CN103235518A - Testing method and platform for photoelectric tracking stabilization system - Google Patents
Testing method and platform for photoelectric tracking stabilization system Download PDFInfo
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Abstract
The invention relates to a testing method for a photoelectric tracking stabilization system. The testing method comprises the steps that 1) simulation platform architecture is constructed; 2) based on a controller and by using numeric calculation simulation software Matlab/RTW, an automatic code generation environment based on TCP/IP (Transmission Control Protocol/Internet Protocol) network port communication protocols or RS232 serial communication protocols is established; 3) a computer uses the automatic code generation environment to compile a Simulink model of a control algorithm into C codes and download the C codes into the controller; 4) the controller executes the generated C codes, receives sensor signals during execution and outputs control voltage and enable signals; 5) a driving module receives the control voltage and the enable signals and generates driving voltage; and 6) the photoelectric tracking stabilization system receives driving voltage signals and outputs sensor signals to finish the verification of the validity of the control algorithm. The invention additionally provides a testing platform for the photoelectric tracking stabilization system.
Description
Technical field
The invention belongs to photoelectric tracking and system matter emulation field, relate to and how to realize in photoelectric follow-up that based on the automatic build environment of code (RTW) be the environment that code generates automatically, the Simulink model of realizing controller directly generates executable code and realizes online adjustment parameter and monitoring in real time, be used for improving the design efficiency of photoelectric tracking systems stabilisation, reduce cost of development.
Background technology
The photoelectric tracking systems stabilisation can be isolated carrier movement to the disturbance of the optical axis and be realized the catching and following the tracks of of target is widely used in a lot of fields.The photoelectric tracking systems stabilisation integrates multinomial technology such as inertial navigation, micro-inertia sensor, data acquisition and signal processing, the emulation of precision optical machinery Dynamic Modeling and design, motor movement control, image processing and optical instrument application, be based on electromechanical integration, target identification automatic control technology, the product that a plurality of subjects organically combine.In recent years, along with the development of precision optical machinery, microelectric technique, Digital Signal Processing, power electronic technology and servo control technique, the photoelectric tracking systems stabilisation becomes increasingly complex, and the design of control system also becomes increasingly complex.
In the method for designing of traditional photoelectric tracking stabilizing control system, Digital Simulation needs the hand-coding code after finishing, and compiles and downloads in the controller, needs to write again corresponding code when pinpointing the problems again.Because the raising of current system complex degree, some modern controls realize comparatively difficulty with intelligent control algorithm, as: become structure control, neural network, fuzzy control, model reference adaptive control etc.There is certain degree of difficulty in the code of these algorithms of hand-coding.Simultaneously, in process of the test, the workload of code debugging is big, and portability is relatively poor relatively, inconvenient related personnel's interchange.
Summary of the invention
In order to solve the problem that prior art exists, the invention provides a kind of test method to the photoelectric tracking systems stabilisation and platform.
In order to reach described purpose, a first aspect of the present invention provides a kind of test method to the photoelectric tracking systems stabilisation, and performing step comprises following:
Step S1: make up the test platform framework of being formed by computing machine, controller, operation bench, driver module;
Step S2: based on controller and utilize numerical operation software Matlab/RTW, set up the automatic build environment of code based on the serial communication protocol of the network interface communication protocol of TCP/IP or RS232;
Step S3: utilize the automatic build environment of code by computing machine, the C code that the Simulink model of control algolithm is compiled into also is downloaded in the controller;
Step S4: controller is carried out the C code that generates, and receives the sensor signal of photoelectric tracking systems stabilisation output in the implementation, output control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: the photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, finishes the validation verification to control algolithm.
In order to reach described purpose, a second aspect of the present invention provides a kind of test platform to the photoelectric tracking systems stabilisation, and described test platform comprises computing machine, operation bench, controller, driver module and photoelectric tracking systems stabilisation, wherein:
Computing machine makes up and utilizes the automatic build environment of code, is used for the C code that control algolithm Simulink model is compiled into and is downloaded to controller and supervisory control device operation in real time;
Operation bench is used for out-put supply switching voltage signal and single pole voltage signal;
Controller, be connected with the output terminal of computing machine and operation bench, controller intercoms mutually by network interface and computing machine, the automatic build environment of code, the single pole voltage signal that receives operation bench with and the sensor signal of photoelectric tracking systems stabilisation, be used for generating and output control voltage signal and enable signal;
Driver module receives control voltage signal and enable signal, is used for generating drive voltage signal;
Photoelectricity tenacious tracking system receives drive voltage signal, is used for generating also output sensor signal, thereby finishes the validation verification to control algolithm.
The present invention with the beneficial effect that existing technical method is compared is: the present invention builds the automatic build environment of code based on the photoelectric tracking systems stabilisation of the automatic build environment of code at host computer; The hardware of building this emulation platform comprises controller part and driver module; Utilize the automatic build environment of code that the realistic model of controller is converted into the C code and download in the controller, finish the emulation to the photoelectric tracking stable platform.The present invention is applied in the automatic build environment of code in the photoelectric tracking systems stabilisation, realized the emulation mode based on the photoelectric tracking systems stabilisation of the automatic build environment of code, automatic generating code is replaced the hand-coding code, thereby reduced cycle and the cost of development of photoelectric tracking design of stabilizing system.
1, the automatic build environment of code of the present invention (RTW) will be built the executable C code of the direct generation of model of Simulink controller, like this, all developers can face with a kind of development platform, realize the rapid prototyping design, make things convenient for the debugging of system, the developer is freed from numerous and diverse work of writing code, more pay close attention to System and method for itself, and the process that consideration code that needn't be too much is realized.
2, can verify design proposal easily based on the test platform of the automatic photoelectric tracking systems stabilisation that generates of code, disparate modules developer's interchange is shortened the construction cycle greatly in the convenient same project team.
3, allow the checking to method in the starting stage of designing, reduce the influence that the mistake in the design proposal is developed total system, reduce cost of development.
Description of drawings
Fig. 1 is hardware platform structural drawing among the present invention;
Fig. 2 is hardware platform embodiment block diagram among the present invention;
Fig. 3 is actual measurement controlled device frequency characteristic and match controlled device frequency characteristic;
The closed loop characteristic curve of PI control when Fig. 4 is Digital Simulation;
The closed loop characteristic curve of the identical PI control that the test platform among Fig. 5 the present invention records;
Fig. 6 test platform realization flow figure.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described.But following embodiment only limits to explain the present invention, and protection scope of the present invention should comprise the full content of claim, and namely can realize the full content of claim of the present invention to the person skilled in art by following examples.
A kind of test platform to the photoelectric tracking systems stabilisation of the present invention as shown in Figure 1, described test platform is made of main control computer (PC), operation bench, controller, driver module and underproof photoelectric tracking systems stabilisation, wherein:
Computing machine makes up and utilizes the automatic build environment of code, is used for the C code that control algolithm Simulink model is compiled into and is downloaded to controller and supervisory control device operation in real time;
Operation bench is used for out-put supply switching voltage signal and single pole voltage signal;
Controller, be connected with the output terminal of computing machine and operation bench, controller intercoms mutually by network interface and computing machine, the automatic build environment of code, the single pole voltage signal that receives operation bench with and the sensor signal of photoelectric tracking systems stabilisation, be used for generating and output control voltage signal and enable signal;
Driver module receives control voltage signal and enable signal, is used for generating drive voltage signal;
Photoelectricity tenacious tracking system receives drive voltage signal, is used for generating also output sensor signal, thereby finishes the validation verification to control algolithm.
Described controller comprises: flush bonding processor, data acquisition board and serial communication plate, flush bonding processor is connected with the serial communication plate with data acquisition board respectively, wherein: flush bonding processor, the C code that receiving computer generates, receive operation bench single pole signal that digital signal that data acquisition board sends and, serial communication plate send with and power switch signal, and through the control algolithm processing, generate digital signal and generate enable signal; Data acquisition board receives the sensor signal of photoelectric tracking systems stabilisation, receives and the digital signal of flush bonding processor output is handled, and generates also output control voltage signal and exports to driving circuit; The serial communication plate receives the single pole signal of the switching signal of operation bench out-put supply and operation bench and exports to flush bonding processor by bus, and receives and enable signal that the output flush bonding processor generates.
Described embedded processing device is based on the processor of x86 instruction set.Described controller utilizes numerical operation software Matlab/RTW, sets up the automatic build environment of code based on the serial communication protocol of the network interface communication protocol of TCP/IP or RS232.Described C code is downloaded to controller, and controller is used for carrying out the C code, carries out sensor-lodging in the C code process, output control voltage and enable signal.Described data acquisition board adopts the DMM16T collection plate.
On test platform of the present invention, underproof photoelectric tracking systems stabilisation is photoelectric nacelle or electro-optic theodolite, and the sample frequency of test platform is 1000Hz, and concrete implementation step of the present invention is as follows:
(1) makes up the embodiment of hardware platform according to Fig. 2;
(2) described operation bench comprises power switch button, single pole, manual switching push button.
(3) at PC/104, utilize Matlab/RTW generating run system kernel and copy among the PC/104 at PC, the automatic build environment of code is set to the tcp/ip communication agreement, and PC is connected with PC/104 by netting twine.Like this, set up the automatic build environment of code based on the network interface communication protocol of TCP/IP;
(4) at photoelectric nacelle or electro-optic theodolite, test its open-loop transfer function, utilize Matlab to carry out the design of its controller and carry out digital emulation, and the Simulink model of controlled device;
In the described step (4), the controller of design can be form arbitrarily, as PID controller, Sliding mode variable structure control device, robust controller, adaptive controller, neural network and fuzzy control etc.
(5) the Simulink model of building (Simulink is the simulation software of widespread use in the control field) is utilized direct compilation of the present invention and download among the PC104, Fig. 3 is actual measurement controlled device frequency characteristic and match controlled device frequency characteristic, transport function by dynamic signal analyzer test macro controlled device, be embodied as the object frequency characteristic of actual measurement, dotted line represents the curve of match, gets target transfer function G
p(s):
Wherein, s is Laplace operator, ξ
1, ξ
2Be ratio of damping, ω
1Be resonance frequency, T is time constant, and its concrete value is as follows: ξ
1=0.4; ξ
2=0.005; ω
1=353 * 2 π; T=0.001s;
Design PI controller K
0Be expressed as follows:
The closed loop frequency characteristic of Digital Simulation as shown in Figure 4.
(6) controller model is directly downloaded in the flush bonding processor by the present invention, the closed loop frequency characteristic of the identical PI control that test platform recorded when actual measurement obtained Digital Simulation as shown in Figure 5.
(7) result of Fig. 4 and Fig. 5 shows, Digital Simulation is surveyed resulting closed loop frequency characteristic basically identical with using the present invention.This invention can realize the checking of control algolithm fast, and result and theoretical analysis are basic identical, has shown its practicality.
The test procedure that Fig. 6 illustrates the photoelectric tracking systems stabilisation comprises:
Step S1: make up the test platform framework of being formed by computing machine, controller, operation bench, driver module;
Step S2: based on controller and utilize numerical operation software Matlab/RTW (numerical operation of widespread use, simulation software in the control field), set up the automatic build environment of code based on the serial communication protocol of the network interface communication protocol of TCP/IP or RS232; The concrete steps that make up the automatic build environment of code are as follows:
Step S21: the RAM (random access memory) card of PC/104 is made into DOS (operating system) boot disk;
Step S22: utilize the communication protocol of the automatic build environment of RTW configuration code, specific embodiments of the present invention adopts the network communication protocol of TCP/IP;
Step S23: utilize RTW to generate The Realtime Operating System Nucleus, and use in the card reader write memory card;
Step S24: use netting twine that controller is connected with computing machine, configuration of IP address, thereby the building of the automatic build environment of completion code.
Step S3: utilize the automatic build environment of code by computing machine, the C code that the Simulink model of control algolithm is compiled into also is downloaded in the controller;
Step S4: controller is carried out the C code that generates, and carries out the sensor signal that receives the output of photoelectric tracking systems stabilisation in the C code process, output control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: the photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, finishes the validation verification to control algolithm.
Validation verification concrete steps to control algolithm:
Step S61: control algolithm is designed at the photoelectric tracking systems stabilisation;
Step S62: use MATLAB/Simulink that the control algolithm of design is carried out pure digi-tal emulation, and obtain the closed loop frequency characteristic of system;
Step S63: use the present invention that the Simulink model of control algolithm is generated the C code and downloads to the controller operation, test obtains the closed loop frequency characteristic of real system;
Step S64: the closed-loop system frequency characteristic of contrast actual measurement and the closed loop frequency characteristic of pure digi-tal emulation, verify validity of the present invention.
The above; only be the embodiment among the present invention, but protection scope of the present invention is not limited thereto, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; conversion or the replacement expected can be understood, all of the present invention comprising within the scope should be encompassed in.
Claims (7)
1. test method to the photoelectric tracking systems stabilisation is characterized in that step comprises following:
Step S1: make up the test platform framework of being formed by computing machine, controller, operation bench, driver module;
Step S2: based on controller and utilize numerical operation software Matlab/RTW, set up the automatic build environment of code based on the serial communication protocol of the network interface communication protocol of TCP/IP or RS232;
Step S3: utilize the automatic build environment of code by computing machine, the C code that the Simulink model of control algolithm is compiled into also is downloaded in the controller;
Step S4: controller is carried out the C code that generates, and receives the sensor signal of photoelectric tracking systems stabilisation output in the implementation, output control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: the photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, finishes the validation verification to control algolithm.
2. according to claim 1 to the test method of photoelectric tracking systems stabilisation, it is characterized in that described controller comprises: flush bonding processor, data acquisition board and serial communication plate, described flush bonding processor are the processor of x86 instruction set.
3. the test platform to the photoelectric tracking systems stabilisation is characterized in that comprising computing machine, operation bench, controller, driver module and photoelectric tracking systems stabilisation, wherein:
Computing machine makes up and utilizes the automatic build environment of code, is used for the C code that control algolithm Simulink model is compiled into and is downloaded to controller and supervisory control device operation in real time;
Operation bench is used for out-put supply switching voltage signal and single pole voltage signal;
Controller, be connected with the output terminal of computing machine and operation bench, controller intercoms mutually by network interface and computing machine, the automatic build environment of code, the single pole voltage signal that receives operation bench with and the sensor signal of photoelectric tracking systems stabilisation, be used for generating and output control voltage signal and enable signal;
Driver module receives control voltage signal and enable signal, is used for generating drive voltage signal;
Photoelectricity tenacious tracking system receives drive voltage signal, is used for generating also output sensor signal, thereby finishes the validation verification to control algolithm.
As described in the claim 3 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that described controller comprises: flush bonding processor, data acquisition board and serial communication plate, wherein:
Flush bonding processor is connected with the serial communication plate with data acquisition board respectively;
Flush bonding processor, the C code that receiving computer generates, receive digital signal that data acquisition board sends, operation bench single pole signal that the serial communication plate sends with and power switch signal, and handle through control algolithm, be used for generating digital signal and generate enable signal;
Data acquisition board, the sensor signal of reception photoelectric tracking systems stabilisation receives and handles to the digital signal of flush bonding processor output and to it, exports to driving circuit for generating and export the control voltage signal;
The serial communication plate receives the single pole signal of the switching signal of operation bench out-put supply and operation bench and exports to flush bonding processor by bus, is used for receiving and enable signal that the output flush bonding processor generates.
As described in the claim 4 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that described embedded processing device is based on the processor of x86 instruction set.
As described in the claim 3 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that, described controller utilizes numerical operation software Matlab/RTW, sets up the automatic build environment of code based on the serial communication protocol of the network interface communication protocol of TCP/IP or RS232.
As described in the claim 3 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that described C code is downloaded to controller, controller is used for carrying out the C code, carries out sensor-lodging in the C code process, is used for output control voltage and enable signal.
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