CN103235518B - A kind of test method to photoelectric tracking systems stabilisation and platform - Google Patents

A kind of test method to photoelectric tracking systems stabilisation and platform Download PDF

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CN103235518B
CN103235518B CN201310138577.4A CN201310138577A CN103235518B CN 103235518 B CN103235518 B CN 103235518B CN 201310138577 A CN201310138577 A CN 201310138577A CN 103235518 B CN103235518 B CN 103235518B
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controller
signal
tracking systems
systems stabilisation
code
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CN201310138577.4A
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Chinese (zh)
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CN103235518A (en
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刘子栋
包启亮
刘翔
夏运霞
熊帅
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中国科学院光电技术研究所
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Abstract

The present invention is a kind of test method to photoelectric tracking systems stabilisation, comprises step S1: build emulation platform framework; Step S2: utilize numerical operation software Matlab/RTW based on controller, set up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232; Step S3: utilize Code automatic build environment by computing machine, the C code be compiled into by the Simulink model of control algolithm is also downloaded in controller; Step S4: controller performs the C code generated, sensor-lodging in implementation, exports control voltage and enable signal; Step S5: driver module receives control voltage and enable signal, generates driving voltage; Step S6: photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, complete the validation verification to control algolithm.The present invention also provides a kind of test platform to photoelectric tracking systems stabilisation.

Description

A kind of test method to photoelectric tracking systems stabilisation and platform
Technical field
The invention belongs to photoelectric tracking and system matter emulation field, relate to and how to realize based on Code automatic build environment (RTW) the i.e. environment of Code automatic build in photoelectric follow-up, the Simulink model realizing controller directly generates executable code and realizes on-line tuning parameter and Real-Time Monitoring, for improving the design efficiency of photoelectric tracking systems stabilisation, reduce cost of development.
Background technology
Photoelectric tracking systems stabilisation can isolate carrier movement to the disturbance of the optical axis also acquisition and tracking of realization to target, is widely used in a lot of field.Photoelectric tracking systems stabilisation integrates the multinomial technology such as inertial navigation, micro-inertia sensor, data acquisition and signal transacting, precision optical machinery Dynamic Modeling simulation and design, motor motion control, image procossing and optical instrument application, based on electromechanical integration, target identification automatic control technology, the product that multiple subject organically combines.In recent years, along with the development of precision optical machinery, microelectric technique, Digital Signal Processing, power electronic technology and servo control technique, 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, after Digital Simulation terminates, need hand-coding code, compile and download in controller, need again when pinpointing the problems again to write corresponding code.Due to the raising of current system complexity, some modern scientist and intelligent control algorithm realize comparatively difficulty, as: variable-structure control, neural network, fuzzy control, model reference self-adapting control etc.There is certain difficulty in the code of these algorithms of hand-coding.Meanwhile, in process of the test, the workload of code debugging is large, and portability is relatively poor, the interchange of inconvenient related personnel.
Summary of the invention
In order to solve prior art Problems existing, the invention provides a kind of test method to photoelectric tracking systems stabilisation and platform.
In order to reach described object, a first aspect of the present invention, be to provide a kind of test method to photoelectric tracking systems stabilisation, step comprises following:
Step S1: build the test platform framework be made up of computing machine, controller, operation bench, driver module;
Step S2: utilize numerical operation software Matlab/RTW based on controller, set up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232;
Step S3: utilize Code automatic build environment by computing machine, is downloaded in controller by the C code that the Simulink model of control algolithm is compiled into;
Step S4: controller performs the C code generated, receives the sensor signal that photoelectric tracking systems stabilisation exports in implementation, export control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, complete the validation verification to control algolithm;
Described photoelectric tracking systems stabilisation is photoelectric nacelle, utilizes dynamic signal analyzer record the frequency characteristic of photoelectric nacelle and carry out matching to frequency characteristic, obtains photoelectric nacelle transport function G ps () represents as follows:
G p ( s ) = [ 25 ( [ 1 / ( 0.7 × 2 π ) ] s + 1 ) × ( [ 1 / ( 150 × 2 π ) ] s + 1 ) ] × [ 1 - e - s T s T × e - 1.1 × 10 - 3 s ] × [ s 2 + 2 ξ 1 ω 1 s + ω 1 2 s 2 + 2 ξ 2 ω 1 s + ω 1 2 ]
Wherein, s is Laplace operator, ξ 1, ξ 2for ratio of damping, ω 1for resonance frequency, T is time constant;
CONTROLLER DESIGN K 0be expressed as follows:
K 0 = 1143.7077 ( s + 6.694 ) ( s + 4.253 ) s ( s + 1320 ) ( s + 0.00632 ) .
According to a kind of embodiment of the present invention, described controller comprises: flush bonding processor, data acquisition board and serial communication plate, and described flush bonding processor is the processor of x86 instruction set.
Of the present invention first another aspect, is to provide a kind of test platform to photoelectric tracking systems stabilisation, it is characterized in that comprising computing machine, operation bench, controller, driver module and photoelectric tracking systems stabilisation, wherein:
Computing machine, utilizes Code automatic build environment, and the C code for being compiled into by control algolithm Simulink model is downloaded to controller and supervisory control device runs in real time;
Operation bench, 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 is intercomed mutually by network interface and computing machine, the automatic build environment of code, receive the single pole voltage signal of operation bench and the sensor signal with photoelectric tracking systems stabilisation, for generating and exporting control voltage signal and enable signal; Described photoelectric tracking systems stabilisation is photoelectric nacelle, utilizes dynamic signal analyzer record the frequency characteristic of photoelectric nacelle and carry out matching to frequency characteristic, obtains photoelectric nacelle transport function G ps () represents as follows:
G p ( s ) = [ 25 ( [ 1 / ( 0.7 × 2 π ) ] s + 1 ) × ( [ 1 / ( 150 × 2 π ) ] s + 1 ) ] × [ 1 - e - s T s T × e - 1.1 × 10 - 3 s ] × [ s 2 + 2 ξ 1 ω 1 s + ω 1 2 s 2 + 2 ξ 2 ω 1 s + ω 1 2 ]
Wherein, s is Laplace operator, ξ 1, ξ 2for ratio of damping, ω 1for resonance frequency, T is time constant;
Described controller K 0be expressed as follows:
K 0 = 1143.7077 ( s + 6.694 ) ( s + 4.253 ) s ( s + 1320 ) ( s + 0.00632 ) ;
Driver module, receives control voltage signal and enable signal, for generating drive voltage signal;
Opto-electric stabilization tracker, receives drive voltage signal, for generating and output sensor signal, thus completes the validation verification to control algolithm.
According to a kind of embodiment of the present invention, in above-mentioned test platform, described controller comprises: flush bonding processor, data acquisition board and serial communication plate, wherein:
Flush bonding processor is connected with data acquisition board and serial communication plate respectively;
Flush bonding processor, the C code that receiving computer generates, receive operation bench single pole signal that digital signal, serial communication plate that data acquisition board sends send with and power switch signal, and through control algolithm process, for generating digital signal and generating enable signal;
Data acquisition board, receives the sensor signal of photoelectric tracking systems stabilisation, receives the digital signal of flush bonding processor output and processes it, exporting to driving circuit for generating and exporting control voltage signal;
Serial communication plate, receives the switching signal of operation bench out-put supply and the single pole signal of operation bench and exports to flush bonding processor by bus, for receiving and exporting the enable signal that flush bonding processor generates.
According to a kind of embodiment of the present invention, in above-mentioned test platform, described flush bonding processor is the processor based on x86 instruction set.
According to a kind of embodiment of the present invention, in above-mentioned test platform, described controller utilizes numerical operation software Matlab/RTW, sets up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232.
According to a kind of embodiment of the present invention, in above-mentioned test platform, described C code is downloaded to controller, and controller, for performing C code, performs sensor-lodging in C coding process, for exporting control voltage and enable signal
The beneficial effect of the present invention compared with existing technical method is: the present invention builds the Code automatic build environment of the photoelectric tracking systems stabilisation based on Code automatic build environment on host computer; The hardware building this emulation platform comprises controller part and driver module; Utilize Code automatic build environment the realistic model of controller is converted into C code and downloads in controller, complete the emulation to photoelectric tracking stable platform.The present invention by Code automatic build environmental applications in photoelectric tracking systems stabilisation, achieve the emulation mode of the photoelectric tracking systems stabilisation based on Code automatic build environment, automatic code generating is replaced hand-coding code, thus decrease cycle and the cost of development of photoelectric tracking design of stabilizing system.
1, the model building Simulink controller is directly generated executable C code by Code automatic build environment (RTW) of the present invention, like this, all developers can in the face of same development platform, realize rapid prototyping design, facilitate the debugging of system, developer is freed from numerous and diverse writing the work of code, more pays close attention to System and method for itself, and the process of consideration codes implement that need not be too much.
2, the test platform based on the photoelectric tracking systems stabilisation of Code automatic build can verify design proposal easily, facilitates the interchange of disparate modules developer in same project team, greatly shortens the construction cycle.
3, allow in the starting stage designed to the checking of method, the impact that the mistake in minimizing design proposal is developed whole system, reduce cost of development.
Accompanying drawing explanation
Fig. 1 is hardware platform structural drawing in the present invention;
Fig. 2 is hardware platform embodiment block diagram in the present invention;
Fig. 3 is actual measurement controlled device frequency characteristic and matching controlled device frequency characteristic;
The closed loop characteristic curve that when Fig. 4 is Digital Simulation, PI controls;
The closed loop characteristic curve that the identical PI that test platform in Fig. 5 the present invention records controls;
Fig. 6 test platform realization flow figure.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described.But following embodiment is only limitted 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 the claims in the present invention to person skilled in art by following examples.
A kind of test platform to photoelectric tracking systems stabilisation of the present invention as shown in Figure 1, described test platform is made up of main control computer (PC), operation bench, controller, driver module and underproof photoelectric tracking systems stabilisation, wherein:
Computing machine, builds and utilizes Code automatic build environment, is downloaded to controller and supervisory control device runs in real time for the C code that is compiled into by control algolithm Simulink model;
Operation bench, 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 is intercomed mutually by network interface and computing machine, the automatic build environment of code, receive the single pole voltage signal of operation bench and the sensor signal with photoelectric tracking systems stabilisation, for generating and exporting control voltage signal and enable signal;
Driver module, receives control voltage signal and enable signal, for generating drive voltage signal;
Opto-electric stabilization tracker, receives drive voltage signal, for generating and output sensor signal, thus completes 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 data acquisition board and serial communication plate respectively, wherein: flush bonding processor, the C code that receiving computer generates, receive operation bench single pole signal that the digital signal that sends of data acquisition board and, serial communication plate send with and power switch signal, and through control algolithm process, generate digital signal and generate enable signal; Data acquisition board, receives the sensor signal of photoelectric tracking systems stabilisation, receives and processes the digital signal that flush bonding processor exports, generating and export control voltage signal and export to driving circuit; Serial communication plate, receives the switching signal of operation bench out-put supply and the single pole signal of operation bench and exports to flush bonding processor by bus, and receives and export the enable signal of flush bonding processor generation.
Described embedded processing device is the processor based on x86 instruction set.Described controller utilizes numerical operation software Matlab/RTW, sets up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232.Described C code is downloaded to controller, and controller, for performing C code, performs sensor-lodging in C coding process, exports control voltage and enable signal.Described data acquisition board adopts 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 specific embodiment of the invention step is as follows:
(1) embodiment of hardware platform is built according to Fig. 2;
(2) described operation bench comprises power switch button, single pole, manual/auto switching push button.
(3) for PC/104, PC utilizes Matlab/RTW generating run system kernel and copies in PC/104, Code automatic build ambient As is tcp/ip communication agreement, and PC is connected with PC/104 by netting twine.Like this, the Code automatic build environment of the network interface communication protocol based on TCP/IP is established;
(4) for photoelectric nacelle or electro-optic theodolite, test its open-loop transfer function, utilize Matlab carry out the design of its controller and carry out Digital Simulation, and obtain the Simulink model of controller;
In described step (4), the controller of design can be arbitrary form, as PID controller, Sliding Mode Controller, robust controller, adaptive controller, neural network and fuzzy control etc.
(5) the Simulink model built (Simulink is the simulation software of widespread use in control field) is utilized direct compilation of the present invention and downloads in PC104, Fig. 3 is actual measurement controlled device frequency characteristic and matching controlled device frequency characteristic, by the transport function of dynamic signal analyzer test macro controlled device, be embodied as the object frequency characteristic of actual measurement, the curve of represented by dotted arrows matching, obtains target transfer function G p(s):
G p ( s ) = [ 25 [ 1 / ( 0.7 × 2 π ) s + 1 ] × ( [ 1 / ( 150 × 2 π ) ] s + 1 ) ] × [ 1 - e - s T s T × e - 1.1 × 10 - 3 s ] × [ s 2 + 2 ξ 1 ω 1 s + ω 1 2 s 2 + 2 ξ 2 ω 1 s + ω 1 2 ]
Wherein, s is Laplace operator, ξ 1, ξ 2for ratio of damping, ω 1for 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:
K 0 = 1143.7077 ( s + 6.694 ) ( s + 4.253 ) s ( s + 1320 ) ( s + 0.00632 ) The closed loop frequency characteristics of Digital Simulation as shown in Figure 4.
(6) controller model is directly downloaded in flush bonding processor by the present invention, surveys the closed loop frequency characteristics of the identical PI control that test platform when obtaining Digital Simulation records as shown in Figure 5.
(7) result of Fig. 4 and Fig. 5 shows, it is basically identical that Digital Simulation and use the present invention survey the closed loop frequency characteristics obtained.This invention can realize the checking of control algolithm fast, and result and theoretical analysis are substantially identical, indicates its practicality.
Fig. 6 illustrates and comprises the test procedure of photoelectric tracking systems stabilisation:
Step S1: build the test platform framework be made up of computing machine, controller, operation bench, driver module;
Step S2: utilize numerical operation software Matlab/RTW (numerical operation of widespread use in control field, simulation software) based on controller, set up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232; The concrete steps building Code automatic build environment are as follows:
Step S21: the RAM (random access memory) card of PC/104 is made into DOS (operating system) boot disk;
Step S22: the communication protocol utilizing the automatic build environment of RTW configuration code, specific embodiment of the invention scheme adopts the network communication protocol of TCP/IP;
Step S23: utilize RTW to generate the Realtime Operating System Nucleus, and use in card reader write memory card;
Step S24: use netting twine to be connected with computing machine by controller, configuration of IP address, thus the building of the automatic build environment of completion code.
Step S3: utilize Code automatic build environment by computing machine, the C code be compiled into by the Simulink model of control algolithm is also downloaded in controller;
Step S4: controller performs the C code generated, performs in C coding process the sensor signal receiving photoelectric tracking systems stabilisation and export, exports control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, complete the validation verification to control algolithm.
Validation verification concrete steps to control algolithm:
Step S61: control algolithm is designed for photoelectric tracking systems stabilisation;
Step S62: use the control algolithm of MATLAB/Simulink to design to carry out pure digi-tal emulation, and obtain the closed loop frequency characteristics of system;
Step S63: use the present invention by the Simulink model generation C code of control algolithm and download to controller and run, test obtains the closed loop frequency characteristics of real system;
Step S64: the closed loop frequency characteristics that the closed-loop system frequency characteristic of contrast actual measurement and pure digi-tal emulate, verifies validity of the present invention.
The above; be only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, any people being familiar with this technology is in the technical scope disclosed by the present invention; the conversion or replacement expected can be understood, all should be encompassed in of the present invention comprising within scope.

Claims (7)

1. to a test method for photoelectric tracking systems stabilisation, it is characterized in that, step comprises following:
Step S1: build the test platform framework be made up of computing machine, controller, operation bench, driver module;
Step S2: utilize numerical operation software Matlab/RTW based on controller, set up the Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232;
Step S3: utilize Code automatic build environment by computing machine, is downloaded in controller by the C code that the Simulink model of control algolithm is compiled into;
Step S4: controller performs the C code generated, receives the sensor signal that photoelectric tracking systems stabilisation exports in implementation, export control voltage and enable signal;
Step S5: driver module receives control voltage and enable signal, generates driving voltage;
Step S6: photoelectric tracking systems stabilisation receives drive voltage signal, and output sensor signal, complete the validation verification to control algolithm;
Described photoelectric tracking systems stabilisation is photoelectric nacelle, utilizes dynamic signal analyzer record the frequency characteristic of photoelectric nacelle and carry out matching to frequency characteristic, obtains photoelectric nacelle transport function G ps () represents as follows:
G p ( s ) = [ 25 ( [ 1 / ( 0.7 × 2 π ) ] s + 1 ) × ( [ 1 / ( 150 × 2 π ) ] s + 1 ) ] × [ 1 - e - s T s T × e - 1.1 × 10 - 3 s ] × [ s 2 + 2 ξ 1 ω 1 s + ω 1 2 s 2 + 2 ξ 2 ω 1 s + ω 1 2 ]
Wherein, s is Laplace operator, ξ 1, ξ 2for ratio of damping, ω 1for resonance frequency, T is time constant;
CONTROLLER DESIGN K 0be expressed as follows:
K 0 = 1143.7077 ( s + 6.694 ) ( s + 4.253 ) s ( s + 1320 ) ( s + 0.00632 ) .
2. as claimed in 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, and described flush bonding processor is the processor of x86 instruction set.
3., to a test platform for photoelectric tracking systems stabilisation, it is characterized in that comprising computing machine, operation bench, controller, driver module and photoelectric tracking systems stabilisation, wherein:
Computing machine, utilizes Code automatic build environment, and the C code for being compiled into by control algolithm Simulink model is downloaded to controller and supervisory control device runs in real time;
Operation bench, 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 is intercomed mutually by network interface and computing machine, the automatic build environment of code, receive the single pole voltage signal of operation bench and the sensor signal with photoelectric tracking systems stabilisation, for generating and exporting control voltage signal and enable signal; Described photoelectric tracking systems stabilisation is photoelectric nacelle, utilizes dynamic signal analyzer record the frequency characteristic of photoelectric nacelle and carry out matching to frequency characteristic, obtains photoelectric nacelle transport function G ps () represents as follows:
G p ( s ) = [ 25 ( [ 1 / ( 0.7 × 2 π ) ] s + 1 ) × ( [ 1 / ( 150 × 2 π ) ] s + 1 ) ] × [ 1 - e - s T s T × e - 1.1 × 10 - 3 s ] × [ s 2 + 2 ξ 1 ω 1 s + ω 1 2 s 2 + 2 ξ 2 ω 1 s + ω 1 2 ]
Wherein, s is Laplace operator, ξ 1, ξ 2for ratio of damping, ω 1for resonance frequency, T is time constant;
K 0 = 1143.7077 ( s + 6.694 ) ( s + 4.253 ) s ( s + 1320 ) ( s + 0.00632 ) ; Described controller K 0be expressed as follows:
Driver module, receives control voltage signal and enable signal, for generating drive voltage signal;
Opto-electric stabilization tracker, receives drive voltage signal, for generating and output sensor signal, thus completes the validation verification to control algolithm.
4. as claimed in 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 data acquisition board and serial communication plate respectively;
Flush bonding processor, the C code that receiving computer generates, receive operation bench single pole signal that digital signal, serial communication plate that data acquisition board sends send with and power switch signal, and through control algolithm process, for generating digital signal and generating enable signal;
Data acquisition board, receives the sensor signal of photoelectric tracking systems stabilisation, receives the digital signal of flush bonding processor output and processes it, exporting to driving circuit for generating and exporting control voltage signal;
Serial communication plate, receives the switching signal of operation bench out-put supply and the single pole signal of operation bench and exports to flush bonding processor by bus, for receiving and exporting the enable signal that flush bonding processor generates.
5. as claimed in claim 4 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that, described flush bonding processor is the processor based on x86 instruction set.
6. as claimed in 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 Code automatic build environment based on the network interface communication protocol of TCP/IP or the serial communication protocol of RS232.
7. as claimed in claim 3 to the test platform of photoelectric tracking systems stabilisation, it is characterized in that, described C code is downloaded to controller, and controller, for performing C code, performs sensor-lodging in C coding process, for exporting control voltage and enable signal.
CN201310138577.4A 2013-04-19 2013-04-19 A kind of test method to photoelectric tracking systems stabilisation and platform CN103235518B (en)

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