CN106872102B - The telescope shafting parameter identification method and device of direct current generator driving - Google Patents
The telescope shafting parameter identification method and device of direct current generator driving Download PDFInfo
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- CN106872102B CN106872102B CN201611231247.XA CN201611231247A CN106872102B CN 106872102 B CN106872102 B CN 106872102B CN 201611231247 A CN201611231247 A CN 201611231247A CN 106872102 B CN106872102 B CN 106872102B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/10—Determining the moment of inertia
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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- G06F2119/06—Power analysis or power optimisation
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Abstract
The present invention relates to the telescope shafting parameter identification methods and device of a kind of driving of direct current generator, belong to field of deep space exploration, and wherein for method the following steps are included: obtaining voltage input signal, voltage input signal meets the persistent excitation condition of parameter identification；It acquires in voltage input signal as under the open loop input signal of the servo-control system of direct current generator driving telescope, direct current generator drives the shafting speed responsive output signal of telescope；According to the parameter preset initial value and default Iterative Matrix initial value of shafting speed responsive output signal, parameter to be identified, it is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of parameter to be identified；Parameter to be identified is calculated according to convergence estimate value.When the equivalent moment of inertia of telescope shafting of direct current generator driving changes, can rapidly provide the new parameter identification result of controlled device by implementing the present invention, and calculating process can canbe used on line, it is small that the required identification time is short, shafting rotates angle.
Description
Technical field
The present invention relates to field of deep space exploration, more particularly to a kind of telescope shafting parameter of direct current generator driving
Discrimination method and device.
Background technique
The continuous development of deep-space detection field proposes the shafting control technology of ground heavy caliber photoelectronic imaging telescope
Increasingly higher demands, control precision need to reach a rad rank, and be telescopic systems to the identification of telescope shafting parameter
The premise of modeling, emulation and spindle controller design, wherein the telescope spindle parameters recognized include equivalent moment of inertia, machine
Tool time constant and the constant value disturbing moment caused by shafting friction.Since the equivalent moment of inertia when telescope shafting occurs
When variation, other two parameters also change therewith, once therefore telescope because load or use environment variation etc. cause axis
It is that equivalent inertia changes, then needs to re-start these three parameters identification.
The parameter identification method generallyd use in engineering at present is multiple open-loop test method, i.e., by defeated to controlled device
Enter the different constant value voltage of multiple groups, the speed responsive data of system in the case of each constant value voltage input is recorded, by offline
The mode of processing analyzes the steady-state response value and settling time of every group of speed responsive data, is further melted by data
Conjunction mode estimates above three parameter, but this method has following limitation: (1) open loop experiment number need twice with
On, therefore required experimental period is longer；(2) experimental data needs to carry out to handle under line, cannot be completed in real time online, reduce ginseng
The efficiency of number identification；(3) in order to enable speed responsive enters steady-state range, experimental period continues longer while shafting being needed to revolve
The angle turned is also larger, this is limited there are operating when mechanical position limitation in shafting, it has not been convenient to the development of experiment.
Summary of the invention
Based on this, it is necessary to for the open loop experiment time present in existing parameter identification method is long, identification low efficiency with
And required shafting rotates the big problem of angle, provides the telescope shafting parameter identification method and device of a kind of direct current generator driving.
To solve the above problems, the invention adopts the following technical scheme:
A kind of telescope shafting parameter identification method of direct current generator driving, the described method comprises the following steps:
Voltage input signal is obtained, the voltage input signal meets the persistent excitation condition of parameter identification；
Acquire the open loop input in the voltage input signal as the servo-control system of direct current generator driving telescope
Under signal, the shafting speed responsive output signal of the direct current generator driving telescope；
According at the beginning of the shafting speed responsive output signal, the parameter preset initial value of parameter to be identified and default Iterative Matrix
Value, is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of the parameter to be identified；
The parameter to be identified is calculated according to the convergence estimate value.
Correspondingly, the present invention also proposes a kind of telescope shafting parameter identification device of direct current generator driving, described device
Include:
Acquiring unit, for obtaining voltage input signal, the voltage input signal meets the Persistent Excitation of parameter identification
Condition；
Acquisition unit, for acquiring the SERVO CONTROL system in the voltage input signal as direct current generator driving telescope
Under the open loop input signal of system, the shafting speed responsive output signal of the direct current generator driving telescope；
Unit is iterated to calculate, at the beginning of the parameter preset according to the shafting speed responsive output signal, parameter to be identified
Value and default Iterative Matrix initial value, are iterated the iterative calculation of least-squares algorithm, obtain the convergence of the parameter to be identified
Estimated value；
Parameter calculation unit, for calculating the parameter to be identified according to the convergence estimate value.
The telescope shafting parameter identification method and device of above-mentioned direct current generator driving give one kind can online in real time
The shafting parameter Fast Identification Method of realization, when the equivalent moment of inertia of the telescope shafting of direct current generator driving changes
When, the new parameter identification result of controlled device, and calculating process of the invention can be rapidly provided by implementing the present invention
Can be with canbe used on line, primary experiment can be identified all parameters to be identified, and the identification time is short, and required shafting rotates angle
It is small, be conducive to Project Realization and application.
Detailed description of the invention
Fig. 1 is the process of the present invention telescope shafting parameter identification method that direct current generator drives in one embodiment
Schematic diagram；
Fig. 2 is the structure of the present invention telescope shafting parameter identification device that direct current generator drives in one embodiment
Schematic diagram.
Specific embodiment
Technical solution of the present invention is described in detail below in conjunction with attached drawing and preferred embodiment.The present invention relates to straight
Flow the telescope shafting parameter identification of torque motor driving, and in particular to the parameter identification of azimuth axle and the ginseng of pitching shafting
Number identification, since two axis are mutually indepedent, and driving principle is identical, therefore only with azimuth axle parameter in the embodiment of the present invention
It is described for identification, pitching shafting parameter identification method is identical as azimuth axle parameter identification method, and so it will not be repeated.
In one of the embodiments, as shown in Figure 1, a kind of telescope shafting parameter identification side of direct current generator driving
Method, method includes the following steps:
S100 obtains voltage input signal, and the voltage input signal meets the persistent excitation condition of parameter identification；
Open loop of the S200 acquisition in the voltage input signal as the servo-control system of direct current generator driving telescope
Under input signal, the shafting speed responsive output signal of the direct current generator driving telescope；
S300 is according to the parameter preset initial value and default iteration square of the shafting speed responsive output signal, parameter to be identified
Battle array initial value, is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of the parameter to be identified；
S400 calculates the parameter to be identified according to the convergence estimate value.
The telescope shafting of direct current generator driving of the present invention includes the azimuth axle of the telescope of direct current generator driving and bows
Face upward shafting, i.e., the prestige that the telescope shafting parameter identification method of direct current generator driving proposed by the invention drives direct current generator
The azimuth axle of remote mirror and the parameter identification of pitching shafting are applicable in.
According to the principle of direct current torque motor, the form of the telescope azimuth axis rotation equation of direct current generator driving is as follows:
Wherein, ω represents orientation axis angular rate, and u represents azimuth axis control voltage, and R is electric motor resistance, KTIt is turning for motor
Moment coefficient, J are telescope shafting equivalent moment of inertia, TmIt is telescope shafting mechanical time constant, τdIt is as caused by frictional force
Constant value disturbing moment.
Using it is preceding to Euler's method by equation (1) discretization, then have
Wherein, TsIt is the sampling period, enables φk=[ωk uk 1]T,Then (2) formula is writeable
For following form:
ωk+1=φk Tη (3)
The purpose of the present embodiment is exactly to treat identified parameters η to carry out on-line identification, when obtaining the estimated value of parameter η to be identifiedWhen, the estimated value of three parameters to be identified is given by
I.e.
Specifically, in the present embodiment, step S100 obtains voltage input signal and the voltage input signal meets parameter
The persistent excitation condition of identification, it is by Astrom that wherein persistent excitation condition, which is a mature concept in system identification theory,
It is proposed in nineteen sixty-five, it, which refers to, must be entered signal Persistent Excitation in the dynamic of identification time internal procedure, or test
Period, input signal must sufficiently motivate all mode of process.
It is former according to the principle of direct current torque motor and iterative least square algorithm as a kind of specific embodiment
Reason, the voltage input signal of acquisition can use a kind of control reference input that simplicity is easily realized realization, voltage input signal
Concrete form is as follows:
Wherein, C1And C2It is two constant value voltages and C1≠C2, t0For input voltage C1End time, tendFor input electricity
Press C2End time.Particularly, according to the experience of the telescope shafting parameter identification of direct current generator driving, C1It can beValue in section, C2It can beValue in section, wherein UcIt is the telescope axis of direct current generator driving
The busbar voltage of system, t0The value in the section [2s, 4s], tendIn [t0+2s,t0+ 4s] value in section, pass through selection
Suitable C1、C2、t0And tendIt can achieve relatively satisfied experimental result.
Open loop of the S200 acquisition in the voltage input signal as the servo-control system of direct current generator driving telescope
Under input signal, the shafting speed responsive output signal of the direct current generator driving telescope.In this step, with step S100
Open loop input signal of the voltage input signal of acquisition as the servo-control system of direct current generator driving telescope, it is defeated in voltage
Under the action of entering signal, the servo-control system of the telescope of direct current generator driving exports shafting speed responsive output signal, adopts
Collect the shafting speed responsive output signal.
In step S300, according to shafting speed responsive output signal, the parameter preset initial value of parameter to be identified and default
Iterative Matrix initial value is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of the parameter to be identified.?
In this step, it is preferable that parameter to be identified includes equivalent moment of inertia, the mechanical time of the telescope shafting of direct current generator driving
On the one hand constant and constant value disturbing moment, these identified parameters can be applied to the design of system modelling, emulation and controller, separately
It on the one hand, can when used telescope Spindle control algorithm depends on object parameters (such as inner membrance control method)
To use estimates of parameters to carry out real-time update to controller, so that control algolithm remains to reach when controlled device changes
High-precision control effect.When this step is iterated calculating using iterative least square algorithm, the initial value of iterative algorithm can be with
It is preset initial value, the parameter preset initial value η including parameter η to be identified0With Iterative Matrix PkDefault Iterative Matrix initial value P0,
According to the parameter preset initial value η of shafting speed responsive output signal, parameter to be identified0With default Iterative Matrix initial value P0, change
For the iterative calculation of least-squares algorithm, the convergence estimate value of parameter to be identified is obtained.This step is calculated by iterative least square
Method calculates the convergence estimate value of parameter to be identified, and detailed process is as follows:
Construct observation vector φk=[ωk uk 1]T, enableWherein, ukFor
Voltage input signal, ωkFor shafting speed responsive output signal, according to the principle of iterative least square algorithm, PkMeet following change
For calculation formula
And parameter η to be identified is in the iterative estimate value that kth walks
When iterating to calculate the estimated value of parameter η to be identified online, theoretically haveIf parameter η to be identified is in kth
The iterative estimate value η of stepk+1Convergence, then by estimated value ηk+1As convergence estimate value.According to emulation and practical experience, actually answering
With only needing several seconds time parameter η in the processk+1It can converge within the scope of the acceptable error of parameter true value, complete parameter
Identification.
Finally, calculating the parameter to be identified according to the convergence estimate value, circular is such as in step S400
Shown in formula (4).
As a kind of specific embodiment, when iterative calculation due to being iterated least-squares algorithm, knot is calculated
The convergence of fruit is not rely on the selection of initial value, therefore present embodiment can choose the initial value of following simple form, to subtract
The calculation amount iterated to calculate less improves the efficiency of parameter identification:
Choose the parameter preset initial value η of parameter η to be identified0For η0=[0 0 0]T；
Choose iterative least square algorithm default Iterative Matrix initial value be
In the telescope shafting parameter identification method for the direct current generator driving that the present embodiment is proposed and current engineering extensively
The multiple Open-loop Identification method used is compared, and method proposed by the invention, which only needs once to test, can be completed parameter to be identified
Estimation, and algorithm passes through the online real-time implementation of iteration, without being handled under line, the estimated value of direct output parameter after experiment,
The required identification time is short, while the angle of required shafting rotation is small, more conducively experimental implementation and realization.The present invention says the straight of proposition
Motor-driven telescope shafting parameter identification method is flowed to be particularly suitable for calculating the Fast Identification of airfield equipment parameter and control
The real-time quick update of parameter in method.
In one of the embodiments, as shown in Fig. 2, a kind of telescope shafting parameter identification dress of direct current generator driving
It sets, which includes:
Acquiring unit 100, for obtaining voltage input signal, the voltage input signal meets persistently swashing for parameter identification
Encourage condition；
Acquisition unit 200, for acquiring the servo control in the voltage input signal as direct current generator driving telescope
Under the open loop input signal of system processed, the shafting speed responsive output signal of the direct current generator driving telescope；
Unit 300 is iterated to calculate, for the parameter preset according to the shafting speed responsive output signal, parameter to be identified
Initial value and default Iterative Matrix initial value, are iterated the iterative calculation of least-squares algorithm, obtain the receipts of the parameter to be identified
Hold back estimated value；
Parameter calculation unit 400, for calculating the parameter to be identified according to the convergence estimate value.
The telescope shafting of direct current generator driving of the present invention includes the azimuth axle of the telescope of direct current generator driving and bows
Face upward shafting, i.e., the prestige that the telescope shafting parameter identification device of direct current generator driving proposed by the invention drives direct current generator
The azimuth axle of remote mirror and the parameter identification of pitching shafting are applicable in.
According to the principle of direct current torque motor, the form of the telescope azimuth axis rotation equation of direct current generator driving is as follows:
Wherein, ω represents orientation axis angular rate, and u represents azimuth axis control voltage, and R is electric motor resistance, KTIt is turning for motor
Moment coefficient, J are telescope shafting equivalent moment of inertia, TmIt is telescope shafting mechanical time constant, τdIt is as caused by frictional force
Constant value disturbing moment.
Using it is preceding to Euler's method by equation (1) discretization, then have
Wherein, TsIt is the sampling period, enables φk=[ωk uk 1]T,Then (2) formula is writeable
For following form:
ωk+1=φk Tη (3)
The purpose of the present embodiment is exactly to treat identified parameters η to carry out on-line identification, when obtaining the estimated value of parameter η to be identifiedWhen, the estimated value of three parameters to be identified is given by
I.e.
Specifically, in the present embodiment, acquiring unit 100 obtains voltage input signal and the voltage input signal meets ginseng
The persistent excitation conditions of number identification, wherein persistent excitation condition is one in system identification theory mature concept, be by
Astrom proposes that it, which refers to, must be entered signal Persistent Excitation in the dynamic of identification time internal procedure in nineteen sixty-five, or
During the experiment, input signal must sufficiently motivate all mode of process.
It is former according to the principle of direct current torque motor and iterative least square algorithm as a kind of specific embodiment
Reason, the voltage input signal that acquiring unit 100 obtains can use a kind of control reference input that simplicity is easily realized realization, voltage
The concrete form of input signal is as follows:
Wherein, C1And C2It is two constant value voltages and C1≠C2, t0For input voltage C1End time, tendFor input electricity
Press C2End time.Particularly, according to the experience of the telescope shafting parameter identification of direct current generator driving, C1It can beValue in section, C2It can beValue in section, wherein UcIt is the telescope axis of direct current generator driving
The busbar voltage of system, t0The value in the section [2s, 4s], tendIn [t0+2s,t0+ 4s] value in section, pass through to choose and close
Suitable C1、C2、t0And tendIt can achieve relatively satisfied experimental result.
Servo-control system of the acquisition of acquisition unit 200 in the voltage input signal as direct current generator driving telescope
Open loop input signal under, the shafting speed responsive output signal of direct current generator driving telescope.Acquiring unit 100 obtains
Voltage input signal as direct current generator driving telescope servo-control system open loop input signal, voltage input believe
Under the action of number, the servo-control system of the telescope of direct current generator driving exports shafting speed responsive output signal, and acquisition is single
Member 200 acquires the shafting speed responsive output signal.
Unit 300 is iterated to calculate according to shafting speed responsive output signal, the parameter preset initial value of parameter to be identified and pre-
If Iterative Matrix initial value is iterated the iterative calculation of least-squares algorithm, the convergence estimate value of the parameter to be identified is obtained.
Preferably, parameter to be identified includes the equivalent moment of inertia of telescope shafting of direct current generator driving, mechanical time constant and often
It is worth disturbing moment, on the one hand these identified parameters can be applied to the design of system modelling, emulation and controller, on the other hand,
When used telescope Spindle control algorithm depends on object parameters (such as inner membrance control method), ginseng can be used
Number estimated value carries out real-time update to controller, so that control algolithm remains to reach high-precision when controlled device changes
Control effect.Iterative calculation unit 300 is when being iterated calculating using iterative least square algorithm, and the initial value of iterative algorithm can be with
It is preset initial value, the parameter preset initial value η including parameter η to be identified0With Iterative Matrix PkDefault Iterative Matrix initial value P0,
Unit 300 is iterated to calculate according to the parameter preset initial value η of shafting speed responsive output signal, parameter to be identified0With default iteration
Matrix initial value P0, it is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of parameter to be identified.Iterative calculation
Unit 300 calculates the convergence estimate value of parameter to be identified by iterative least square algorithm, and detailed process is as follows:
Construct observation vector φk=[ωk uk 1]T, enableWherein, ukFor
Voltage input signal, ωkFor shafting speed responsive output signal, according to the principle of iterative least square algorithm, PkMeet following change
For calculation formula
And parameter η to be identified is in the iterative estimate value that kth walks
When iterating to calculate the estimated value of parameter η to be identified online, theoretically haveIf parameter η to be identified is in kth
The iterative estimate value η of stepk+1Convergence, then by estimated value ηk+1As convergence estimate value.According to emulation and practical experience, actually answering
With only needing several seconds time parameter η in the processk+1It can converge within the scope of the acceptable error of parameter true value, complete parameter
Identification.
Finally, parameter calculation unit 400 calculates the parameter to be identified, circular according to the convergence estimate value
As shown in formula (4).
As a kind of specific embodiment, since iterative calculation unit is iterated the iterative calculation of least-squares algorithm
When, the convergence of calculated result is not rely on the selection of initial value, therefore iterative calculation unit can select in present embodiment
The initial value of following simple form is taken, to reduce the calculation amount of iterative calculation, improves the efficiency of parameter identification:
Choose the parameter preset initial value η of parameter η to be identified0For η0=[0 0 0]T；
Choose iterative least square algorithm default Iterative Matrix initial value be
In the telescope shafting parameter identification device for the direct current generator driving that the present embodiment is proposed and current engineering extensively
The multiple Open-loop Identification device used is compared, and device proposed by the invention, which only needs once to test, can be completed parameter to be identified
Estimation, and algorithm passes through the online real-time implementation of iteration, without being handled under line, the estimated value of direct output parameter after experiment,
The required identification time is short, while the angle of required shafting rotation is small, more conducively experimental implementation and realization.The present invention says the straight of proposition
Motor-driven telescope shafting parameter identification device is flowed to be particularly suitable for calculating the Fast Identification of airfield equipment parameter and control
The real-time quick update of parameter in method.
The realization of its concrete function of each unit in the telescope shafting parameter identification device of direct current generator driving of the present invention
Method is referred to realization side described in the telescope shafting parameter identification method embodiment of above-mentioned direct current generator driving
Method, details are not described herein again.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (8)
1. a kind of telescope shafting parameter identification method of direct current generator driving, which comprises the following steps:
Voltage input signal is obtained, the voltage input signal meets the persistent excitation condition of parameter identification；
Acquire the open loop input signal in the voltage input signal as the servo-control system of direct current generator driving telescope
Under, the shafting speed responsive output signal of the direct current generator driving telescope；
According to the parameter preset initial value and default Iterative Matrix initial value of the shafting speed responsive output signal, parameter to be identified,
It is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate value of the parameter to be identified, the parameter to be identified
Equivalent moment of inertia, mechanical time constant and the constant value disturbing moment of telescope shafting including direct current generator driving；
The parameter to be identified is calculated according to the convergence estimate value.
2. the telescope shafting parameter identification method of direct current generator driving according to claim 1, which is characterized in that
The telescope shafting of the direct current generator driving includes the azimuth axle and pitching shafting of the telescope of direct current generator driving.
3. the telescope shafting parameter identification method of direct current generator driving according to claim 1 or 2, which is characterized in that
The voltage input signal u is
Wherein, C1And C2It is two constant value voltages and C1≠C2, t0For input voltage C1End time, tendFor input voltage C2's
End time.
4. the telescope shafting parameter identification method of direct current generator driving according to claim 1 or 2, which is characterized in that
The parameter preset initial value η of the parameter η to be identified0For η0=[0 0 0]T；
Iterative Matrix P in the iterative least square algorithmkThe default Iterative Matrix initial value be
5. a kind of telescope shafting parameter identification device of direct current generator driving characterized by comprising
Acquiring unit, for obtaining voltage input signal, the voltage input signal meets the persistent excitation condition of parameter identification；
Acquisition unit, for acquiring the servo-control system in the voltage input signal as direct current generator driving telescope
Under open loop input signal, the shafting speed responsive output signal of the direct current generator driving telescope；
Iterate to calculate unit, for according to the parameter preset initial value of the shafting speed responsive output signal, parameter to be identified and
Default Iterative Matrix initial value, is iterated the iterative calculation of least-squares algorithm, obtains the convergence estimate of the parameter to be identified
Value, the parameter to be identified include equivalent moment of inertia, the mechanical time constant of the telescope shafting of the direct current generator driving
With constant value disturbing moment；
Parameter calculation unit, for calculating the parameter to be identified according to the convergence estimate value.
6. the telescope shafting parameter identification device of direct current generator driving according to claim 5, which is characterized in that
The telescope shafting of the direct current generator driving includes the azimuth axle and pitching shafting of the telescope of direct current generator driving.
7. the telescope shafting parameter identification device of direct current generator driving according to claim 5 or 6, which is characterized in that
The voltage input signal u is
Wherein, C1And C2It is two constant value voltages and C1≠C2, t0For input voltage C1End time, tendFor input voltage C2's
End time.
8. the telescope shafting parameter identification device of direct current generator driving according to claim 5 or 6, which is characterized in that
The parameter preset initial value η of the parameter η to be identified0For η0=[0 0 0]T；
Iterative Matrix P in the iterative least square algorithmkThe default Iterative Matrix initial value be
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