CN104101364B - Method improving precision of micro-mechanical gyroscope image stabling platform - Google Patents
Method improving precision of micro-mechanical gyroscope image stabling platform Download PDFInfo
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- CN104101364B CN104101364B CN201410366286.5A CN201410366286A CN104101364B CN 104101364 B CN104101364 B CN 104101364B CN 201410366286 A CN201410366286 A CN 201410366286A CN 104101364 B CN104101364 B CN 104101364B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The invention discloses a method improving precision of a micro-mechanical gyroscope image stabling platform. The method sequentially comprises the following steps: (a) an accelerometer is mounted on the image stabling platform and a micro-mechanical gyroscope is mounted on a photoelectric rotary table; (b) a practical angular velocity Omega is calculated by a control system according to the angular velocity formula Omega=Omegas-Omega0; the image stabling platform is kept relatively static; (c) when the image stabling platform generates excursion, a single neuron PI adjuster is utilized by the control system to obtain a fixed zero point bias compensation dosage Omega0(k) at k through the formula PI (shown in the specification); (d) the modified practical angular velocity Omega' is obtained through the formula Omega'=Omegas-Omega0(k). A practical angle difference value is measured through the accelerometer, and is fed back to the control system, so that close-loop control is realized; the zero point bias compensation dosage Omega0 is changed dynamically, and then practical angular velocity Omega is modified, so that the problem that precision of the image stabling platform is not reached due to setting of a fixed zero point bias compensation dosage is solved.
Description
Technical field
The present invention relates to a kind of method improving micromechanical gyro steady picture platform precision.
Background technology
Gyro surely as platform be a kind of control performance element offset external disturbance platform, it can make the shooting of lift-launch set
The various vibrations of standby effective isolation motion carrier, rise and fall, jolt, eliminate the fuzzy of image and rock.
Gyroscope is a kind of device that can accurately detect object angular velocity of satellite motion, and it has in national defence, Aero-Space
Strategic status.High-precision micro-mechanical gyroscope is affected by export restrictions in American-European countries, this with regard to visible to gyroscope
Research, the lifting to a national science and technology level has the hugest effect.And micromechanics (MEMS) gyroscope passes relatively
System gyroscope has that low cost, volume be little, level of integrated system advantages of higher, is widely used in now in various electromechanical equipment,
But micro-mechanical gyroscope there is also the problem that certainty of measurement is the highest so that it is the application in high-precision product is considerably less.
The precision index of gyroscope is mainly zero offset stability.Micro-mechanical gyroscope is zero offset stability
Be bigger, i.e. precision is relatively low.Zero offset stability is exactly, and gyroscope has a unfixed zero point when static
Biasing, zero offset stability is the biggest, and the maximum of zero offset is the biggest, and this unfixed zero offset affects top exactly
The main cause of spiral shell instrument precision.When arranging fixing zero offset compensation dosage ω0After, angular velocity omega=ωs-ω0, wherein
ωsIt is the detection data of gyroscope.But due to the not stationarity of zero offset, compensate fixing ω0It is inaccurate, and top
Spiral shell instrument is affected by the factor such as temperature, mechanical vibration so that it is data ω of measurementsThere is also error, by ω=ωs-ω0
Obtain magnitude of angular velocity the most inaccurate, be surely the most just difficult to ensure that as the precision of platform.
Therefore improve the precision of the micro-mechanical gyroscope steady picture platform using low cost, lower accuracy, be that gyro is steady as flat
A difficult problem important in platform technology.
Summary of the invention
The present invention is in order to overcome the deficiency of above technology, it is provided that a kind of use accelerometer detection is steady as Platform set amount
As feedback quantity, constitute closed loop control, use intelligent PI actuator dynamically to change zero offset compensation dosage ω of gyroscope0, make
The steady raising micromechanical gyro as platform holding precision is surely as the method for platform precision.
The present invention overcomes its technical problem be the technical scheme is that
This raising micromechanical gyro is steady as the method for platform precision, in turn includes the following steps:
A) accelerometer is installed on steady picture platform and micro-mechanical gyroscope is installed on photoelectric turntable, and by acceleration
Meter and photoelectric turntable are electrically connected to control system；
B) when there being disturbing moment to act on photoelectric turntable, photoelectric turntable attitude angle changes, and micro-mechanical gyroscope is examined
Survey Mach angle speed omegas, control system is according to angular velocity formula ω=ωs-ω0It is calculated actual angular speed ω, and sends finger
Order controls the motor in photoelectric turntable and produces the rotating speed equal in magnitude, in opposite direction with actual angular speed ω, makes surely as platform is protected
Hold geo-stationary；
C) accelerometer detection is steady as the attitude angle of platform, when steady picture platform geo-stationary, accelerometer detection
Angle is constant, and when steady picture platform produces skew, control system utilizes mononeuron pi regulator by PI formula:Obtain fixed zero bias compensation amount ω in k moment0K (), in formula, k is the sampling of system
In the moment, e (k) is the difference of the steady angle actually detected with accelerometer as angle on target set in the k moment, KP=0.009, Ki
=0.007.
D) by formula ω '=ωs-ω0K () obtains revised actual angular speed ω ', control system sends instruction control
Motor in photoelectric turntable processed produces the rotating speed equal in magnitude, in opposite direction with actual angular speed ω '.
In order to improve certainty of measurement, the accelerometer in above-mentioned steps a) is parallel to steady as stage+module.
In order to improve certainty of measurement, the micro-mechanical gyroscope in above-mentioned steps a) is perpendicular to steady as stage+module.
The invention has the beneficial effects as follows: by accelerometer measures actual angle difference, and feed back to control system, therefore
Achieve closed loop control, by dynamically changing zero offset compensation dosage ω0And then revise actual angular speed ω, therefore solve to set
Fixing zero offset compensation dosage, the problem causing not reaching steady picture platform precision.
Accompanying drawing explanation
Fig. 1 is the steady as the main TV structure schematic diagram of platform of the present invention
Fig. 2 is the steady as the left view structural representation of platform of the present invention
In figure, 1. video camera 2. is steady as platform 3. accelerometer 4. micro-mechanical gyroscope 5. photoelectric turntable.
Detailed description of the invention
Below in conjunction with the accompanying drawings 1, the present invention will be further described for accompanying drawing 2.
This raising micromechanical gyro is steady as the method for platform precision, in turn includes the following steps:
(1) accelerometer 3 is installed on steady picture platform 1 and micro-mechanical gyroscope 4 is installed on photoelectric turntable 5, and will
Accelerometer 3 and photoelectric turntable 5 are electrically connected to control system.(2) when there being disturbing moment to act on photoelectric turntable 5, photoelectricity turns
Platform 5 attitude angle changes, and micro-mechanical gyroscope 4 detects Mach angle speed omegas, control system according to angular velocity formula ω=
ωs-ω0It is calculated actual angular speed ω, and sends motor generation and the actual angular speed ω that instruction controls in photoelectric turntable 5
Rotating speed equal in magnitude, in opposite direction, makes surely as platform 5 keeps geo-stationary.(3) accelerometer 3 detects steady as the appearance of platform 1
State angle, when steady picture platform 1 geo-stationary, the angle of accelerometer 3 detection is constant, when steady picture platform 1 produces and offsets, control
System processed utilizes mononeuron pi regulator by PI formula:Obtain the fixing of k moment
Zero offset compensation dosage ω0(k), in formula, k is the sampling instant of system, e (k) be set in the k moment steady as angle on target with add
The difference of the angle that velometer 3 is actually detected, KP=0.009, Ki=0.007.(4) by formula ω '=ωs-ω0K () obtains
Revised actual angular speed ω ', control system sends motor generation and the actual angular speed that instruction controls in photoelectric turntable 5
The rotating speed that ω ' is equal in magnitude, in opposite direction.For the sum from 0 moment to k moment e (k).When choosing KPTime excessive, meeting can not
That avoids brings bigger overshoot；When choosing KPTime less, the governing speed of system will reduce, and works as KPBe 0.009 for optimum
Value.Work as KiTime excessive, can make the bad dynamic performance that system exports, overshoot increases, and even makes system unstable；Work as KiToo small
Time, then the speed eliminating steady-state error is too slow, integral coefficient KiValue should obtain moderate, KiIt is 0.007.Surveyed by accelerometer 3
Amount actual angle difference, and feed back to control system, it is achieved that closed loop control, by dynamically changing zero offset compensation dosage
ω0And then revise actual angular speed ω, therefore solve to set fixing zero offset compensation dosage, cause not reaching surely as platform essence
The problem of degree.
As shown in Figures 1 and 2, the accelerometer 3 in step (1) is parallel to surely as platform 1 is installed, micromechanical gyro
Instrument 4 is perpendicular to surely as platform 1 is installed.Accelerometer 3 is parallel to surely install as platform 1 to improve certainty of measurement.And micromechanics
Gyroscope 4 is perpendicular to surely make it ensure with steady to parallel as the pitch axis of platform 2 as platform 1 is installed, it is to avoid tilt to install easy
Cause the situation that certainty of measurement is low to occur, further increase the reliability of use.
Claims (3)
1. the method improving micromechanical gyro steady picture platform precision, it is characterised in that: in turn include the following steps:
A) steady accelerometer (3) be installed and micro-mechanical gyroscope (4) is installed on photoelectric turntable (5) on platform (1), and
Accelerometer (3) and photoelectric turntable (5) are electrically connected to control system；
B) when there being disturbing moment to act on photoelectric turntable (5), photoelectric turntable (5) attitude angle changes, micro-mechanical gyroscope
(4) detection Mach angle speed omegas, control system is according to angular velocity formula ω=ωs-ω0It is calculated actual angular speed ω, and
Send instruction and control the rotating speed that the motor in photoelectric turntable (5) produces and actual angular speed ω is equal in magnitude, in opposite direction, make steady
As platform (5) keeps geo-stationary, in formula, ω0For zero offset compensation dosage；
C) accelerometer (3) detection is steady as the attitude angle of platform (1), when steady picture platform (1) geo-stationary, accelerometer
(3) angle detected is constant, and when steady picture platform (1) produces skew, control system utilizes mononeuron pi regulator to pass through PI
Formula:Obtain fixed zero bias compensation amount ω in k moment0K (), in formula, k is system
Sampling instant, e (k) is the difference of the steady angle actually detected as angle on target and accelerometer (3) set in the k moment, KP
=0.009, Ki=0.007；
D) by formula ω '=ωs-ω0K () obtains revised actual angular speed ω ', control system sends instruction and controls light
Motor in electricity turntable (5) produces the rotating speed equal in magnitude, in opposite direction with actual angular speed ω '.
Raising micromechanical gyro the most according to claim 1 is steady as the method for platform precision, it is characterised in that: described step
A) accelerometer (3) in is parallel to steady as platform (1) installation.
Raising micromechanical gyro the most according to claim 1 is steady as the method for platform precision, it is characterised in that: described step
A) micro-mechanical gyroscope (4) in is perpendicular to steady as platform (1) installation.
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| CN104811588B (en) * | 2015-04-10 | 2018-04-20 | 浙江工业大学 | A kind of boat-carrying based on gyroscope is surely as control method |
| CN107145027A (en) * | 2017-06-23 | 2017-09-08 | 成都阿普奇科技股份有限公司 | A kind of floating platform photoelectric monitoring device |
| CN107678305B (en) * | 2017-09-04 | 2020-05-05 | 上海海事大学 | Ammonia injection control method of ship diesel engine denitration system based on non-uniform distribution |
| CN109186635A (en) * | 2018-08-30 | 2019-01-11 | 上海仙知机器人科技有限公司 | The zero point correction method and system of three-axis gyroscope |
| CN110045595B (en) * | 2019-04-16 | 2022-05-20 | 南京智真电子科技股份有限公司 | Self-suppression control method for peak of stabilized platform |
| CN111654212A (en) * | 2020-06-15 | 2020-09-11 | 湖北三江航天万峰科技发展有限公司 | Position follow-up servo control device and control method |
| CN117891176B (en) * | 2024-03-14 | 2024-06-14 | 中国电子科技集团公司第十一研究所 | Gyro stabilizing platform control method and gyro stabilizing platform |
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Address after: 250101 Innovation workshop D, 2016 Leap Road, hi-tech East District, Ji'nan, Shandong. Patentee after: SHANDONG FEIYUE ELECTRONICS TECHNOLOGY Co.,Ltd. Address before: 250101 Ji'nan four, A402 room, 4 building, Qilu Software Park, 1 Shun Hua Road, hi tech Zone, Ji'nan, Shandong. Patentee before: JINAN FEIYUE ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |
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Denomination of invention: A Method to Improve the Precision of Micromechanical Gyro Image Stabilization Platform Effective date of registration: 20230921 Granted publication date: 20170111 Pledgee: Bank of Beijing Co.,Ltd. Jinan Branch Pledgor: SHANDONG FEIYUE ELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: Y2023980058123 |