CN103344243B - A kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method - Google Patents

A kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method Download PDF

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CN103344243B
CN103344243B CN201310275237.6A CN201310275237A CN103344243B CN 103344243 B CN103344243 B CN 103344243B CN 201310275237 A CN201310275237 A CN 201310275237A CN 103344243 B CN103344243 B CN 103344243B
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friction
moment
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speed
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CN103344243A (en
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周向阳
宫国浩
刘炜
房建成
赵强
李永
岳海潇
俞瑞霞
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北京航空航天大学
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Abstract

A kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method.On analytic system sinusoidal response curve basis, set up the LuGre friction model of inertially stabilized platform, by to inertially stabilized platform three frame systems design parameter identification scheme respectively, the friction parameter discrimination method of two step identifications and dynamic parameter optimization is utilized to obtain LuGre friction model parameter.The present invention can obtain LuGre friction model parameter more accurately, realizes friction torque compensation, improves control accuracy and the lasting accuracy of inertially stabilized platform system, can be widely used in all kinds of aerial remote sensing inertial-stabilized platform system.

Description

A kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method

Technical field

The present invention relates to a kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method.

Background technology

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 in, all have an advantage of uniqueness.Therefore, at western developed country, the high resolution space data for city planning and base map mapping about more than 65% rely on airborne remote sensing system to ensure.High resolving power earth observation is the important directions of airborne remote sensing System Development, but due to the impact of air turbulence and carrier aircraft oneself factor, carrier aircraft body cannot held stationary, and cause the imaging load optical axis be arranged in carrier aircraft to rock, image quality declines.The high resolving power airborne remote sensing platform of inertially stabilized platform composition is the effective measures addressed this problem.Inertially stabilized platform, for isolating the angular motion of carrier aircraft, follows the tracks of local geographical level, eliminates disturbance torque to the impact of imaging load, makes the imaging of imaging stable load.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 storehouse similarity, but is different from traditional airborne photoelectric and hangs storehouse.Photoelectricity hangs storehouse only to need to carry antenna, guides first-class little load, and therefore photoelectricity hangs storehouse generally comparatively gently, and load-bearing capacity is little; And airborne remote sensing inertially stabilized platform needs to carry the larger imaging load of quality, especially for the imaging load of many camera lenses, its quality can reach 100kg, and the weight demands of platform self is generally no more than 40kg simultaneously.During high-precision real in low speed, large bearing ratio, finite motion back and forth under angular motion condition, control is the fundamental characteristics of inertially stabilized platform.

Lasting accuracy is one of the key technical indexes of inertially stabilized platform, reflects the rejection ability of stable platform to disturbance torque.The disturbance torque of platform mainly comprises unbalanced moments, moment of friction, and control system generally realizes the effective suppression to various disturbance torque by FEEDBACK CONTROL.Imaging load requires that inertially stabilized platform realizes high control precision under lower tracking angular rate usually, and moment of friction affects the principal element in low-speed performance factor, direct influential system transmission accuracy and robust motion.Moment of friction presents the non-linear of height, and its size is mainly relevant with the factor such as the structure of axle system and lubrication circumstances, load and angular velocity, and moment of friction may with the change generation random variation of Angle Position, time and temperature.Inertially stabilized platform three frameworks are generally driven by rolling bearing supporting, torque motor and mechanical reduction gear, because the low carrying of working speed is large, antifriction-bearing raceway surface in contact lubrication circumstances is poor, easily low speed jerking motion phenomenon occurs, and causes bumpy motion and control accuracy to reduce; In addition, larger stiction makes transmission gear generation elastic deformation, thus causes site error, reduces systemic resolution and repetition rate.Before, in the design of aerial remote sensing inertial-stabilized platform controlling system, only moment of friction is suppressed as a disturbing moment, do not considered that the nonlinear characteristic of moment of friction is on the impact of whole system stability.Improve constantly along with to the requirement of system performance, the harmful effect that the non-linear and dynamic perfromance of moment of friction is brought to control system more and more can not be ignored, and this more effectively eliminates the moment of friction in control system with regard to needing or suppress.Eliminate or suppress moment of friction can consider from two aspects the harmful effect that control system causes: being the method adopting some to reduce moment of friction Design of Mechanical Structure on the one hand.But the method for designing of pure machinery is often subject to processing the restriction of the conditions such as technological level, material horizontal and reasearch funds, and be not easy to safeguard, to such an extent as to be difficult to be used; Then the control law can eliminating or suppress moment of friction to affect from the control angle design of system on the other hand, i.e. the friction compensation method of control field.Therefore, study the friction model of low-speed conditions underframe system and carry out friciton compensation, the model parameter problem of the friction link existed in reasonable resolution system especially non-linear friction link, be improve aerial remote sensing inertial-stabilized platform system performance, realize the key to aerial remote sensing inertial-stabilized platform high precision control overflow.

Summary of the invention

Technology of the present invention is dealt with problems and is: for airborne remote sensing three axle inertially stabilized platform system high precision control LuGre friction model difficult parameters with a difficult problem for accurate recognition, devise the parameter identification method that two step identifications combine with dynamic parameter optimization, according to architectural characteristic and the disturbance factor of each frame system of three axle inertially stabilized platforms, design different parameter identification schemes respectively, static parameter and dynamic parameter initial value is obtained by two step discrimination methods, suitable objective function is selected to be optimized dynamic parameter initial value again, obtain dynamic parameter optimal value, obtain the more accurate LuGre model parameter of each frame system.This invention identification scheme is effective, can obtain each framework friction model comparatively accurately, for the development of high precision, high reliability, low cost three axle inertially stabilized platform provides technical support.

Technical solution of the present invention is: a kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method, first the identification of friction model static parameter is carried out, structure aerial remote sensing inertial-stabilized platform three Gimbal servo system PI closed loop, make three Gimbal servo motors with different rotating speeds rotating equal angular slow running, obtain Stribeck negative slope section curve, record the electric current loop electric current under corresponding rotating speed, then matching Stribeck curve carries out static parameter identification, simultaneously, suitable electric current is inputted to stable platform three Gimbal servo system, obtains steady state angle displacement; Secondly, carry out Identifying Dynamical Parameters, calculate dynamic parameter initial value according to kinetic model, utilize dynamic parameter initial value to carry out dynamic parameter optimization to survey the similarity degree of moment of friction with rate profile and friction model simulation curve under steady state conditions for objective function.Concrete steps are as follows:

(1) K is adopted p+ K i/ S controller constructs PI speed control, current double closed-loop system to aerial remote sensing inertial-stabilized platform three Gimbal servo electric system, K p+ K i/ S is the controller architecture under Laplce's representation, K pfor proportional component enlargement factor, K i/ S represents integral element, K ifor integral element enlargement factor;

(2) under quiet pedestal, three Gimbal servo motors, under load and speed closed-loop case, distinguish given different roll frame motor speed value W l_R, pitching frame motor speed W l_P, orientation frame motor speed W l_A, run under the rotating speed of ± 0.5 ~ ± 6 °/s, make three Gimbal servo motors same angle of constant revolution forward or backwards, run on Stribeck negative slope section curve, roll frame electric current loop electric current I corresponding under measuring different rotating speeds constant-speed operation r, pitching frame electric current loop electric current I r, orientation frame electric current loop electric current I a.Wherein, Stribeck curve is here framework rotating speed and the curve of corresponding moment of friction;

(3) adopt non-linear least square method, the speed that integrating step (2) records and current value, to the stable state LuGre friction model of three frameworks T fs = [ T c + ( T s - T c ) e - ( wl ws ) 2 ] sgn ( w l ) + σ 2 w l . Carry out matching, obtain the static parameter T of the stable state LuGre friction model of three frameworks s, T c, ω sand σ 2;

(4) according to the static parameter that step (3) matching obtains, pitch axis, roll spindle motor input current make its servomotor output torque between T s+ T iand T c+ T ibetween, wherein Ti is disturbance torque, records the corresponding stable state angular displacement in roll frame, pitching frame static friction region s_Rand θ s_P, azimuth axis motor input current makes servomotor output torque between T sand T cbetween, record corresponding stable state angular displacement s_A;

(5) Identifying Dynamical Parameters, first according to formula σ 0≈ T csgn (ω l)/θ s, ω lfor load end angular velocity, by step (3), (4) gained static parameter, obtain the dynamic parameter initial value σ of three frame models when motion stops 0, then basis try to achieve dynamic parameter initial value σ 1;

(6) dynamic parameter optimization, to survey the similarity degree objective function of moment of friction with rate profile and friction model simulation curve under steady state conditions for the foundation that dynamic parameter is optimized, utilize Matlab Optimization Toolbox, obtain dynamic parameter σ 0with σ 1optimal value.

The present invention's advantage is compared with prior art:

(1) high resolving power of airborne remote sensing system, high precision imaging requirements inertially stabilized platform have high precision of real time control and lasting accuracy.Wherein, realize high precision under the lower tracking angular rate of inertially stabilized platform to control to be research emphasis.And moment of friction affects the principal element in low-speed performance factor, direct influential system transmission accuracy and robust motion.The invention solves the foundation of airborne remote sensing three axle inertially stabilized platform low-speed conditions underframe servo-drive system axle system non-linear friction model and the high precision identification of non-linear friction model parameter, there is provided basis for being realized high stable precision by friciton compensation, meet the demand of high resolving power airborne remote sensing.

(2) relative empirical method, the present invention utilizes the friction parameter discrimination method of two step identifications and dynamic parameter optimization to obtain LuGre friction model parameter more accurately, can realize high-precision friction square and compensate;

(3) the present invention is directed to the parameter identification of LuGre model friction, the structure different according to stable platform three framework and disturbance factor feature, respectively to three frame design parameters identification schemes, obtain three frameworks rubbing characteristics separately more accurate;

(4) discrimination method that the present invention proposes effectively can obtain quiet, the dynamic parameter of LuGre model, and the friction model therefore set up is more accurate, can realize airborne remote sensing inertial platform high precision and control.

Accompanying drawing explanation

Fig. 1 is the invention process step schematic diagram;

Fig. 2 is airborne remote sensing three axle inertially stabilized platform structural representations;

Fig. 3 is for using aerial remote sensing inertial-stabilized platform three Gimbal servo electric system of the present invention structure PI speed control closed-loop system function block diagram.

Embodiment

Be illustrated in figure 2 airborne remote sensing three axle inertially stabilized platform structural representation, platform is roll frame, pitching frame and orientation frame from outside to inside respectively.The revolving shaft of roll frame along heading, the revolving shaft of pitching frame along flight spanwise, the revolving shaft of orientation frame vertically downward, M x, M y, M zbe three torque motors, drive the rotation of roll frame respectively, pitching frame rotates, orientation frame rotates; G x, G y, G zfor being arranged on the rate gyro on each framework, responsive three frameworks relative to the rotational angular velocity of inertial space, A x, A yfor being arranged on the accelerometer on pitching frame, wherein A xsensitive axes overlap with the turning axle of roll frame, A ysensitive axes overlap with the turning axle of pitching frame; R x, R y, R zbe three rotary transformers, attitude information is provided.R xfor measuring the rotational angle of roll frame relative to support, R yfor measuring the rotational angle of pitching relative to roll frame, R zfor measuring the rotational angle of orientation frame relative to roll frame.Servo controller according to rate gyro responsive to frame corners rate information and the attitude measured of accelerometer or POS and positional information produce control signal to torque motor, torque motor output drive strength square, to offset disturbance torque and driver framework rotation, reaches object that is stable and that follow the tracks of.

As shown in figures 1 and 3, specific embodiment of the invention method is as follows:

(1) K is adopted p+ K i/ S controller is to aerial remote sensing inertial-stabilized platform three Gimbal servo electric system structure PI speed control, current double closed-loop system, and stable platform three Gimbal servo electric system PI Control loop system architecture diagram is as Fig. 3.

(2) under quiet pedestal, pitch axis servomotor under load and speed closed-loop case, given different speed value W l_R, make its same angle of constant revolution forward or backwards, obtain Stribeck negative slope section curve, electric current loop electric current I corresponding under measuring different slow-speed of revolution constant-speed operation r.Pitch axis friction model as shown in the formula:

T fs = [ T c + ( T s - T c ) e - ( wl w s ) 2 ] sgn ( w l ) + σ 2 w l

In formula, T fsrepresent moment of friction during quiet pedestal stable state, T s, T c, ω sand σ 2for four static parameters of friction model, T srepresent maximum static friction moment, T crepresent coulomb moment of friction, ω srepresent critical Stribeck angular velocity, σ 2represent viscosity friction coefficient, ω lrepresent load end angular velocity.

T fscomputing method are as follows: roll axle constant speed positive and negative rotation θ angle, and system stress balance equation is:

N r k T I r 1 = - mg · sin θ · l z - mg · cos θ · l y + T rfsz N r k T I r 2 = - mg · sin θ · l z + mg · cos θ · l y + T rfsf

In formula, electric current and moment of friction are scalar, I r1, I r2represent Electric Machine Control electric current when roll axle constant speed forward and backward respectively, T rfsz, T rfsfrepresent the moment of friction when roll axle constant speed forward and backward respectively, k tfor motor torque coefficient.Roll motion scope is low-angle, then sin θ approximate value is 0, can carry out low-angle linearization to above formula, roll system friction moment T when obtaining stable state rfsfor:

T rfs≈N rk T(I r1+I r2)/2

N rrepresent roll drive system ratio, k tfor motor torque coefficient, can be obtained by motor instructions, after substituting into each parameter value, obtain T rfsvalue.Try to achieve T rfsafter value, then according to the speed recorded and current value, adopt non-linear least square method matching Stribeck curve, try to achieve static parameter T s, T c, ω sand σ 2.

(3) identical with (2) step to the static parameter identification of roll axle framework, azimuth axis Gimbal servo system.

(4) Identifying Dynamical Parameters, first according to formula σ 0≈ T csgn (ω l)/θ slrepresent load end angular velocity), according to (2), (3) gained static parameter, obtain the dynamic parameter σ of three frame models when motion stops 0, then basis try to achieve dynamic parameter initial value σ 1.

(5) dynamic parameter optimization, to survey the similarity degree objective function of moment of friction with rate profile and friction model simulation curve under steady state conditions as the foundation that dynamic parameter is optimized, utilize Matlab Optimization Toolbox, obtain dynamic parameter σ 0with σ 1optimal value.

The content be not described in detail in instructions of the present invention belongs to the known prior art of professional and technical personnel in the field.

Claims (2)

1. an aerial remote sensing inertial-stabilized platform friction parameter discrimination method, it is characterized in that: first carry out the identification of friction model static parameter, structure aerial remote sensing inertial-stabilized platform three Gimbal servo system PI closed loop, make three Gimbal servo motors with different rotating speeds rotating equal angular, slow running, obtain Stribeck negative slope section curve, record the electric current loop electric current under corresponding rotating speed, then matching Stribeck curve, carry out static parameter identification, meanwhile, suitable electric current is inputted to stable platform three Gimbal servo system, obtain steady state angle displacement; Secondly, carry out Identifying Dynamical Parameters, dynamic parameter initial value is calculated according to kinetic model, utilize dynamic parameter initial value to carry out dynamic parameter optimization with the similarity degree of rate profile and friction model simulation curve for objective function to survey moment of friction under steady state conditions, specifically comprise the following steps:
(1) K is adopted p+ K i/ S controller constructs PI speed control, current double closed-loop system to aerial remote sensing inertial-stabilized platform three Gimbal servo electric system, K p+ K i/ S is the controller architecture under Laplce's representation, K pfor proportional component enlargement factor, K i/ S represents integral element, K ifor integral element enlargement factor;
(2) under quiet pedestal, three Gimbal servo motors, under load and speed closed-loop case, distinguish given different roll frame motor speed W l_R, pitching frame motor speed W l_P, orientation frame motor speed W l_A, run under the rotating speed of ± 0.5 ~ ± 6 °/s, make three Gimbal servo motors same angle of constant revolution forward or backwards, run on Stribeck negative slope section curve, roll frame electric current loop electric current I corresponding under measuring different rotating speeds constant-speed operation r, pitching frame electric current loop electric current I p, orientation frame electric current loop electric current I a, wherein, Stribeck curve is here framework rotating speed and the curve of corresponding moment of friction;
(3) adopt non-linear least square method, the speed that integrating step (2) records and current value, to the stable state LuGre friction model of three frameworks carry out matching, obtain the static parameter T of the stable state LuGre friction model of three frameworks s, T c, ω sand σ 2;
T fsrepresent moment of friction during quiet pedestal stable state, T s, T c, ω sand σ 2for four static parameters of friction model, T srepresent maximum static friction moment, T crepresent coulomb moment of friction, ω srepresent critical Stribeck angular velocity, σ 2represent viscosity friction coefficient, ω lrepresent load end angular velocity;
(4) according to the static parameter that step (3) matching obtains, pitch axis, roll spindle motor input current make its servomotor output torque between T s+ T iand T c+ T ibetween, wherein T ifor disturbance torque, record the corresponding stable state angular displacement in roll frame, pitching frame static friction region s_Rand θ s_P, azimuth axis motor input current makes servomotor output torque between T sand T cbetween, record corresponding stable state angular displacement s_A;
(5) Identifying Dynamical Parameters, first according to formula σ 0≈ T csgn (ω l)/θ s, ω lfor load end angular velocity, by step (3), (4) gained static parameter, obtain the dynamic parameter initial value σ of three frame models when motion stops 0, then basis try to achieve dynamic parameter initial value σ 1, wherein J is the moment of inertia of equivalence to load end; (6) dynamic parameter optimization, to survey the similarity degree objective function of moment of friction with rate profile and friction model simulation curve under steady state conditions for the foundation that dynamic parameter is optimized, utilize Matlab Optimization Toolbox, obtain dynamic parameter σ 0with σ 1optimal value, T in formula f(i) and T fli () emulates moment of friction under surveying moment of friction and steady state conditions under being respectively steady state conditions.
2. a kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method according to claim 1, is characterized in that: in described step (3):
1. LuGre friction model equation is:
T f s = [ T c + ( T s - T c ) e - ( ω l ω s ) 2 ] sgn ( ω l ) + σ 2 ω l
In formula, T fsrepresent moment of friction during quiet pedestal stable state, T s, T c, ω sand σ 2for four static parameters of friction model, T srepresent maximum static friction moment, T crepresent coulomb moment of friction, ω srepresent critical Stribeck speed, σ 2represent viscosity friction coefficient, ω lrepresent load end angular velocity;
2. T fscomputing method are as follows: first calculate roll axle moment of friction, roll frame constant speed is around roll axle positive and negative rotation θ angle, and system stress balance equation is:
N r k T I r 1 = - m g · sin θ · l z - m g · c o s θ · l y + T r f s z N r k T I r 2 = - m g · s i n θ · l z + m g · c o s θ · l y + T r f s f
In formula, electric current and moment of friction are scalar, I r1, I r2represent Electric Machine Control electric current when roll axle constant speed forward and backward respectively, T rfsz, T rfsfrepresent the moment of friction when roll axle constant speed forward and backward respectively, N rfor known roll drive system ratio, k tfor known motor moment coefficient, l yand l zrepresent arm of force size respectively, m is platform mass, and g is acceleration of gravity, and roll motion scope is low-angle, then sin θ approximate value is 0, carries out low-angle linearization to above formula, roll system friction moment T when obtaining stable state rfsfor:
T rfs≈N rk T(I r1+I r2)/2。
CN201310275237.6A 2013-07-02 2013-07-02 A kind of aerial remote sensing inertial-stabilized platform friction parameter discrimination method CN103344243B (en)

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