CN106526832B - A kind of two-dimensional pointing mechanism method of servo-controlling and system - Google Patents
A kind of two-dimensional pointing mechanism method of servo-controlling and system Download PDFInfo
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- CN106526832B CN106526832B CN201611097130.7A CN201611097130A CN106526832B CN 106526832 B CN106526832 B CN 106526832B CN 201611097130 A CN201611097130 A CN 201611097130A CN 106526832 B CN106526832 B CN 106526832B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
Abstract
The invention discloses a kind of two-dimensional pointing mechanism method of servo-controlling and system based on image feedback and optics vector theory, by increasing measurement camera in main optical path, and using the fast image processing result of imaging as feed, establish image servo closed loop, active control is carried out to quick sweeping mirror by image feedback, the direction for completing adjustment camera primary optical axis, reaches the search to imageable target, stares following function.Improve the imaging efficiency of remote sensing camera.By combining optics vector reflection theory to design SERVO CONTROL rule, the non-linear relation eliminated between motor corner and optical axis direction is conducive to improve the pointing accuracy of quick sweeping mirror and the stability of imaging system to improve the specific aim of control.
Description
Technical field
The present invention relates to the direction mirror control methods and system in the photoelectric detecting system for searching for and tracking, and specifically relate to
And closed-loop control is carried out using measurement camera detection imaging, and using processing result image combination optics vector theory, with driving
It is directed toward the technology that mirror is accurately directed to.
Background technique
Direction or scanning means, and shape in orbit are all used on many optical remote sensing instruments of Abroad in Recent Years transmitting
State is good.U.S. GOES (geostationary operational environmental satellite) series is the meteorological satellite of Geo-synchronous stationary orbit.Wherein use three
The scanning imager IMAGER installed on the GOES-I/M of axis attitude stabilization mode is using pendulum mirror thing scanning mode, its benefit
The mechanical corner displacement of pendulum mirror is measured with two inductosyns, the direction driving of scanning mirror uses torque motor.Its work
Principle: scanning monitor is initialized according to input instruction, and the angle position of scanning mirror is determined according to inductosyn angle measurement signal
It sets, after the angular displacement of setting position and initial position is calculated, driving motor reaches setting position with the rate of 10 °/s.
Play the host/western motor in place after, north south motor starts to carry out the scanning motion of finite angle according to instruction.It is connect in every scan line
At the end of close, control system issues deceleration command, scanning mirror is accurately positioned, and be conducive to it and start flyback.
U.S. Landsat (Landsat) series is sun-synchronous orbit landsat, and Landsat-4, the TM on 5 are (main
Body surveying instrument) be sweep type multispectral scanner radiometer, bidirectional swinging scanning system is by scanning driving device, scanning mirror
(two sides are supported by flexural pivot), scanning angle monitor, scanning control system, pair of pages damper and scan line straightening arrangement etc.
Composition.Scanning mirror carries out wearing scanning back and forth for course bearing, and positive counter-scanning can obtain image data.
SPOT-5 is the sun-synchronous orbit Remote sensing of Earth resources satellite designed by French National Airspace research center, is carried
It include two identical HRG (high-resolution geometry) cameras in lotus.HRG camera obtains oblique viewing angle observation using illuminating apparatus structure is directed toward
Ability, maximum side view angle are 27 °.Direction mirror drive control module (SCM) in SPOT-5 satellite remote sensing system includes two
Part: first is that mirror driving mechanism is directed toward in scanning strip selection (Strip-Selection), actuator uses stepper motor；Second is that electric
Machine refocusing and position encoder provide control stepper motor desired position feedback signal using grating encoder.
The scanning radiometer that China first generation polar orbiting meteorological satellite FY-1 (wind and cloud No.1) is carried uses 45 ° of rotary reflections
Scarnning mirror mode, scanning reflection mirror shaft and mirror surface angle at 45 °, and with satellite flight direction and system optical axis direction one
It causes.Reflecting mirror is pivoted, and scanning surface and orbital plane are vertical, is swept into the earth from opaco side, satellite is from when the flight of north orientation south
Scanning reflection mirror scans eastwards from west, and optics instantaneous field of view receives the target emanation of substar two sides, by means of satellite around the earth
Movement, obtains the two-dimentional scene of the earth.45 ° of rotating mirror scan patterns are big with observation scope, can scan target zone
Appearance measures reference source and cold space calibrates remote sensing instrument in-flight and the advantages that size is smaller.
China first generation Geo-synchronous stationary orbit meteorological satellite FY-2 (Fengyun II) uses spinning stability mode, from
Spin axis is perpendicular to the equatorial plane, and spin revolving speed 100r/min.The R-C optical system primary optical axis of FY-2 satellite multichannel scanning radiometer
Parallel with earth equatorial plane perpendicular to satellite spin axis, substar is directed toward equator, integrally walks by satellite spin and telescope
Come in realize the two-dimensional scanning to the earth.Radiometer scans eastwards the earth from west with satellite spin, and the every spin of satellite 1 week is looked in the distance
Mirror is primary from the stepping of north orientation south, 140 μ rad of step angle, complete scanning into a line.Every width earth disk figure need to scan 2500 altogether
Bar line, time-consuming 25min, from inswept 20 ° of north orientation south, after completing a width whole world scanning figure, telescope is returned from south to north with 2.5min
To arctic extreme position.Scanning radiometer is provided with fold mirror between primary optical system and rear optical path, and telescope does North and South direction step
Into when movement, fold mirror also will stepping simultaneously.Telescope tube is identical with fold mirror step direction, because fold mirror makees two times of angles to incident light
Reflection, fold mirror stepping angle are the half of telescope tube stepping angle.
In current existing example, it is that program is default that the characteristics of control method of scan mirror, which is scanning track, can only
The intermittent scanning to target area is completed, the active to target can not be completed and search for and stare.
Summary of the invention
Technology of the invention solves the problems, such as: traditional quick sweeping mirror control is period sweep type, and it is true to be directed toward track
It is fixed, do not have and stares following function.A kind of two-dimensional pointing mechanism servo based on image feedback and optics vector theory of the present invention
Control method and system increase detection camera that is, in main optical path, and using the fast image processing result of imaging as feed, build
Vertical image servo closed loop carries out active control to quick sweeping mirror, completes the direction of adjustment camera primary optical axis, reach at
As target search, stare following function.
A kind of the technology of the present invention solution: two-dimensional pointing mechanism servo control based on image feedback and optics vector theory
Method processed realizes that steps are as follows:
Step 1: establishing quick sweeping mirror using the angular relationship of optical system and the basic theories of optical reflection vector
Azimuth axis, pitch axis and imaging optical axis directional property equation；
Step 2: focal length f, pixel dimension d using the resulting directional property equation of step 1, in conjunction with pendulum mirror to focal plane
Etc. information establish be directed toward mirror corner to the emergent light axis angle of sight mapping relations；
Step 3: mapping relations combination control theory of the mirror corner to the emergent light axis angle of sight will be directed toward, control is directed toward in design
System rule, adjusts the transfer function characteristics of pointing control system, stablizes system.
In the step 1, using the angular relationship of optical system and the basic theories of optical reflection vector, establish quick
The directional property equation of the azimuth axis of sweeping mirror, pitch axis and imaging optical axis is as follows:
I0' it is system boresight direction, I0For incident ray, R is reflection matrix, G10To rotate companion matrix.For optical axis side
Parallactic angle, θ are pitch angle.
In the step 2, the mapping relations for establishing direction mirror corner to the angle of sight are as follows:
α is scan mirror orientation Shaft angle, and β is scan mirror pitching Shaft angle, Δ1With Δ2For dimensionless, K1、
K2To be directed toward the linear gain of mirror corner to the angle of sight.
In the step 3, control law is directed toward in design, and the transfer function characteristics of regulating system are specific as follows:
GclTo be directed toward control rate transmission function, GcFor PID controller, GpFor two-dimensional pointing mechanism model, GvFor inner loop velocity
Feedback controller, K1、K2For linear gain.
A kind of two-dimensional pointing mechanism servo-control system based on image feedback and optics vector theory, including main imaging phase
Machine, fast image processing device, pointing controller, D/A conversion, is directed toward mirror driver, scan mirror 7 and primary mirror at measurement camera
Head；Imageable target light beam is entered by main lens, after identical optical path, into main image camera and measurement camera, utilizes measurement
The image data of camera handles image in real time in fast image processing device, is calculated in pointing controller, raw
Angle servo is carried out at the activation bit of scan mirror, and to scan mirror, control optical path is directed toward, and the acquisition of camera is measured
New image data is obtained, image is handled in real time in fast image processing device, forms closed-loop control.
The advantages of the present invention over the prior art are that:
(1) using the processing result image of detection camera imaging as feed, closed-loop control can be carried out to quick sweeping mirror,
It completes to be directed toward the high-precision optical axis of imageable target, improves the imaging efficiency of remote sensing camera.
(2) it by combining optics vector reflection theory to design SERVO CONTROL rule, eliminates motor corner and optical axis is directed toward it
Between non-linear relation be conducive to the pointing accuracy for improving quick sweeping mirror and imaging system to improve the specific aim of control
Stability.
Detailed description of the invention
Fig. 1 is that the two dimension based on image feedback and optics vector theory is directed toward control figure；
Fig. 2 is reference frame；
Fig. 3 is the light channel structure figure that incident ray arrives focal plane imaging after scan mirror reflects；
Fig. 4, Fig. 5 are fixation outer ring corner, after then inner ring is swung in the change curve of optical axis pitch angle and fixation
Ring corner, optical axis azimuthal variation relationship after then outer ring is swung；
Scanning track and constant bearing axis when Fig. 6 is fixed pitch axes azimuth axis on focal plane rotate burnt when pitch axis
Scanning track on face；
Fig. 7 is position loop structural block diagram；
Fig. 8 is image loop structure block diagram；
Fig. 9 is the system Bode diagram of a kind of image closed loop；
Figure 10 is the step response curve of a kind of image closed-loop system.
Specific embodiment
The present invention includes a kind of optical system, consisting of main optical camera lens, main image camera 1, measurement camera 2, quickly
Image processor 3, pointing controller 4 are directed toward the composition such as mirror driver 6 and scan mirror 7.System composition is as shown in Figure 1.
Specific implementation step of the present invention is as follows:
Step 1: establishing optical system as shown in Figure 1, measure the imaging optical axis of camera 2 and the imaging of main image camera 1
Optical axis is identical or optical path relationship determines.Optical parameter determines, including the parameters such as 7 tilt angle of scan mirror, imaging focal length.
Step 2: seeing the angular relationship of Fig. 2 and the basic theories of optical reflection vector using reference frame, establish quick
The directional property equation of the azimuth axis of sweeping mirror, pitch axis and imaging optical axis.
The calculation method of equation is as follows:
N represents mirror normal unit vector, and A represents incident vector, and A ' represents reflection vector, as vector sum incidence vector
Linear transformation relationship can be expressed as A '=RA, and R is reflection matrix
Wherein, Nx、NyAnd NzRespectively projection of the plane mirror normal vector in the frame of reference.
Unit vector P rotates an angle, θ as vector A ' to vector A around the shaft, is write as matrix form A '=Sp,θA, wherein
Sp,θRepresent the Rotation matrix for turning θ around vector P.
Under reference frame, incident ray vector A0Picture vector after scan mirror reflects is A0', according to optics
The transformation relation that reflection vector theory both obtains is
The angle α is rotated around Z0 axis it is found that being directed toward mirror by the derivation of front, and is around the spin matrix of Y0 axis rotation β angle
G10=SZ0,α·SY0,β
Here orientation axial vector Pz=[0 0 1] ', pitching axial vector Py=[0 1 0] ', substituting into formula can obtain
Step 3: establishing the mapping relations for being directed toward mirror corner to the angle of sight, incident ray is after scan mirror reflects to coke
The light channel structure figure of face imaging is shown in Fig. 3, the method is as follows:
When being directed toward mirror while being rotated around Z0 axis and Y0 axis, if initial position is directed toward mirror normal vector and the angle of X0 axis is
β0, then normal vector is that direction of rotation is defined as being deflected to positive direction in Y0 axial direction.
N0=(cos β0,0,sinβ0)
Horizontal exit light and X0 axle clamp angle are γ when zero-bit0, being thus emitted vector representation is
O0=[cos γ0 -sinγ0 0]
By reflection vector theorem it can be concluded that incident ray vector when zero-bit
I0=R-1·O0
It is assumed that in incident ray I0Under the action of, be directed toward mirror simultaneously around pitch axis and azimuth axis rotation alpha and β angle, then by
The unit outgoing of mirror reflection is directed toward as vector is I0', as direction vector is system boresight direction, by can be calculated
If by optical axis azimuthThe optical axis is defined as in the angle of horizontal plane projection and X0 axis, pitching angle theta is defined as the optical axis
With the angle of horizontal plane OX0Y0, then the relationship being directed toward between the mirror optical axis angle of sight and motor corner is expressed as
If the focal length of definition pendulum mirror to focal plane is f, incident ray vector is under as plane projection if pixel dimension is d
Miss distance be
Above formula can arrange
U, v are respectively the control amount of what pitch axis of azimuth axis.
It can be seen that putting mirror optical axis variable quantity in visual field scope very little and focal plane miss distance being linear, i.e.,
Fixed outer ring corner is set forth in Figure 4 and 5, after then inner ring is swung the change curve of optical axis pitch angle and
Fixed inner ring corner, optical axis azimuthal variation relationship after then outer ring is swung.
Scanning track and constant bearing axis when Fig. 6 gives fixed pitch axes azimuth axis on focal plane rotate pitch axis
When focal plane on scanning track, from the figure we can see that having between the emergent light axis angle of sight and motor corner certain linear
Relationship is represented by
Δ1With Δ2It is infinitesimal.
Step 4: design pointing controller；
It is directed toward the open-loop transfer function of mirror single shaft:
In formula, J is that system is converted to total rotary inertia on motor shaft；θ is the corner of motor output shaft, unit rad；
KnFor flexible pivot torsional rigidity, unit NmA-1；KmFor current of electric torque coefficient, unit NmA-1, L is motor electricity
The equivalent inductance of pivot, unit H；R is the equivalent resistance of armature, unit Ω；E is input voltage, unit V, KbIt is anti-electronic
Gesture coefficient, unit Vsrad-1。
Fig. 7 gives position loop structural block diagram, the motor azimuth axis that position loop is resolved with received solar vector angle
With pitching spindle motor corner as input signal, drives voice coil motor to realize by controller and be directed toward control.In figure, GpFor two dimension
Directing mechanism model, GcFor PID controller, GvFor inner loop velocity feedback controller.Closed loop transfer function, is
Fig. 8 provides image circuit diagram, and image circuit is driven using focal plane miss distance as given input by controller
Motor rotation guarantees that the miss distance of focal plane converges to zero point, and the mapping relations that motor corner is directed toward to optical axis are assumed in control structure
To be linear, control motor rotation is directly gone by focal plane miss distance, reduces the difficulty for calculating and solving, it is easier to realize.
Smart tracking system transmission function is
In formula, E is motor input voltage, and U is miss distance of the output optical axis in focal plane, and ω is motor Shaft angle, and θ is output
Optical axis is directed toward
Closed loop transfer function, is
Setting parameter, the transfer function characteristics of regulating system stablize system；Optimal Parameters make the reaching property of performance of system
It can index request.Fig. 9 and Figure 10 gives the system Bode diagram and step response curve of a kind of image closed loop.
The content being not described in detail in specification belongs to the well-known technique of those skilled in the art.
Claims (2)
1. a kind of two-dimensional pointing mechanism method of servo-controlling, it is characterised in that realize that steps are as follows:
Step 1: establishing the side of quick sweeping mirror using the angular relationship of optical system and the basic theories of optical reflection vector
The directional property equation of position axis, pitch axis and imaging optical axis；
Step 2: being believed using the resulting directional property equation of step 1 in conjunction with pendulum mirror to focal length f, the pixel dimension d of focal plane etc.
Breath establishes the mapping relations for being directed toward mirror corner to the emergent light axis angle of sight；
Step 3: mapping relations combination control theory of the mirror corner to the emergent light axis angle of sight will be directed toward, control law is directed toward in design,
The transfer function characteristics for adjusting pointing control system stablize system,
Wherein:
In step 1, using the angular relationship of optical system and the basic theories of optical reflection vector, quick sweeping mirror is established
The directional property equation of azimuth axis, pitch axis and imaging optical axis is as follows:
I′0For system boresight direction, I0For incident ray, R is reflection matrix, G10To rotate companion matrix,For optical axis orientation
Angle, θ are pitch angle,
In step 2, the mapping relations for establishing direction mirror corner to the angle of sight are as follows:
α is scan mirror orientation Shaft angle, and β is scan mirror pitching Shaft angle, Δ1With Δ2For dimensionless, K1、K2For
It is directed toward the linear gain of mirror corner to the angle of sight,
In step 3, control law is directed toward in design, and the transfer function characteristics of regulating system are specific as follows:
GclTo be directed toward control rate transmission function, GcFor PID controller, GpFor two-dimensional pointing mechanism model, GvFor inner loop velocity feedback
Controller, K1、K2For linear gain.
2. a kind of two-dimensional pointing mechanism servo-control system, it is characterised in that: including main image camera, measurement camera, quickly figure
As processor, pointing controller, D/A conversion, it is directed toward mirror driver, scan mirror 7 and main lens；Imageable target light beam is by leading
Camera lens enters, after identical optical path, into main image camera and measurement camera, using the image data of measurement camera, fast
Image is handled in real time in fast image processor, is calculated in pointing controller, the driving of scan mirror is generated
Information, and angle servo is carried out to scan mirror, control optical path is directed toward, and measure camera collects new image data,
Image is handled in real time in fast image processing device, forms closed-loop control.
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| CN107272757B (en) * | 2017-06-27 | 2021-02-05 | 中国航空工业集团公司北京长城航空测控技术研究所 | Electromechanical scanning control device and control method for full-view scanning measurement system |
| CN107666262A (en) * | 2017-08-30 | 2018-02-06 | 中国科学院上海技术物理研究所 | A kind of spaceborne two-dimensional pointing mechanism permagnetic synchronous motor limit detection means and method |
| CN108614587A (en) * | 2018-06-14 | 2018-10-02 | 上海卫星工程研究所 | Satellite remote sensing instrument optical axis is directed toward in-orbit method of adjustment and system |
| CN110515101B (en) * | 2019-06-21 | 2022-11-25 | 成都天锐星通科技有限公司 | Satellite rapid acquisition method and phased array antenna system |
| CN110715795B (en) * | 2019-10-14 | 2021-06-01 | 中国科学院光电技术研究所 | Calibration and measurement method for fast reflector in photoelectric tracking system |
| CN110940354B (en) * | 2019-12-02 | 2021-12-14 | 湖北航天技术研究院总体设计所 | Calibration method for strapdown inertial navigation installation attitude of photoelectric tracking system |
| CN111609935B (en) * | 2020-05-14 | 2023-02-28 | 中国人民解放军空军预警学院 | Optical microsatellite visible light and infrared dual-waveband micro-scanning imaging device |
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