CN103792951B - A kind of method for rapidly positioning of Photoelectric Tracking and Aiming turntable - Google Patents

Abstract

The present invention relates to the method for rapidly positioning of a kind of Photoelectric Tracking and Aiming turntable, comprise the following steps: step i: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V at permanent accelerating sections₀(1 e^‑t/ T) (t >=0)；Step ii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V in constant motion section₀；Step iii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=2V at permanent braking section₀e^‑t/T‑V₀(t >=0, V >=0);Wherein, V₀For speed loop initial input speed, t is that Photoelectric Tracking and Aiming turntable is turned the time, and T is time constant, and e is the truth of a matter of natural logrithm function.The method for rapidly positioning of the Photoelectric Tracking and Aiming turntable of the present invention, debugging is simple, can accomplish quickly to position, and not rely on the experience of designer.

Description

A kind of method for rapidly positioning of Photoelectric Tracking and Aiming turntable

Technical field

The present invention relates to electro-optic theodolite technical field, particularly to the quick location of a kind of Photoelectric Tracking and Aiming turntable Method.

Background technology

Along with social development and technological progress, some had the electro-optic theodolite of specific function, people's requirement It has higher tracking velocity and tracking acceleration and high aiming pointing accuracy.Photoelectric Tracking and Aiming turntable (turns Platform) it is the core component of theodolite track frame, there is base below turntable, with thrust shaft between base and turntable Holding support, turntable is driven by torque motor and rotates around vertical axis.Vertical axis is that the orientation of whole instrument is followed the tracks of The centre of gyration, is connected with journal bearing between it with turntable, in order to ensure that theodolite has accurate radially location Precision.

Existing Photoelectric Tracking and Aiming revolving table position circuit controls uses bi-mode control, i.e. when wide-angle deviation, adopts By nonlinear Control, when deviation is in smaller range, enter Linear Control.

The position loop control method of Photoelectric Tracking and Aiming turntable particularly as follows:

If position deviation variable a, position deviation value a_n>…>a₂>a₁>0；

Gamma controller output variable v, gamma controller output valve v_n>…>v₂>v₁；

Work as a₁>a>₀Time, Linear Control；

Work as a₂>a>a₁Time, gamma controller output v=v₁；

Work as a₃>a>a₂Time, gamma controller output v=v₂；

……

Work as a > a_nTime, gamma controller output v=v_n；

Wherein: a₂..., a_n, v₁, v₂..., v_n, n value is by rule of thumb.

The localization method of the Photoelectric Tracking and Aiming turntable of prior art, needs to rely on the empirically determined a of designer₁, a₂..., a_n, v₁, v₂..., v_n, the value of n.The above-mentioned localization method of prior art can not meet have higher with The requirement of the electro-optic theodolite of track speed and tracking acceleration and high aiming pointing accuracy and needs.

Summary of the invention

The invention solves the problems that the skill that the localization method locating speed of Photoelectric Tracking and Aiming turntable of the prior art is slow Art problem, it is provided that the method for rapidly positioning of a kind of Photoelectric Tracking and Aiming turntable.

In order to solve above-mentioned technical problem, technical scheme is specific as follows:

The method for rapidly positioning of a kind of Photoelectric Tracking and Aiming turntable, comprises the following steps:

Step i: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V at permanent accelerating sections₀(1-e^-t/ T) (t >=0)；

Step ii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V in constant motion section₀；

Step iii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=2V at permanent braking section₀e^-t/T-V₀ (t >=0, V >=0)；

Wherein, V₀For speed loop initial input speed, t is that Photoelectric Tracking and Aiming turntable is turned the time, and T is the time Constant, e is the truth of a matter of natural logrithm function.

In technique scheme, reach 2% required time of steady-state value with response curve, or 4 times time Between constant as response time valuation.

In technique scheme, in step i, permanent accelerating sections rotational angle meets:

$S1={\∫}_0^{4T}{V}_0(1-e^{-t}/T)\mathrm{dt}=V_{0}T(3+e^{-4})\≈3V_{0}T.$

In technique scheme, in step i, permanent accelerating sections rotational angle approximates 3V₀T。

In technique scheme, in step iii, permanent braking section rotational angle meets:

$S2\≤{\∫}_0^{0.69T}{v}_0(2e^{-t}/T-1)\mathrm{dt}\≈0.3V_{0}T.$

In technique scheme, in step iii, permanent braking section rotational angle approximates 0.3V₀T。

In technique scheme, the position deviation that Photoelectric Tracking and Aiming turntable rotates meets S > 3.3V₀T。

The present invention has a following beneficial effect:

The method for rapidly positioning of the Photoelectric Tracking and Aiming turntable of the present invention, debugging is simple, can accomplish quickly to position, And do not rely on the experience of designer.

Accompanying drawing explanation

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is Photoelectric Tracking and Aiming turning table control block diagram representation.

Detailed description of the invention

The invention thought of the present invention is:

According to the Photoelectric Tracking and Aiming turning table control block diagram shown in Fig. 1, the quick location of the Photoelectric Tracking and Aiming turntable of the present invention Method, it would be desirable to position fixing process divides three phases: permanent accelerating sections, constant motion section, permanent braking section.When turning When platform wide-angle is turned, system starts with peak acceleration, enters permanent accelerating sections；Reach maximal rate laggard Enter constant motion section；After reaching certain point, system is braked with peak acceleration, enters permanent braking section.

According to engineering experience, pointing turntable speed loop equivalent mathematical model is first order inertial loop 1/(Ts+1).Drawn by first order inertial loop characteristic:

First order inertial loop unit-step response: h (t)=1-e^-t/T(t≥0)

When speed loop initial velocity is zero, rank more input is V₀Time, the permanent accelerating sections equation of motion:

V=V₀(1-e^-t/ T) (t >=0)；

The constant motion section equation of motion: V=V₀；

When speed loop initial velocity is V₀, input as-V₀Time, the permanent braking section equation of motion:

V=2V₀e^-t/T-V₀(t >=0, V >=0)；

For first order inertial loop, only when t tends to infinity, the step response of system can be only achieved stable state.

But, actually often reach 2% required time of steady-state value with response curve, or the time of 4 times be normal Number is as response time valuation.

Permanent accelerating sections rotational angle is drawn according to Equation of Motion:

$S1={\∫}_0^{4T}{V}_0(1-e^{-t}/T)\mathrm{dt}=V_{0}T(3+e^{-4})\≈3V_{0}T;$

For permanent braking section, by V=2V₀e^-t/T-V₀>=0 obtains t≤0.69T;

Permanent braking section rotational angle is drawn by above formula:

$S2\≤{\∫}_0^{0.69T}{v}_0(2e^{-t}/T-1)\mathrm{dt}\≈0.3V_{0}T;$

According to the analysis to turntable desired position process, it can be deduced that: turntable perseverance accelerating sections rotational angle is about etc. In 3V₀T；Permanent braking section rotational angle approximates V₀T；Position deviation S > 3.3V₀T, i.e. V₀<S/3.3T。

Embodiment:

1, by position deviation S > 4V₀T, draws V₀< S/3.3T determines V₀；

2、a₁> a > 0 time, Linear Control；

3、a₂≈V₀T+a₁, V₁=-V₀；

That is: a₂>a>a₁Time, V=-V₀；

4、a₃=S, V₂=V₀；

That is: S > a > a₂Time, V=V₀

Implement explanation: due to a₂Result of calculation is approximation, should finely tune during enforcement.

Obviously, above-described embodiment is only for clearly demonstrating example, and not to embodiment Limit.For those of ordinary skill in the field, can also be made it on the basis of the above description The change of its multi-form or variation.Here without also cannot all of embodiment be given exhaustive.And by What this was extended out obviously changes or changes among still in the protection domain of the invention.

Claims (5)

1. the method for rapidly positioning of a Photoelectric Tracking and Aiming turntable, it is characterised in that comprise the following steps:

Step i: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V at permanent accelerating sections₀(1-e^-t/ T), t >=0；

Step ii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=V in constant motion section₀；

Step iii: make the speed of turning of Photoelectric Tracking and Aiming turntable meet V=2V at permanent braking section₀e^-t/T-V₀, T >=0, V >=0；

Wherein, V₀For speed loop initial input speed, t is that Photoelectric Tracking and Aiming turntable is turned the time, and T is the time Constant, e is the truth of a matter of natural logrithm function；

In step i, permanent accelerating sections rotational angle meets:

$S1={\&Integral;}_0^{4T}{V}_0(1-e^{-t/T})dt=V_{0}T(3+e^{-4})\&ap;3V_{0}T.$

The method for rapidly positioning of Photoelectric Tracking and Aiming turntable the most according to claim 1, it is characterised in that step In rapid i, permanent accelerating sections rotational angle approximates 3V₀T。

The method for rapidly positioning of Photoelectric Tracking and Aiming turntable the most according to claim 1, it is characterised in that

In step iii, permanent braking section rotational angle meets:

$S2\&le;{\&Integral;}_0^{0.69T}{V}_0(2e^{-t/T}-1)dt\&ap;0.3V_{0}T.$

The method for rapidly positioning of Photoelectric Tracking and Aiming turntable the most according to claim 3, it is characterised in that step In rapid iii, permanent braking section rotational angle approximates 0.3V₀T。

5., according to the method for rapidly positioning of the Photoelectric Tracking and Aiming turntable described in any one in claim 1-4, it is special Levying and be, the position deviation that Photoelectric Tracking and Aiming turntable rotates meets S > 3.3V₀T。