is inapplicable.Remote sensing load and POS are installed on the orientation frame, and mems accelerometer is installed on the stable platform orientation frame, and its sensitive axes is perpendicular to local level.Among the figure, G x, G y, G zFor being installed in the rate gyro on each framework, M x, M y, M zBe three torque motors, M xBe installed on the pedestal M yBe installed on the roll frame M zBe installed on the pitching frame K x, K y, K zServo controller for each framework.Servo controller produces control signal to torque motor according to attitude and the positional information that fast frame corners rate information and POS provide, and torque motor output drive strength square rotates to offset disturbance torque and to drive framework, reaches purpose stable and that follow the tracks of.
Airborne remote sensing inertially stabilized platform roll frame of the present invention, pitching frame control system transport function block diagram have been used as shown in Figure 3.Be respectively electric current loop, stable loop, tracking loop from inside to outside.Electric current loop is used to accelerate the torque motor torque responsing speed, suppresses the counter electromotive force of motor disturbance simultaneously; Stable loop is used to provide rate damping, improves the stability and the response speed to disturbing of system; Tracking loop is used to be adjusted to the accurate sensing of the picture load optical axis, follows the tracks of local geographical level and carrier aircraft course.Among the figure, θ InFor framework is given with respect to the position, angle of local level, and θ In=0, θ OutBe the angle position output of framework with respect to local level; ω InFor frame corners speed given; ω OutBe the output of frame corners speed; I InFor the torque motor electric current given; I OutBe the output of torque motor electric current; K TBe the torque motor moment coefficient; J is the framework rotator inertia that comprises load; M eBe unbalanced moments; M fBe moment of friction; K eω is a motor reaction gesture, and wherein ω is a motor speed, K eBe the counter electromotive force of motor coefficient; Be current controller, wherein, K eBe current controller scale-up factor, τ cBe the current controller time constant, s complex operation operator; Be the transport function of pwm power driver element, wherein U is the motor-driven supply voltage, T PwmBe the PWM cycle; Be armature winding transport function, wherein T eBe motor electromagnetic time constant, K mBe the current of electric coefficient; Be rate controller, wherein K cBe rate controller scale-up factor, τ cBe the current controller time constant; Be the transport function of rate gyro, wherein T GBe the rate gyro time constant.Control system is adopted the digital servo control technology, and various algorithms are all realized with digital form in TMS320F28335 inside.
As shown in Figure 4, the present invention uses the acceleration of mems accelerometer MMA7261 sensitive platforms vertical, and the 0g output voltage of MMA7261 is 1.65V among the figure, and sensitivity is 480mV/g, and measurement range is-2.5g ~+2.5g.The ADCB5 pin that is input to the TMS320F28335 among Fig. 6 after MMAX7261 process dividing potential drop, the filtering carries out the A/D conversion.
As shown in Figure 5, the present invention uses Hall current sensor TBC25C04 to be connected in the motor circuit, TBC25C04 exports the current signal I_SENSE_M1 that is directly proportional with current of electric I with 1: 500 relation, convert voltage signal (1.024+0.05I) V to through signal processing circuit, and be transported to TMS320F28335 and carry out the A/D conversion.
For the effect that proves that this is bright, carried out MATLAB emulation.Simulation parameter is made as: the amplitude of moment of friction is 0.3Nm, and the amplitude that back electromotive force disturbs is 1V, and the amplitude of airplane motion disturbing acceleration a is that 1g, frequency are 1Hz, the cutoff frequency ω of Butterworth low-pass filter cBe 0.1Hz, the mass eccentricity of framework is apart from being 1cm, and the framework quality is 120Kg, and then under the airplane motion disturbing acceleration effect of acceleration of gravity and alternation, the expression formula of unbalanced moments is (11.76+11.76sin (1t)) Nm.Fig. 7 is the angular speed output of not using inertially stabilized platform of the present invention, Fig. 8 is the angular speed output of having used inertially stabilized platform of the present invention, after using the present invention as can be seen, platform is increased dramatically to the inhibition ability of unbalanced moments, and platform can obtain higher lasting accuracy.
Specific implementation method of the present invention is as follows:
1, inertially stabilized platform powers on, and control system is started working;
2, use the mems accelerometer MMA7261 be installed on the platform to measure to be applied to comprise gravity acceleration g and acceleration of motion a on the platform framework the sky to real time acceleration, the transport function of mems accelerometer is a first order inertial loop Accelerometer signal modulate circuit degree of will speed up meter output signal is carried out filtering, dividing potential drop, voltage range is moved in the A/D conversion input voltage range of 0 ~ 3V.A/D is converted to digital quantity with this voltage signal and sends digitial controller to, thereby obtains the platform sky to real time acceleration g+a.;
3, Hall current sensor TBC25C04 is connected in the respective frame torque motor circuit, the current signal that output is directly proportional with the electric current I of torque motor, after carrying out signal condition and A/D conversion, in digitial controller, use two rank Butterworth low-pass filters that the torque motor electric current I is carried out filtering and obtain average current The transport function of the two rank Butterworth low-pass filters that use is ω wherein cBe cutoff frequency, ω c=0.1;
4, according to the acceleration information g+a and the torque motor average current that obtain Calculate the unbalanced moments M of platform Esti, computing formula is M esti = K T · I ~ · g + a g , K wherein TBe the torque motor moment coefficient;
5, with the unbalanced moments M that obtains EstiDivided by torque motor moment coefficient K T, obtain being used to compensate the needed electric current I of unbalanced moments Comp
6, with the offset current I that obtains CompOutput I with stable loop InAfter the addition as the given electric current loop that is input to of electric current loop, thereby electric current loop by the current drives motor of the corresponding size of closed-loop corrected output, the needed torque of motor output opposing unbalanced moments.
7, periodic repeating step 2 ~ 6 can estimate unbalanced moments after system's convergence is stable and also compensate automatically.
The content that is not described in detail in the instructions of the present invention belongs to this area professional and technical personnel's known prior art.

Claims (1)

1. a unbalanced moment of aerial remote sensing inertially stabilized platform is estimated and compensation method, it is characterized in that step is as follows:
(1) adopts the mems accelerometer be installed on the airborne remote sensing inertial platform to measure to be applied to sky on the platform framework to real time acceleration information, comprised gravity acceleration g and day to acceleration of motion a to real time acceleration information in described day;
(2) adopt Hall current sensor to measure the electric current I that is installed in the torque motor on the framework, the torque motor electric current I is carried out filtering, obtain average current by low-pass filter
(3) according to the acceleration information and the torque motor average current that obtain in step (1) and the step (2) Estimate the unbalanced moments M of platform Esti, M esti = K T · I ~ · g + a g , K wherein TBe the torque motor moment coefficient;
(4) with the unbalanced moments M that obtains in the step (3) EstiDivided by torque motor moment coefficient K T, obtain being used to compensate the needed electric current I of unbalanced moments Comp
(5) with the I that obtains in the step (4) CompCompensate on torque motor electric current loop given;
(6) periodic repeating step (1)~(5).
CN2009102412429A 2009-11-27 2009-11-27 Estimation and compensation method for unbalanced moment of aerial remote sensing inertially stabilized platform CN101709975B (en)

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