CN103823481A - Compensation method of unbalanced disturbance torque of photoelectric tracking system on inclined platform - Google Patents

Abstract

The invention discloses a compensation method of unbalanced disturbance torque of a photoelectric tracking system on an inclined platform. The method comprises the steps that S1. through balance weight, the gravity center of a tilting subsystem of the photoelectric tracking system is placed on the axis of the tilting subsystem; the photoelectric tracking system is fixed on the inclined platform, an orientation subsystem is driven at constant speed through a control subsystem with current loop feedback, and current signals for controlling a motor of the control subsystem and position signals of an angle measuring component of the orientation subsystem are extracted in real time; the lowest position of the gravity center in the inclined platform inclining direction when an orientation subsystem circle points to an angle position theta 0; S2. marked unbalanced disturbance torque M theta(t) is computed; S3. the unbalanced disturbance torque M theta(t) on any inclined face of the inclined platform is computed; and S4. through current signal compensation of the motor, compensation currents are fed back to a current ring of a motor control loop, and accordingly compensation on unbalanced disturbance torque is completed.

Description

The compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform

Technical field

The present invention relates to a kind of compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform, specifically, exactly to the orientation subsystem of photoelectric follow-up on sloping platform because the uneven disturbance torque that deviation of gravity center causes compensates, improve photoelectric follow-up tracking accuracy.

Background technology

Photoelectric follow-up is a kind of main equipment of high-acruracy survey, and its pitching subsystem, by accurate counterweight, can make the center of gravity of pitching subsystem be positioned on the axis of pitch axis, and not change with the variation of luffing angle; At present, photoelectric follow-up is mainly installed on horizontal basal plane or approaches the base general work of level, the axis of orientation subsystem center of gravity relative orientation axle depart from the tracking accuracy that does not substantially affect photoelectric follow-up.Along with the raising of application requirements, in the time that photoelectric follow-up is arranged on the inclination general work compared with high spud angle, experiment showed, the uneven disturbance torque that orientation subsystem deviation of gravity center causes, greatly affect the tracking accuracy of system.Because the orientation subsystem weight of photoelectric follow-up is large, by the mode of accurate trim, center of gravity is overlapped with azimuth axis, can cause the moment of inertia etc. of photoelectric follow-up weight, volume, orientation subsystem greatly to increase, thereby reduce the globality of photoelectric follow-up.Be necessary to eliminate by other means the impact of uneven disturbance torque on photoelectric follow-up tracking accuracy.

Summary of the invention

(1) technical matters that will solve

The object of the invention is to eliminate the impact of the uneven disturbance torque of photoelectric follow-up on tracking accuracy on sloping platform, guarantee the tracking accuracy of photoelectric follow-up on sloping platform, for this reason, the invention provides the compensation method of the uneven disturbance torque of photoelectric follow-up on a kind of sloping platform.

(2) technical scheme

The invention provides the compensation method of the uneven disturbance torque of photoelectric follow-up on a kind of sloping platform, the technical scheme that its technical solution problem adopts comprises that step is as follows:

Step S1: the center of gravity of the pitching subsystem of photoelectric follow-up is positioned on the axis of pitch axis of pitching subsystem and does not change with the variation at the elevation angle of pitch axis by counterweight, and now orientation subsystem center of gravity not on the axis of the azimuth axis of orientation subsystem; Photoelectric follow-up is fixed on sloping platform, at the uniform velocity drive orientation subsystem by the control subsystem with electric current loop feedback, and the real-time synchronization extraction current signal I of motor of control subsystem and the position signalling of the angle measurement components and parts of orientation subsystem, calibrate at subsystem orientation angle position, orientation θ ₀shi Chongxin is in the extreme lower position along sloping platform bevel direction;

Step S2: the angle of inclination to sloping platform is demarcated, obtains and calculates in the angular position (t) of demarcating tilt angle alpha state and angle measurement components and parts the uneven disturbance torque M of demarcation _θ(t);

Step S3: the angular position (t) of angle measurement components and parts on the synchronous azimuth axis that extracts orientation subsystem in the photoelectric follow-up course of work, then by calibrating the angular position of pointing at orientation subsystem ₀the orientation angle of measuring in real time center of gravity on orientation subsystem circumferencial direction and sloping platform vergence direction calculates the uneven disturbance torque M on any dip plane of sloping platform _θ(t);

Step S4: according to the linear relationship M=C between the current signal I of direct motor drive moment M and motor _mi, when photoelectric follow-up tracking target on sloping platform, to the current signal I compensation of motor, compensation current feedback in the electric current loop of motor control loop, thereby complete the compensation to uneven disturbance torque.

(3) beneficial effect

The present invention has following advantage: under the condition of moment of inertia that does not change photoelectric follow-up weight, volume, orientation subsystem, eliminated the impact of uneven disturbance torque, improved the tracking accuracy of photoelectric follow-up.Be applicable to photoelectric follow-up or the radar system of on wide-angle tilt platform, working.The orientation subsystem that the invention solves photoelectric follow-up or radar system is difficult to make the center of gravity of system on azimuth axis by trim, the uneven disturbance torque that while work on wide-angle tilt platform, orientation subsystem deviation of gravity center causes, has a strong impact on the tracking accuracy of system.The present invention is that the uneven disturbance torque that deviation of gravity center is caused feeds back in control loop, eliminates the impact of uneven disturbance torque on tracking accuracy by the drive current that changes motor.

Accompanying drawing explanation

Fig. 1 is the compensation system structural drawing of the uneven disturbance torque of photoelectric follow-up on sloping platform.

Fig. 2 is the demarcation schematic diagram of orientation subsystem centre-of gravity shift direction while there is uneven disturbance torque.

Embodiment

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.

Step S1: the center of gravity of the pitching subsystem of photoelectric follow-up is positioned on the axis of pitch axis of pitching subsystem and does not change with the variation at the elevation angle of pitch axis by counterweight, and now orientation subsystem center of gravity not on the axis of the azimuth axis of orientation subsystem; Photoelectric follow-up is fixed on sloping platform, at the uniform velocity drive orientation subsystem by the control subsystem with electric current loop feedback, and real-time synchronization extracts the current signal I of motor of control subsystem and the position signalling of the angle measurement components and parts of orientation subsystem, described current signal I is the sinusoidal current signal take 2 π as the cycle, and the maximal value that current signal I contains sinusoidal current signal is I _maxwith the sinusoidal minimum value of current signal be I _min; The slope at the intersection point of sinusoidal current signal and sinusoidal current signal average and this intersection point place is that the angle position of just corresponding angle measurement components and parts is θ ₀, i.e. orientation subsystem orientation angle position θ ₀time, center of gravity, in the extreme lower position along sloping platform bevel direction, calibrates the offset direction of center of gravity on orientation subsystem circumferencial direction thus.In this concrete enforcement, what angle measurement components and parts adopted the is photoelectric encoder of 21; Center of gravity in the time of extreme lower position along sloping platform bevel direction, the indicating value θ of orientation subsystem photoelectric encoder ₀it is 8 ° 45 ' 31 ".

Step S2: the tilt angle alpha to sloping platform is demarcated, obtains the angle of inclination of demarcating, and calculates the uneven disturbance torque M of demarcation in the angular position (t) of the angle of inclination state of demarcating and angle measurement components and parts _θ(t):

The uneven disturbance torque M of described demarcation _θ(t) size is expressed as follows:

$M_{\mathrm{\&theta;}}\left(t\right)=C_m\frac{I_{\max }-I_{\mathrm{<figure-callout\; id="2"\; label="min"\; filenames="HDA0000467236130000011.png"\; state="\{\{state\}\}">min</figure-callout>}}}{2}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]=\mathrm{mgr}\sin \mathrm{\&alpha;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]$

In formula: C _mfor the moment coefficient of motor, mg is the gravity of orientation subsystem and pitching subsystem, and r is the distance of the azimuth axis of the deviation of gravity center orientation subsystem of orientation subsystem and pitching subsystem; α is the angle of inclination of sloping platform.In this concrete enforcement, the gross weight of orientation subsystem and pitching subsystem is 2800kg, and barycentre offset is 28mm, and the tilt angle alpha of sloping platform is 23.5 °.

According to the offset direction of the center of gravity obtaining of step S1, uneven disturbance torque M on any dip plane of the sloping platform that is α ' at angle of inclination _θ(t) size is expressed as:

$M_{\mathrm{\&theta;}}\left(t\right)=\mathrm{mgr}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]=C_m\frac{I_{\max }-I_{\mathrm{<figure-callout\; id="2"\; label="min"\; filenames="HDA0000467236130000011.png"\; state="\{\{state\}\}">min</figure-callout>}}}{2\sin \mathrm{\&alpha;}}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]$

In this concrete enforcement, the angle of inclination of sloping platform is adjusted into again α '=15 °.

Step S3: the angular position (t) of angle measurement components and parts on the synchronous azimuth axis that extracts orientation subsystem in the photoelectric follow-up course of work, then by the angular position calibrating in step S1 ₀the orientation angle of measuring in real time center of gravity on orientation subsystem circumferencial direction and sloping platform vergence direction calculates the uneven disturbance torque M on any dip plane of sloping platform _θ(t);

Step S4: according to being linear relationship: M=C between the armature supply I of direct motor drive moment M and motor _mi, when photoelectric follow-up tracking target on sloping platform, can be by the current signal I compensation to motor, compensation current feedback in the electric current loop of motor control loop, thereby complete to uneven disturbance torque compensation.Described offset current I _bbe expressed as follows:

$I_b=\frac{I_{\max }-I_{\mathrm{<figure-callout\; id="2"\; label="min"\; filenames="HDA0000467236130000011.png"\; state="\{\{state\}\}">min</figure-callout>}}}{2\sin \mathrm{\&alpha;}}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0],$

The angle of inclination of sloping platform when wherein α ' works for photoelectric follow-up, θ (t)-θ ₀for the orientation angle of the center of gravity on orientation subsystem circumferencial direction and sloping platform vergence direction, realize thus the compensation to uneven disturbance torque.

As known from the above, the present invention has eliminated the impact of uneven disturbance torque under the condition of moment of inertia that does not change photoelectric follow-up weight, volume, orientation subsystem, has improved the tracking accuracy of photoelectric follow-up.

As Fig. 1 illustrates the compensation system structure of the uneven disturbance torque of photoelectric follow-up on sloping platform, be a control loop that comprises position control ring, speed control loop and current regulator, go out input signal R (t) by the compensation tache G of position ring _p(s), the compensation tache G of speed ring _v(s), the compensation tache G of electric current loop _i(s), the electromagnetic time constant T of the all-in resistance R of armature circuit, armature circuit _a, the armature supply I of motor, the electromechanical time constant T of motor _m, the back emf coefficient Ce of motor, the mechanical resonant link G of control system _oand offset current I (s) _bposition, the angle θ (t) of angle measurement components and parts on the azimuth axis of output-controlled orientation subsystem, each link of the compensation system shown in Fig. 1 relation is each other according to Automatic Control Theory, can be relatively easy to write out, for the personnel that control design specialist, belong to very basic knowledge and do not repeat them here.

The demarcation schematic diagram of centre-of gravity shift direction when orientation subsystem exists uneven disturbance torque as shown in Figure 2, in the time of orientation subsystem uniform rotation on sloping platform, the variation schematic diagram that the current signal of motor points to orientation subsystem, in the time that current signal progressively increases and equate with electric current average, be subsystem orientation angle position, orientation θ ₀, now center of gravity is in the extreme lower position along sloping platform bevel direction.

The above; be only the embodiment in the present invention, but protection scope of the present invention is not limited to this, any people who is familiar with this technology is in the disclosed technical scope of the present invention; can understand conversion or the replacement expected, all should be encompassed in of the present invention comprise scope within.

Claims (6)

1. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform, is characterized in that performing step is as follows:

Step S1: the center of gravity of the pitching subsystem of photoelectric follow-up is positioned on the axis of pitch axis of pitching subsystem and does not change with the variation at the elevation angle of pitch axis by counterweight, and now orientation subsystem center of gravity not on the axis of the azimuth axis of orientation subsystem; Photoelectric follow-up is fixed on sloping platform, at the uniform velocity drive orientation subsystem by the control subsystem with electric current loop feedback, and the real-time synchronization extraction current signal I of motor of control subsystem and the position signalling of the angle measurement components and parts of orientation subsystem, calibrate at subsystem orientation angle position, orientation θ ₀shi Chongxin is in the extreme lower position along sloping platform bevel direction;

Step S2: the angle of inclination to sloping platform is demarcated, obtains and calculates in the tilt angle alpha state of demarcating and the angular position (t) of angle measurement components and parts the uneven disturbance torque M of demarcation _θ(t);

Step S3: the angular position (t) of angle measurement components and parts on the synchronous azimuth axis that extracts orientation subsystem in the photoelectric follow-up course of work, then by calibrating the angular position of pointing at orientation subsystem ₀the orientation angle of measuring in real time center of gravity on orientation subsystem circumferencial direction and sloping platform vergence direction calculates the uneven disturbance torque M on any dip plane of sloping platform _θ(t);

Step S4: according to the linear relationship M=C between the current signal I of direct motor drive moment M and motor _mi, when photoelectric follow-up tracking target on sloping platform, to the current signal I compensation of motor, compensation current feedback in the electric current loop of motor control loop, thereby complete the compensation to uneven disturbance torque.

2. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform as claimed in claim 1, is characterized in that: described current signal I is the sinusoidal current signal take 2 π as the cycle.

3. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform as claimed in claim 2, is characterized in that: the intersection point of described sinusoidal current signal and sinusoidal current signal average and the slope at this intersection point place are the angular position of just corresponding angle measurement components and parts ₀, i.e. orientation subsystem orientation angle position θ ₀time, center of gravity, in the extreme lower position along sloping platform bevel direction, calibrates the offset direction of center of gravity on orientation subsystem circumferencial direction thus.

4. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform as claimed in claim 1, is characterized in that: the uneven disturbance torque M of described demarcation _θ(t) size is expressed as follows:

$M_{\mathrm{\&theta;}}\left(t\right)=C_m\frac{I_{\max }-I_{\min }}{2}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]=\mathrm{mgr}\sin \mathrm{\&alpha;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]$

In formula: C _mfor the moment coefficient of motor, the maximal value I of the current sinusoidal signal that current signal I contains _maxminimum value I with current sinusoidal signal _min, mg is the gravity of orientation subsystem and pitching subsystem, r is the distance of the azimuth axis of the deviation of gravity center orientation subsystem of orientation subsystem and pitching subsystem.

5. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform as claimed in claim 1, is characterized in that: the uneven disturbance torque M on any dip plane of described sloping platform _θ(t) size is expressed as:

$M_{\mathrm{\&theta;}}\left(t\right)=\mathrm{mgr}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]=C_m\frac{I_{\max }-I_{\min }}{2\sin \mathrm{\&alpha;}}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0]$

In formula: C _mfor the moment coefficient of motor, the maximal value I of the current sinusoidal signal that current signal I contains _maxminimum value I with current sinusoidal signal _min, mg is the gravity of orientation subsystem and pitching subsystem, r is the distance of the azimuth axis of the deviation of gravity center orientation subsystem of orientation subsystem and pitching subsystem, the angle of inclination of sloping platform when α ' works for photoelectric follow-up.

6. the compensation method of the uneven disturbance torque of photoelectric follow-up on sloping platform as claimed in claim 1, is characterized in that: described offset current I _bbe expressed as follows:

$I_b=\frac{I_{\max }-I_{\min }}{2\sin \mathrm{\&alpha;}}\sin {\mathrm{\&alpha;}}^{\&prime;}\sin [\mathrm{\&theta;}\left(t\right)-{\mathrm{\&theta;}}_0],$

The maximal value I that wherein current signal I contains current sinusoidal signal _maxminimum value I with current sinusoidal signal _min, the demarcation angle of inclination that α is sloping platform, the angle of inclination of sloping platform when α ' works for photoelectric follow-up, θ (t)-θ ₀for the orientation angle of the center of gravity on orientation subsystem circumferencial direction and sloping platform vergence direction.

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