CN107065560A - A kind of two axle singular path photoelectric tracking control methods - Google Patents
A kind of two axle singular path photoelectric tracking control methods Download PDFInfo
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- CN107065560A CN107065560A CN201710340221.7A CN201710340221A CN107065560A CN 107065560 A CN107065560 A CN 107065560A CN 201710340221 A CN201710340221 A CN 201710340221A CN 107065560 A CN107065560 A CN 107065560A
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- powdered soil
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a kind of control method of the two axle singular path photoelectric trackings for powdered soil, including step：Obtain the mapping expression formula in the space for powdered soil；By the two axial coordinate model Polar coordinates of powdered soil；For powdered soil increase virtual route α so that by two axle movement and fantasy sport path sum be 0；Solve the singular point of powdered soil.There are problems that zenith blind zone instant invention overcomes the powdered soil of two axles.
Description
Technical field
Present invention relates in general to powdered soil technical field, a kind of two axles singular path light is related in particular to
Electric tracing control method.
Background technology
Powdered soil is the important component of the electro-optical systems such as space base, car, boat-carrying.Traditional powdered soil
The stable inertia of platform is realized by servo control mechanism and inertia device feedback, but it is big with volume, and SERVO CONTROL bandwidth is limited
Shortcoming.With the development of opto-electric stabilization technology, traditional powdered soil is unsuitable to require small volume spaces compact
There is zenith blind zone in system application, the powdered soil of particularly two axles so that needs be in blind area working range
System application is extremely limited.
Therefore, exist in the prior art to the damping during work of biaxial stabilization tracking system singular point can be increased, and
The need for the tenacious tracking control technology of stability in guarantee blind area working range.
The content of the invention
Singularity Analysis of the invention from blind area, the method by increasing virtual route generates new space and reflected
Penetrate, and carry out path prediction on this basis with planning, so that damping when increasing the work of biaxial stabilization tracking system singular point,
Ensure the stability in the working range of blind area.
In order to solve the above technical problems, technical scheme proposed by the present invention is：
A kind of control method of two axle singular path photoelectric trackings for powdered soil, including step：
Obtain the mapping expression formula in the space for powdered soil：
In formula, J is the rotary inertia of powdered soil,WithFor powdered soil two shaft platform speed in X
With the component in Y-direction
By the two axial coordinate model Polar coordinates of powdered soil：
For powdered soil increase virtual route α so that by two axle movement and fantasy sport path sum be 0；Institute
Increased virtual route meets following condition：
H=H (θ, α)=f (θ)-g (α)=0 formula 3
Solve the singular point of powdered soil.
Wherein, the singular point for solving powdered soil is specifically included：
The formula of step 20 is updated to the formula in step 30, obtained by resolving：
Compared with prior art, there are problems that zenith blind zone instant invention overcomes the powdered soil of two axles.By building
Vertical two axle polar coordinates manipulate model, and carry out Singularity Analysis to model, eventually through the method for increase virtual route, generate
New space reflection, and path prediction and planning are carried out on this basis, so as to solve the problems, such as zenith blind zone.
Brief description of the drawings
Fig. 1 shows the flow chart of two axle singular path photoelectric tracking control methods of embodiments of the invention.
Embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, develop simultaneously embodiment referring to the drawings, right
The present invention is further described.
The present invention sets up two axle polar coordinates and manipulates mould to overcome the powdered soil of two axles to there are problems that zenith blind zone
Type, and Singularity Analysis is carried out to model, eventually through the method for increase virtual route, generate new space reflection, and
Path prediction and planning are carried out on the basis of this, so as to solve the problems, such as zenith blind zone.
Fig. 1 shows two axle singular path photoelectric tracking control method flow charts of embodiments of the invention.Such as Fig. 1 institutes
Show, in step 10, the mapping expression formula in the space for powdered soil is obtained first.In embodiments of the invention, if surely
The two shaft platform speed for determining tracking platform are respectivelyWithMapping such as following formula by two axle point coordinates spaces：
In formula, J is the rotary inertia of powdered soil.
In step 20, the two axle Polar Coordinate Models for powdered soil are set up.For two axle systems, formula 1 can table
Up to for polar form：
Be powdered soil increase virtual route α in step 30 so that by two axle movement and fantasy sport path it
With for 0.Specifically, the increased virtual route of institute meets following condition：
H=H (θ, α)=f (θ)-g (α)=0 formula 3
Wherein, the variable that φ is and θ, α are associated.
In step 40, the singular point of powdered soil is solved.Specifically, the formula of step 20 is updated in step 30
Formula, pass through resolve obtain：
Wherein, ux and uy is solving result variable.According to formula 5, it will be appreciated by those skilled in the art that powdered soil exists
When being worked near singular point, pitch axis is positioned near singular point, and azimuth axis motion influence pitch axis motion rigidity.
The present invention realizes the tracking stability near the singular point of biaxial stabilization tracking platform.Specifically, by setting up
Two axle polar coordinates manipulate model, increase the method for virtual route, and carry out Singularity Analysis to model.In the present invention, due to increasing
Virtual route is added, has generated new space reflection, and carried out path prediction and planning on this basis, so that it is blind to solve top
Area's problem.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements done etc. should be included within the scope of protection of the invention.
Claims (2)
1. a kind of control method of two axle singular path photoelectric trackings for powdered soil, including step：
Obtain the mapping expression formula in the space for powdered soil：
In formula, J is the rotary inertia of powdered soil,WithFor powdered soil two shaft platform speed in X and Y side
Upward component
By the two axial coordinate model Polar coordinates of powdered soil：
For powdered soil increase virtual route α so that by two axle movement and fantasy sport path sum be 0；Increased
Virtual route meet following condition：
H=H (θ, α)=f (θ)-g (α)=0 formula 3
Wherein, the variable that φ is and θ, α are associated；
Solve the singular point of powdered soil.
2. control method as claimed in claim 1, wherein, the singular point for solving powdered soil is specifically included：
The formula of step 20 is updated to the formula in step 30, obtained by resolving：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710340221.7A CN107065560A (en) | 2017-05-15 | 2017-05-15 | A kind of two axle singular path photoelectric tracking control methods |
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| CN201710340221.7A CN107065560A (en) | 2017-05-15 | 2017-05-15 | A kind of two axle singular path photoelectric tracking control methods |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766777A (en) * | 2020-07-30 | 2020-10-13 | 北京环境特性研究所 | PID controller and PID control method |
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| CN101539420A (en) * | 2009-05-05 | 2009-09-23 | 中国科学院长春光学精密机械与物理研究所 | Method for tracking moving objects with horizontal electro-optic theodolite |
| US20100246886A1 (en) * | 2009-03-26 | 2010-09-30 | Kabushiki Kaisha Toshiba | Moving object image tracking apparatus and method |
| CN102168967A (en) * | 2011-03-18 | 2011-08-31 | 苏州信达光电科技有限公司 | Theodolite bracket for optical instrument and control method thereof |
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| CN101539420A (en) * | 2009-05-05 | 2009-09-23 | 中国科学院长春光学精密机械与物理研究所 | Method for tracking moving objects with horizontal electro-optic theodolite |
| CN102168967A (en) * | 2011-03-18 | 2011-08-31 | 苏州信达光电科技有限公司 | Theodolite bracket for optical instrument and control method thereof |
| CN103439977A (en) * | 2013-08-23 | 2013-12-11 | 西安应用光学研究所 | High-speed target tracking control method applied to photoelectric tracker |
| CN105698793A (en) * | 2015-07-06 | 2016-06-22 | 北京航天控制仪器研究所 | Servo loop decoupling method of four-axis inertial stable platform system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111766777A (en) * | 2020-07-30 | 2020-10-13 | 北京环境特性研究所 | PID controller and PID control method |
| CN111766777B (en) * | 2020-07-30 | 2023-06-16 | 北京环境特性研究所 | PID controller and PID control method |
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