CN105607658B - A kind of airborne photoelectric platform, which is stablized, is directed toward control method - Google Patents
A kind of airborne photoelectric platform, which is stablized, is directed toward control method Download PDFInfo
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- CN105607658B CN105607658B CN201610195337.1A CN201610195337A CN105607658B CN 105607658 B CN105607658 B CN 105607658B CN 201610195337 A CN201610195337 A CN 201610195337A CN 105607658 B CN105607658 B CN 105607658B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/14—Control of position or direction using feedback using an analogue comparing device
- G05D3/1436—Control of position or direction using feedback using an analogue comparing device with fine or coarse devices
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Abstract
Stablize the present invention relates to a kind of airborne photoelectric platform and be directed toward control method, include the following steps：(1) installation of airborne photoelectric platform；(2) Dynamic Modeling is carried out to system, obtains the complete state-space model of twin-stage baseline system, thus obtain the control algolithm block diagram of system；(3) feedback control structure of design system；(4) parameter setting is carried out to the controller added in.The airborne photoelectric platform that patent of the present invention is proposed stablizes the advantages of being directed toward control method, combining direct current generator and voice coil motor, is driven compared to general single motor, and Two-level Control is used using two kinds of motors.The use of direct current generator can isolate influence of the outer base disturbance motion to O-E Payload to a certain extent in level-one control, Two-stage control uses the voice coil motor with high bandwidth high-precision characteristic, can improve the pointing accuracy and its pointing stability of airborne photoelectric platform.
Description
Technical field
The present invention relates to structure designs and control field, and in particular to a kind of airborne photoelectric platform, which is stablized, is directed toward controlling party
Method.
Background technology
Aviation monitoring plays increasingly important role in national defense construction, and airborne photoelectric platform stablizes pointing capability and determines
The breadth and depth of its application is determined.It is also different that O-E Payload is carried according to the difference of monitoring task to be completed, on platform.
Since photoelectric platform is mounted on the mobile vehicles such as aircraft, it is easy to pedestal disturbance and external disturbance is subject to act on
Influence, this can largely influence O-E Payload be directed toward stability and precision.The task of control system is to adjust photoelectricity to carry
The rotational angle of lotus reaches particular value, stablizes and is directed toward target object and its is made to disturb the influence of rotational motion from pedestal.
Control system needs the rotation using motor driving O-E Payload, and on the select permeability of motor, voice coil motor is full
Sufficient stable quality principle, the stable inertia and the resistance to inertia disturbed motion that it ensure that system, precision is high, but it can be generated
Maximum moment value it is smaller, it is very poor to the resistance of the interference such as frictional force or wind-force.In contrast, direct current generator has preferable
Speed adjusting performance, larger torque can be generated, but its precision is limited.It would therefore be desirable to preferably topology layout carrys out fully profit
With the advantage of existing motor, model and algorithm are more accurately controlled.
The content of the invention
In order to reduce pedestal disturbed motion to stablizing the influence being directed toward on airborne photoelectric platform, the direction of photoelectric platform is improved
Precision, the present invention, which proposes one kind, can reduce interference effect, realize high-precision control airborne photoelectric platform topology layout and
Control method.
To achieve the above object, the invention discloses following technical solutions：
A kind of airborne photoelectric platform, which is stablized, is directed toward control method, includes the following steps：
(1) installation of airborne photoelectric platform：Direct current generator, direct current generator and mounting platform phase are installed on platform engine base
Even, the principal axis of inertia overlaps, and drives mounting platform and thereon equipment using direct current generator, linear voice coil is installed on mounting platform
Motor and required O-E Payload, the principal axis of inertia of O-E Payload are overlapped with the principal axis of inertia of mounting platform and direct current generator, pacified
Two specifications identical voice coil motor is installed to be used for driving O-E Payload at symmetric position on assembling platform, using voice coil motor to light
Electric load carries out secondary drive, and measuring device needed for installation completes building for system module, obtains the reference platform of Two-level Control
Structure；
(2) Dynamic Modeling is carried out to system, obtains the complete state-space model of twin-stage baseline system, thus obtain
The control algolithm block diagram of system, complete state-space model are as follows：
In formula, J1The sum of the moment of inertia of device for direct current generator and mounting platform and thereon, J2For O-E Payload the moment of inertia；
ω1For the rotational angular velocity of direct current generator, ω2The rotational angular velocity of lower load, ω are driven for voice coil motorcFor pedestal Interference angle
Speed；The relevant parameter of direct current generator and voice coil motor is as follows：u1For direct current generator voltage, u2For voice coil motor voltage, L1To be straight
Galvanic electricity machine electrodynamic capacity, L2For voice coil motor electrodynamic capacity, R1For direct current generator impedance, R2For voice coil motor impedance, ke1For direct current
Winding back emf constant, ke2For voice coil motor back electromotive-force constant, kt1For direct current generator torque constant, kt2For voice coil motor torque
Constant, i1For the rotary inertia of direct current generator, i2For the rotary inertia of voice coil motor, b1For the viscous friction coefficient of direct current generator,
b2For the viscous friction coefficient of voice coil motor；R is the operating radius of voice coil motor；rkt2i2(t) for voice coil motor to direct current generator
The moment of reaction；
(3) feedback control structure of design system：When there is non-zero reference rotational angle, i.e., when O-E Payload needs to refer to
It is controller K when needing to track certain reference angle to target object1It generates control voltage and acts on direct current generator, make peace
Assembling platform drives O-E Payload to generate rotator inertia angular velocity omega1To it into line trace, its rotation can cause O-E Payload phase
For the angle change of target object, the deviation between O-E Payload rotational angle and reference angular velocities passes through controller K2It generates
Control voltage acts on voice coil motor, and O-E Payload is driven to generate the rotational angular velocity ω compared with mounting platform2Carry out two level
Control is directed toward, when O-E Payload need not track or be directed toward target again, the purpose of control system is to ensure O-E Payload not
Can be moved be subject to pedestal disturbance is influenced, load relative target remains stationary；
(4) parameter setting is carried out to the controller added in.
Further, the measuring device described in the step (1) includes：The disturbance angle of pedestal passes through in mobile foundation
Upper installation incremental encoder measures its rotational angle and obtains；Equally using incremental encoder measurement O-E Payload and mounting platform it
Between rotational angle deviation, i.e., voice coil motor driving under O-E Payload rotational angle；Direct current generator drives mounting platform
Rotational angle measured by television imaging device.
Further, in the step (2), when carrying out Dynamic Modeling, the anti-of motor will be considered to direct current generator modeling
Potential voltage, using simple viscous friction model, voice coil motor is modeled using pattern same with direct current generator for the modeling of friction.
Further, the controller uses PID control.
Further, in the step (4), the parameter of setting includes ratio, integration and differential ginseng in PID controller
Number.
A kind of airborne photoelectric platform disclosed by the invention, which is stablized, is directed toward control method, has the advantages that：
The airborne photoelectric platform that patent of the present invention is proposed, which is stablized, is directed toward control method, combines direct current generator and voice coil electricity
The advantages of machine, drives compared to general single motor, and Two-level Control is used using two kinds of motors.Direct current generator in level-one control
Using that can isolate influence of the outer base disturbance motion to O-E Payload to a certain extent, Two-stage control, which uses, has high bandwidth
The voice coil motor of high-precision characteristic can improve the pointing accuracy and its pointing stability of airborne photoelectric platform.
Description of the drawings
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 by carrying twin-stage reference platform simple and mechanical placement scheme；
Fig. 3 is the simplified model of active control layout.
Reference sign：
1. voice coil motor, 2. O-E Payloads, 3. mounting platforms, 4. direct current generators.
Specific embodiment
With reference to embodiment and referring to the drawings the invention will be further described.
Refer to Fig. 1-Fig. 3.
A kind of airborne photoelectric platform disclosed by the invention, which is stablized, is directed toward control method, includes the following steps：
(1) installation of airborne photoelectric platform：Direct current generator 4, direct current generator 4 and mounting platform 3 are installed on platform engine base
It is connected, the principal axis of inertia overlaps, and drives mounting platform and thereon equipment using direct current generator 4, is installed on mounting platform 3 linear
Voice coil motor 1 and required O-E Payload 2, the principal axis of inertia and mounting platform 3 and the principal axis of inertia of direct current generator 4 of O-E Payload 2
It overlaps, installing the identical voice coil motor 1 of two specifications at symmetric position on mounting platform 3 is used for driving O-E Payload 2, uses
Voice coil motor 1 carries out secondary drive to O-E Payload 2, and measuring device needed for installation completes building for system module, obtains twin-stage
The reference platform structure of control；
(2) Dynamic Modeling is carried out to system, obtains the complete state-space model of twin-stage baseline system, thus obtain
The control algolithm block diagram of system, complete state-space model are as follows：
In formula, J1The sum of the moment of inertia of device for direct current generator and mounting platform and thereon, J2For O-E Payload the moment of inertia；
ω1For the rotational angular velocity of direct current generator, ω2The rotational angular velocity of lower load, ω are driven for voice coil motorcFor pedestal Interference angle
Speed；The relevant parameter of direct current generator and voice coil motor is as follows：u1For direct current generator voltage, u2For voice coil motor voltage, L1To be straight
Galvanic electricity machine electrodynamic capacity, L2For voice coil motor electrodynamic capacity, R1For direct current generator impedance, R2For voice coil motor impedance, ke1For direct current
Winding back emf constant, ke2For voice coil motor back electromotive-force constant, kt1For direct current generator torque constant, kt2For voice coil motor torque
Constant, i1For the rotary inertia of direct current generator, i2For the rotary inertia of voice coil motor, b1For the viscous friction coefficient of direct current generator,
b2For the viscous friction coefficient of voice coil motor；R is the operating radius of voice coil motor；rkt2i2(t) for voice coil motor to direct current generator
The moment of reaction；
(3) feedback control structure of design system：When there is non-zero reference rotational angle, i.e., when O-E Payload 2 needs
It is controller K when needing to track certain reference angle to be directed toward target object1It generates control voltage and acts on direct current generator 4, make
Mounting platform 3 drives O-E Payload 2 to generate rotator inertia angular velocity omega1To it into line trace, its rotation can cause photoelectricity to carry
For lotus 2 compared with the angle change of target object, the deviation between 2 rotational angle of O-E Payload and reference angular velocities passes through controller
K2It generates control voltage and acts on voice coil motor 1, O-E Payload 2 is driven to generate the rotational angular velocity ω compared with mounting platform 32
It carries out two level and is directed toward control, when O-E Payload 2 need not track or be directed toward target again, the purpose of control system is to ensure light
Electric load 2 will not be moved be subject to pedestal disturbance to be influenced, load relative target remains stationary；
(4) parameter setting is carried out to the controller added in, controller uses PID control, and the parameter of setting is controlled including PID
Ratio, integration and differential parameter in device processed.
Measuring device described in step (1) of the present invention includes：The disturbance angle of pedestal passes through on mobile foundation
Installation incremental encoder measures its rotational angle and obtains；Equally using incremental encoder measurement O-E Payload 2 and mounting platform 3 it
Between rotational angle deviation, i.e., voice coil motor 1 driving under O-E Payload 2 rotational angle；The driving installation of direct current generator 4 is flat
The rotational angle of platform 3 is measured by television imaging device.
In step (2) of the present invention, when carrying out Dynamic Modeling, the anti-electricity that consider motor is modeled to direct current generator 4
Gesture voltage, using simple viscous friction model, voice coil motor 1 is modeled using with 4 same pattern of direct current generator for the modeling of friction.
The present invention carries the simple and mechanical placement scheme of twin-stage reference platform as shown in Figure 2.Using two voice coil electricity
Machine symmetric configuration can avoid generating eccentric moment when rotating.
As shown in Figure 3.When there is non-zero reference rotational angle, controller K1It generates control voltage and acts on direct current generator
4 make mounting platform 3 that O-E Payload 2 be driven to generate rotational angular velocity ω1.Deviation between its rotational angle and reference angular velocities can
Pass through controller K2Generation control voltage acts on voice coil motor 1 and O-E Payload 2 is driven to generate the rotation compared with mounting platform 3
Angular velocity omega2.When O-E Payload 2 need not track or be directed toward target again, the purpose of control system is to ensure O-E Payload 2
Will not be disturbed be subject to pedestal is influenced.
The above is only the preferred embodiment of the present invention, rather than its limitations；It should be pointed out that although with reference to above-mentioned each
The present invention is described in detail in embodiment, it will be understood by those of ordinary skill in the art that, it still can be to above-mentioned each
Technical solution recorded in embodiment modifies or carries out equivalent substitution to which part or all technical characteristic；And this
A little modifications and replacement do not make the essence of corresponding technical solution depart from the scope of various embodiments of the present invention technical solution.
Claims (5)
1. a kind of airborne photoelectric platform, which is stablized, is directed toward control method, which is characterized in that includes the following steps：
(1) installation of airborne photoelectric platform：Direct current generator is installed on platform engine base, direct current generator is connected with mounting platform,
The principal axis of inertia overlaps, and drives mounting platform and thereon equipment using direct current generator, linear voice coil motor is installed on mounting platform
With required O-E Payload, the principal axis of inertia of O-E Payload is overlapped with the principal axis of inertia of mounting platform and direct current generator, flat in installation
Two specifications identical voice coil motor is installed to be used for driving O-E Payload at symmetric position on platform, photoelectricity is carried using voice coil motor
Lotus carries out secondary drive, and measuring device needed for installation completes building for system module, obtains the reference platform knot of Two-level Control
Structure；
(2) Dynamic Modeling is carried out to system, obtains the complete state-space model of twin-stage baseline system, thus obtain system
Control algolithm block diagram, complete state-space model is as follows：
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In formula, J1The sum of the moment of inertia of device for direct current generator and mounting platform and thereon, J2For O-E Payload the moment of inertia；ω1For
The rotational angular velocity of direct current generator, ω2The rotational angular velocity of lower load, ω are driven for voice coil motorcFor pedestal disturbance angle velocity；
The relevant parameter of direct current generator and voice coil motor is as follows：u1For direct current generator voltage, u2For voice coil motor voltage, L1For direct current
Machine electrodynamic capacity, L2For voice coil motor electrodynamic capacity, R1For direct current generator impedance, R2For voice coil motor impedance, ke1For direct current generator
Back electromotive-force constant, ke2For voice coil motor back electromotive-force constant, kt1For direct current generator torque constant, kt2For voice coil motor torque constant,
i1For the rotary inertia of direct current generator, i2For the rotary inertia of voice coil motor, b1For the viscous friction coefficient of direct current generator, b2For
The viscous friction coefficient of voice coil motor；R is the operating radius of voice coil motor；rkt2i2(t) for voice coil motor to the anti-of direct current generator
Opplied moment；
(3) feedback control structure of design system：When there is non-zero reference rotational angle, i.e., when O-E Payload needs to be directed toward mesh
It is controller K when needing to track certain reference angle to mark object1It generates control voltage and acts on direct current generator, put down installation
Platform drives O-E Payload to generate rotator inertia angular velocity omega1To it into line trace, its rotation can cause O-E Payload compared with
The angle change of target object, the deviation between O-E Payload rotational angle and reference angular velocities pass through controller K2Generate control
Voltage acts on voice coil motor, and O-E Payload is driven to generate the rotational angular velocity ω compared with mounting platform2Carry out two level direction
Control, when O-E Payload need not track or be directed toward target again, the purpose of control system is to ensure that O-E Payload will not be by
The influence moved to pedestal disturbance, load relative target remains stationary；
(4) parameter setting is carried out to the controller added in.
2. a kind of airborne photoelectric platform according to claim 1, which is stablized, is directed toward control method, which is characterized in that the step
(1) measuring device described in includes：The disturbance angle of pedestal measures its turn by installing incremental encoder on mobile foundation
Dynamic angle obtains；The similary deviation using rotational angle between incremental encoder measurement O-E Payload and mounting platform exists
The rotational angle of the lower O-E Payload of voice coil motor driving；The rotational angle of direct current generator driving mounting platform is filled by television imaging
It puts and measures.
3. a kind of airborne photoelectric platform according to claim 1, which is stablized, is directed toward control method, which is characterized in that the step
(2) in, when carrying out Dynamic Modeling, the back-emf voltage of motor is considered direct current generator modeling, the modeling of friction is using letter
Single viscous friction model, voice coil motor are modeled using pattern same with direct current generator.
4. a kind of airborne photoelectric platform according to claim 1, which is stablized, is directed toward control method, which is characterized in that the control
Device uses PID control.
5. a kind of airborne photoelectric platform according to claim 4, which is stablized, is directed toward control method, which is characterized in that the step
(4) in, the parameter of setting includes ratio, integration and differential parameter in PID controller.
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| CN106249762B (en) * | 2016-08-30 | 2019-03-22 | 凯迈（洛阳）测控有限公司 | A kind of steady method for control of locking of airborne photoelectric reconnaissance equipment |
| CN106529105B (en) * | 2017-01-05 | 2019-07-12 | 中国人民解放军陆军军官学院 | UAV system opto-electric stabilization turntable inertia state modeling and simulating method |
| CN111634412B (en) * | 2020-05-27 | 2022-09-02 | 西安爱生技术集团公司 | Attitude two-stage fault-tolerant control method for sixteen-rotor aircraft |
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