CN102692226B - Stable platform stabilizing method based on fiber-optic gyroscope - Google Patents

Abstract

The invention discloses a stable platform stabilizing method based on a fiber-optic gyroscope. The method comprises a step of establishing a platform stabilizing system based on a fiber-optic gyroscope, wherein the system comprises a carrying vehicle (8), a stabilizing platform (6), an upper computer (1), a gyroscope signal acquisition circuit (3), an AD (analog/digital) conversion circuit (2), a servo driver (4), an AC (alternating current) permanent magnet synchronous motor (5) and a fiber-optic gyroscope (7). The gyroscope signal acquisition circuit (3) acquires a fiber-optic gyroscope signal and sends the fiber-optic gyroscope signal to the upper computer (1); the AD conversion circuit (2) outputs a stabilizing control signal to the servo driver (4); the servo driver (4) drives the AC permanent magnet synchronous motor (5) to rotate; the AC permanent magnet synchronous motor (5) drives the stabilizing platform (6) to move; and therefore, the stabilization of the stable platform based on a fiber-optic gyroscope is realized. The stabilization precision of the method can reach 5mrad, and the stabilization time of the platform can reach 48 hours.

Description

A kind of stable platform antihunt means based on optical fibre gyro

Technical field

The present invention relates to a kind of stable platform antihunt means, particularly a kind of stable platform antihunt means based on optical fibre gyro.

Background technology

Stable platform can make to carry equipment on car in stable control in the time of the carrier movement of missile weapon system, can compensate due to the variation that carrier waves, balleting produces equipment attitude, ensures that its attitude is not subject to the impact of carrier movement.According to the difference that adopts stably measured device, current antihunt means have obliquity sensor antihunt means, liquid floated gyroscope antihunt means and optical fibre gyro antihunt means.Adopt the method for obliquity sensor as stable element, that obliquity sensor is arranged on carrier, host computer is controlled stable platform by the angle that gathers obliquity sensor, the method is subject to the impact of surrounding environment, lasting accuracy is poor, in addition, obliquity sensor price is higher, and most of systems stabilisation has not adopted this scheme.And the liquid floated gyroscope life-span is short, stability and reliability are all not so good as optical fibre gyro.

Summary of the invention

The object of the present invention is to provide a kind of stable platform antihunt means based on optical fibre gyro, solve the problem that precision is low, stabilization time is short that adopts obliquity sensor and liquid floated gyroscope control stable platform to bring.

Stable platform antihunt means based on optical fibre gyro, its concrete steps are:

The first step is built the platform stable system based on optical fibre gyro

Platform stable system based on optical fibre gyro, comprising: carry car, stable platform, host computer, gyro signal Acquisition Circuit, analog to digital conversion circuit, servo-driver, AC permanent magnet synchronous motor, optical fibre gyro; AC permanent magnet synchronous motor is placed in stable platform outside, and is fixedly connected with stable platform, and optical fibre gyro is placed in the outer side plane of stable platform place, and fixes with stable platform, and stable platform is placed in and carries car middle part, and fixes with a year car.Optical fibre gyro is connected with gyro signal Acquisition Circuit is two-way, gyro signal Acquisition Circuit is connected with host computer is two-way, host computer is connected with analog to digital conversion circuit is two-way, and analog to digital conversion circuit is connected with servo-driver is two-way, and servo-driver is connected with AC permanent magnet synchronous motor is two-way.

Second step gyro signal Acquisition Circuit gathers signal of fiber optical gyroscope and gives host computer by signal of fiber optical gyroscope

When the disturbance torque producing in the time carrying the variation of car attitude acts on stable platform, cause that stable platform produces additional angular velocity output, the additional angular velocity information that the responsive stable platform of optical fibre gyro produces, the output voltage of optical fibre gyro is input to host computer through gyro signal Acquisition Circuit.In signal due to optical fibre gyro output, contain Non-Stationary random noise:

U(n)＝S(n)+N(n) (1)

Wherein: the rate signal that U (n) measures for optical fibre gyro, S (n) is optical fibre gyro rotating speed actual signal, N (n) is Non-Stationary random noise signal.

Gyro signal Acquisition Circuit adopts Butterworth LPF to carry out digital filtering processing the signal of fiber optical gyroscope collecting, thereby by the signal extraction in noise out.Determine that Butterworth LPF filtering is as follows:

First determine the exponent number of Butterworth LPF:

Determine the digital marginal frequency of Butterworth LPF:

${\mathrm{\Ω}}_{p1}=2\mathrm{\π}\frac{f_{p1}}{f_s}---\left(2\right)$

${\mathrm{\Ω}}_{s1}=2\mathrm{\π}\frac{f_{s1}}{f_s}---\left(3\right)$

Wherein, Ω _p1for passband edge angular frequency, Ω _s1for stopband edge angular frequency, f _p1for frequency corresponding to passband, f _s1for-stopband edge frequency that 25dB is corresponding, f _sfor data sampling frequency.

Stopband edge frequency decay-25dB, stopband edge gain is:

${\mathrm{\δ}}_s={10}^{-\frac{25}{20}}---\left(4\right)$

Determine the simulation marginal frequency of Butterworth LPF:

${\mathrm{\ω}}_{s1}=2f_s\tan \frac{{\mathrm{\Ω}}_{s1}}{2}---\left(5\right)$

${\mathrm{\ω}}_{p1}=2f_s\tan \frac{{\mathrm{\Ω}}_{p1}}{2}---\left(6\right)$

Wherein, ω _p1for passband simulation marginal frequency, ω _s1for stopband simulation marginal frequency.

The exponent number that Butterworth LPF is required:

$n\≥\log (\frac{1}{{\mathrm{\δ}}_s^2}-1)/2\log \left(\frac{{\mathrm{\ω}}_{s1}}{{\mathrm{\ω}}_{p1}}\right)---\left(7\right)$

Bring the parameter of formula (4), (5), (6) into formula (7) and obtain Butterworth LPF exponent number n >=1.94, get n=2.

Then determine step low-pass Butterworth LPF transport function:

$H\left(s\right)=\frac{{\mathrm{\ω}}_{p1}^2}{s^2+\sqrt{2}{\mathrm{\ω}}_{p1}s+{\mathrm{\ω}}_{p1}^2}---\left(8\right)$

By the difference equation that obtains step low-pass Butterworth filter after step low-pass Butterworth filter transport function discretize be:

y[n]＝a ₁y[n-1]-a ₂y[n-2]+b ₁x[n]+b ₂x[n-1]+b ₃x[n-3] (9)

In formula: y[n] be filtered optical fibre gyro speed data, x[n] be optical fibre gyro rate signal before filtering, a ₁, a ₂, b ₁, b ₂, b ₃the constant obtaining after discretize.

The 3rd step analog to digital conversion circuit will be stablized control signal and export to servo-driver

Host computer is according to optical fibre gyro rate signal after treatment, magnitude of voltage after control algolithm computing is outputed to servo-driver by analog to digital conversion circuit, servo-driver is controlled the turn signal of AC permanent magnet synchronous motor according to the amplitude of analog to digital conversion circuit output voltage, ensure that AC permanent magnet synchronous motor rotates by the speed of setting, the linear corresponding relation of the amplitude of output voltage and AC permanent magnet synchronous motor speed is:

-10V→0V→+10V

-3000r/min→0r/min→+3000r/min (10)

The 4th step servo-driver drives AC permanent magnet synchronous motor to rotate

Servo-driver produces inverter voltage signal according to analog to digital conversion circuit output voltage amplitude, and inverter voltage signal is input in the stator of AC permanent magnet synchronous motor, and AC permanent magnet synchronous motor is rotated.

The 5th step AC permanent magnet synchronous motor drives stable platform motion

AC permanent magnet synchronous motor drives stable platform motion while rotation, makes stable platform produce rightabout moment to come the disturbance torque of balance outside, makes stable platform keep stable.

So far the stable platform of, having realized based on optical fibre gyro is stablized.

This method adopts closed loop servo control and high-precision optical fiber gyro, lasting accuracy can reach 5mrad, the platform stable time can reach 48 hours, can complete in the short period of time the stable of stable platform, meets the application demand of radar, antenna and other needs systems stabilisations completely.

Brief description of the drawings

The platform stable circuit system schematic diagram based on optical fibre gyro of a kind of stable platform antihunt means based on optical fibre gyro of Fig. 1;

The platform stable system mechanics schematic diagram based on optical fibre gyro of a kind of stable platform antihunt means based on optical fibre gyro of Fig. 2.

1. host computer 2. analog to digital conversion circuit 3. gyro signal Acquisition Circuit 4. servo-driver 5. AC permanent magnet synchronous motors

6. 8. years cars of stable platform 7. optical fibre gyro

Embodiment

Stable platform antihunt means based on optical fibre gyro, its concrete steps are:

The first step is built the platform stable system based on optical fibre gyro

Platform stable system based on optical fibre gyro, comprising: carry car 8, stable platform 6, host computer 1, gyro signal Acquisition Circuit 3, analog to digital conversion circuit 2, servo-driver 4, AC permanent magnet synchronous motor 5, optical fibre gyro 7; AC permanent magnet synchronous motor 5 is placed in stable platform 6 outsides, and is fixedly connected with stable platform 6, and optical fibre gyro 7 is placed in the outer side plane of stable platform 6 place, and fixing with stable platform 6, and stable platform 6 is placed in and carries car 8 middle parts, and fixing with year car 8.Optical fibre gyro 7 is connected with gyro signal Acquisition Circuit 3 is two-way, gyro signal Acquisition Circuit 3 is connected with host computer 1 is two-way, host computer 1 is connected with analog to digital conversion circuit 2 is two-way, analog to digital conversion circuit 2 is connected with servo-driver 4 is two-way, and servo-driver 4 is connected with AC permanent magnet synchronous motor 5 is two-way.

Second step gyro signal Acquisition Circuit 3 gathers signal of fiber optical gyroscope and gives host computer 1 by signal of fiber optical gyroscope

When the disturbance torque producing in the time carrying car 8 attitudes variation acts on stable platform 6, cause that stable platform 6 produces additional angular velocity output, the additional angular velocity information that the responsive stable platform 6 of optical fibre gyro 7 produces, the output voltage of optical fibre gyro 7 is input to host computer through gyro signal Acquisition Circuit 3.In the signal of exporting due to optical fibre gyro 7, contain Non-Stationary random noise:

U(n)＝S(n)+N(n) (1)

Wherein: the rate signal that U (n) measures for optical fibre gyro 7, S (n) is optical fibre gyro 7 rotating speed actual signals, N (n) is Non-Stationary random noise signal.

Gyro signal Acquisition Circuit 3 adopts Butterworth LPF to carry out digital filtering processing the signal of fiber optical gyroscope collecting, thereby by the signal extraction in noise out.Determine that Butterworth LPF filtering is as follows:

First determine the exponent number of Butterworth LPF:

Determine the digital marginal frequency of Butterworth LPF:

${\mathrm{\Ω}}_{p1}=2\mathrm{\π}\frac{f_{p1}}{f_s}---\left(2\right)$

${\mathrm{\Ω}}_{s1}=2\mathrm{\π}\frac{f_{s1}}{f_s}---\left(3\right)$

Wherein, Ω _p1for passband edge angular frequency, Ω _s1for stopband edge angular frequency, f _p1for frequency corresponding to passband, f _s1for-stopband edge frequency that 25dB is corresponding, f _sfor data sampling frequency.

Stopband edge frequency decay-25dB, stopband edge gain is:

${\mathrm{\δ}}_s={10}^{-\frac{25}{20}}---\left(4\right)$

Determine the simulation marginal frequency of Butterworth LPF:

${\mathrm{\ω}}_{s1}=2f_s\tan \frac{{\mathrm{\Ω}}_{s1}}{2}---\left(5\right)$

${\mathrm{\ω}}_{p1}=2f_s\tan \frac{{\mathrm{\Ω}}_{p1}}{2}---\left(6\right)$

Wherein, ω _p1for passband simulation marginal frequency, ω _s1for stopband simulation marginal frequency.

The exponent number that Butterworth LPF is required:

$n\≥\log (\frac{1}{{\mathrm{\δ}}_s^2}-1)/2\log \left(\frac{{\mathrm{\ω}}_{s1}}{{\mathrm{\ω}}_{p1}}\right)---\left(7\right)$

Bring the parameter of formula (4), (5), (6) into formula (7) and obtain Butterworth LPF exponent number n >=1.94, get n=2.

Then determine step low-pass Butterworth LPF transport function:

$H\left(s\right)=\frac{{\mathrm{\ω}}_{p1}^2}{s^2+\sqrt{2}{\mathrm{\ω}}_{p1}s+{\mathrm{\ω}}_{p1}^2}---\left(8\right)$

By the difference equation that obtains step low-pass Butterworth filter after step low-pass Butterworth filter transport function discretize be:

y[n]＝a ₁y[n-1]-a ₂y[n-2]+b ₁x[n]+b ₂x[n-1]+b ₃x[n-3] (9)

In formula: y[n] be filtered optical fibre gyro speed data, x[n] be optical fibre gyro rate signal before filtering, a ₁, a ₂, b ₁, b ₂, b ₃the constant obtaining after discretize.

The 3rd step analog to digital conversion circuit 2 will be stablized control signal and export to servo-driver 4

Host computer 1 is according to optical fibre gyro rate signal after treatment, magnitude of voltage after control algolithm computing is outputed to servo-driver 4 by analog to digital conversion circuit 2, servo-driver 4 is controlled the turn signal of AC permanent magnet synchronous motor 5 according to the amplitude of analog to digital conversion circuit 2 output voltages, ensure that AC permanent magnet synchronous motor 5 rotates by the speed of setting, the linear corresponding relation of the amplitude of output voltage and AC permanent magnet synchronous motor 5 speed is:

-10V→0V→+10V

-3000r/min→0r/min→+3000r/min (10)

The 4th step servo-driver 4 drives AC permanent magnet synchronous motor 5 to rotate

Servo-driver 4 produces inverter voltage signal according to analog to digital conversion circuit 2 output voltage amplitudes, and inverter voltage signal is input in the stator of AC permanent magnet synchronous motor 5, and AC permanent magnet synchronous motor 5 is rotated.

The 5th step AC permanent magnet synchronous motor 5 drives stable platform 6 to move

AC permanent magnet synchronous motor 5 drives stable platform 6 to move while rotation, make stable platform 6 produce rightabout moment to come the disturbance torque of balance outside, makes stable platform 6 keep stable.

So far the stable platform of, having realized based on optical fibre gyro is stablized.

Claims (1)

1. the stable platform antihunt means based on optical fibre gyro, is characterized in that concrete steps are:

The first step is built the platform stable system based on optical fibre gyro

Platform stable system based on optical fibre gyro, comprising: carry car (8), stable platform (6), host computer (1), gyro signal Acquisition Circuit (3), analog to digital conversion circuit (2), servo-driver (4), AC permanent magnet synchronous motor (5), optical fibre gyro (7); AC permanent magnet synchronous motor (5) is placed in stable platform (6) outside, and be fixedly connected with stable platform (6), optical fibre gyro (7) is placed in the outer side plane of stable platform (6) place, and fixing with stable platform (6), stable platform (6) is placed in and carries car (8) middle part, and fixing with year car (8); Optical fibre gyro (7) and two-way connection of gyro signal Acquisition Circuit (3), gyro signal Acquisition Circuit (3) and two-way connection of host computer (1), host computer (1) and two-way connection of analog to digital conversion circuit (2), analog to digital conversion circuit (2) and two-way connection of servo-driver (4), servo-driver (4) and two-way connection of AC permanent magnet synchronous motor (5);

Second step gyro signal Acquisition Circuit (3) gathers signal of fiber optical gyroscope and gives host computer (1) by signal of fiber optical gyroscope

When the disturbance torque producing in the time carrying the variation of car (8) attitude acts on stable platform (6), cause that stable platform (6) produces additional angular velocity output, the additional angular velocity information that the responsive stable platform of optical fibre gyro (7) (6) produces, the output voltage of optical fibre gyro (7) is input to host computer through gyro signal Acquisition Circuit (3); In signal due to optical fibre gyro (7) output, contain Non-Stationary random noise:

U(n)＝S(n)+N(n) (1)

Wherein: U (n) is the rate signal that optical fibre gyro (7) is measured, and S (n) is optical fibre gyro (7) rotating speed actual signal, and N (n) is Non-Stationary random noise signal;

Gyro signal Acquisition Circuit (3) adopts Butterworth LPF to carry out digital filtering processing the signal of fiber optical gyroscope collecting, thereby by the signal extraction in noise out; Determine that Butterworth LPF filtering is as follows:

First determine the exponent number of Butterworth LPF:

Determine the digital marginal frequency of Butterworth LPF:

${\mathrm{\Ω}}_{p1}=2\mathrm{\π}\frac{f_{p1}}{f_s}---\left(2\right)$

${\mathrm{\Ω}}_{s1}=2\mathrm{\π}\frac{f_{s1}}{f_s}---\left(3\right)$

Wherein, Ω _p1for passband edge angular frequency, Ω _s1for stopband edge angular frequency, f _p1for frequency corresponding to passband, f _s1for-stopband edge frequency that 25dB is corresponding, f _sfor data sampling frequency;

Stopband edge frequency decay-25dB, stopband edge gain is:

${\mathrm{\δ}}_s={10}^{-\frac{25}{20}}---\left(4\right)$

Determine the simulation marginal frequency of Butterworth LPF:

${\mathrm{\ω}}_{s1}=2f_s\tan \frac{{\mathrm{\Ω}}_{s1}}{2}---\left(5\right)$

${\mathrm{\ω}}_{p1}=2f_s\tan \frac{{\mathrm{\Ω}}_{p1}}{2}---\left(6\right)$

Wherein, ω _p1for passband simulation marginal frequency, ω _s1for stopband simulation marginal frequency;

The exponent number that Butterworth LPF is required:

$n\≥\log (\frac{1}{{\mathrm{\δ}}_s^2}-1)/2\log \left(\frac{{\mathrm{\ω}}_{s1}}{{\mathrm{\ω}}_{p1}}\right)---\left(7\right)$

Bring the parameter of formula (4), (5), (6) into formula (7) and obtain Butterworth LPF exponent number n >=1.94, get n=2;

Then determine step low-pass Butterworth LPF transport function:

$H\left(s\right)=\frac{{\mathrm{\ω}}_{p1}^2}{s^2+\sqrt{2}{\mathrm{\ω}}_{p1}s+{\mathrm{\ω}}_{p1}^2}---\left(8\right)$

By the difference equation that obtains step low-pass Butterworth filter after step low-pass Butterworth filter transport function discretize be:

y[n]＝a ₁y[n-1]-a ₂y[n-2]+b ₁x[n]+b ₂x[n-1]+b ₃x[n-3] (9)

In formula: y[n] be filtered optical fibre gyro speed data, x[n] be optical fibre gyro rate signal before filtering, a ₁, a ₂, b ₁, b ₂, b ₃the constant obtaining after discretize;

The 3rd step analog to digital conversion circuit (2) will be stablized control signal and export to servo-driver (4)

Host computer (1) is according to optical fibre gyro rate signal after treatment, magnitude of voltage after control algolithm computing is outputed to servo-driver (4) by analog to digital conversion circuit (2), servo-driver (4) is controlled the turn signal of AC permanent magnet synchronous motor (5) according to the amplitude of analog to digital conversion circuit (2) output voltage, ensure that AC permanent magnet synchronous motor (5) rotates by the speed of setting, the linear corresponding relation of the amplitude of output voltage and AC permanent magnet synchronous motor (5) speed is:

-10V→0V→+10V

-3000r/min→0r/min→+3000r/min (10)

The 4th step servo-driver (4) drives AC permanent magnet synchronous motor (5) to rotate

Servo-driver (4) produces inverter voltage signal according to analog to digital conversion circuit (2) output voltage amplitude, inverter voltage signal is input in the stator of AC permanent magnet synchronous motor (5), and AC permanent magnet synchronous motor (5) is rotated;

The 5th step AC permanent magnet synchronous motor (5) drives stable platform (6) motion

AC permanent magnet synchronous motor (5) drives stable platform (6) motion while rotation, makes stable platform (6) produce rightabout moment to come the disturbance torque of balance outside, makes stable platform (6) keep stable;

So far the stable platform of, having realized based on optical fibre gyro is stablized.