CN108227507A - The subsequent light path chopper disk output frequency self-adaptation control method of laser radar and system - Google Patents
The subsequent light path chopper disk output frequency self-adaptation control method of laser radar and system Download PDFInfo
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- CN108227507A CN108227507A CN201810140672.0A CN201810140672A CN108227507A CN 108227507 A CN108227507 A CN 108227507A CN 201810140672 A CN201810140672 A CN 201810140672A CN 108227507 A CN108227507 A CN 108227507A
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- G—PHYSICS
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- 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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- 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
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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Abstract
The invention discloses a kind of subsequent light path chopper disk output frequency self-adaptation control method of laser radar and systems, the output that control voltage value is carried out using adaptive Fuzzy PID Control algorithm is controlled, effectively reduce the time lag characteristic of subsequent light path chopper disk, have both the rapidity of dynamic regulation and the stability of steady-state adjustment, driving motor rotating speed is controlled by second layer closed-loop control simultaneously, rotary speed unstabilization under the first layer closed-loop control that compensation driving motor carries is determined, and then the larger shake of subsequent light path chopper disk output frequency caused by overcoming a variety of environmental factors and controlling voltage dithering, so as to ensure the stability of laser radar echo signal starting altitude；In addition, directly quickly and accurately export the speed-frequency of subsequent light path chopper disk using rate-adaptive pacemaker device, the speed voltage signal exported compared to Hall sensor in driving motor is more accurately and reliably.
Description
Technical field
The present invention relates to the technical fields of laser radar, more specifically, are related to a kind of subsequent light path of laser radar and cut
CD output frequency self-adaptation control method and system.
Background technology
In recent decades, the more and more extensive detection for atmospheric parameter and Atmospheric components of laser radar.In order to obtain
The very weak echo-signal in far field, in Laser atmospheric detection, being usually taken increases laser emitting power and increase receiving telescope
The method of area.And both means the problem of being brought to laser radar is that near field echoes signal is very strong, laser radar system is visited
The dynamic range of survey is inadequate, it is difficult to be detected.At present, it is widely used that in laser radar system and passes through photomultiplier
Electron door control signal inhibit the strong echo-signal near field, the main function of gate is additional Transistor-Transistor Logic level so that photomultiplier
High-voltage signal be not added to multiplier tube photocathode and each amplifying stage, so as to photoelectric effect bombardment generate electronics do not put
Big formation circulation is output to multiplication tube anode.It is photoelectronic that this method inhibits the strong echo-signal near field to generate to a certain degree
It influences.But major defect existing for the method, which is the strong echo-signal near field, still radiates photocathode in photomultiplier
On, that the strong echo-signal near field is not fundamentally prevented to reach cathode material, the dizziness effects of photocathode photoelectric material its
It still has in fact.Influence distance of the dizziness effect for echo-signal is difficult numerically to estimate, near-field signals are stronger,
It is longer to influence distance.Therefore, in order to solve the problems, such as the basic inhibition of the strong echo-signal in laser radar near field, rotation at a high speed is usually utilized
The mechanical chopper piece turned to stop the strong echo-signal near field by certain sequential relationship.
We use laser radar multi-channel receiving light path high speed chopping the light in the ozone laser radar system of independent development
It during device, finds in long-time, due to the shake of a variety of environmental factors and motor control voltage, the output frequency of chopper disk
There are larger shake, the control accuracy of common pid (proportional-integral-differential) controller is larger but more for dynamic and stable state
Kind operating condition precision is high not enough.And larger frequency jitter can lead to the echo-signal transition section height of laser radar
The Forward of (refer to signal and start to open at complete opening) or pusher, this directly causes the larger of effective starting altitude of echo-signal
Variation to reduce influence of the frequency jitter to laser radar echo signal, carries out the output frequency of chopper disk stabilization and particularly must
It will.
Invention content
In view of this, the present invention provides a kind of subsequent light path chopper disk output frequency self-adaptation control methods of laser radar
And system, subsequent the larger of light path chopper disk output frequency caused by overcome a variety of environmental factors and control voltage dithering are trembled
It is dynamic, so as to ensure the stability of laser radar echo signal starting altitude.
To achieve the above object, technical solution provided by the invention is as follows：
A kind of subsequent light path chopper disk output frequency self-adaptation control method of laser radar, including：
Deviation and deviation variation rate are calculated according to the currently practical frequency that preset reference frequency and chopper disk export,
Control voltage value is determined by adaptive Fuzzy PID Control algorithm；
Motor driver is powered on according to the control voltage value, so that the motor driver exports the high rotating speed of high torque
The speed that Hall sensor returns in phase sequence voltage and the monitoring high rotating speed driving motor of high torque needed for driving motor rotation
Degree control signal, direction control signal and brake control signal, form first layer closed-loop control, wherein, the high torque height turns
Fast driving motor rotation drives the chopping the light disc spins；
Output characterizes the pulse duration frequency signal of the velocity of rotation of the chopper disk；
The actual frequency that the pulse duration frequency signal is obtained to be exported as the chopper disk forms second of closed loop control
System.
Optionally, determine that control voltage value includes by adaptive Fuzzy PID Control algorithm：
Fuzzy quantization processing is carried out to the deviation and the deviation variation rate；
Multiple control rules are determined, and carry out fuzzy reasoning and decision obtains fuzzy output according to fuzzy quantization handling result
Amount；
Ambiguity solution processing is carried out to fuzzy output amount, obtains three kinds of gain systems of the adaptive Fuzzy PID Control algorithm
Number；
According to three kinds of gain coefficients of the adaptive Fuzzy PID Control algorithm, the reference frequency and the current reality
Border frequency calculates the control voltage value.
Optionally, the adaptive Fuzzy PID Control algorithm uses Triangleshape grade of membership function.
Optionally, the progress fuzzy reasoning and decision obtain fuzzy output amount and include：
Fuzzy reasoning is carried out using Mamdani reasoning algorithms and decision obtains fuzzy output amount.
Optionally, it is described that the progress ambiguity solution processing of fuzzy output amount is included：
Ambiguity solution processing is carried out to fuzzy output amount using gravity model appoach.
Optionally, the actual frequency for obtaining the pulse duration frequency signal export as the chopper disk, formation the
Second closed loop control includes：
Multi-path synchronous pulse signal is generated according to the pulse duration frequency signal, wherein described in synchronization pulse is used as all the way
Main synchronizing clock signals needed for laser radar, the main synchronizing clock signals synchronize other portions in the laser radar after dividing
Part, and synchronization pulse is characterized as being digital output and is exported as the chopper disk all the way in remaining synchronization pulse
Actual frequency, formed second of closed-loop control.
Optionally, the currently practical frequency is the frequency signal after Kalman filtering.
Correspondingly, the present invention also provides a kind of subsequent light path chopper disk output frequency self adaptive control systems of laser radar
System, including：
Control computer, the control computer are used to be exported according to preset reference frequency and chopper disk current
Actual frequency calculates deviation and deviation variation rate, and control voltage value is determined by adaptive Fuzzy PID Control algorithm；
Programmable regulated power supply, the programmable regulated power supply are used for according to the control voltage value output relevant voltage pair
Motor driver powers on, so that the phase sequence voltage needed for the high rotating speed driving motor rotation of motor driver output high torque,
And speed control signal, direction control signal and the system that Hall sensor returns in the monitoring high rotating speed driving motor of high torque
Dynamic control signal, forms first layer closed-loop control, wherein, the high rotating speed driving motor rotation of high torque drives the chopper disk
Rotation；
Rate-adaptive pacemaker device, the rate-adaptive pacemaker device are believed for exporting the pulse frequency for the velocity of rotation for characterizing the chopper disk
Number；
And pulse processor, the pulse processor is for obtaining the pulse duration frequency signal using as the chopping the light
The actual frequency of disk output, forms second of closed-loop control.
Optionally, the control computer includes：
Deviation comparison module, the deviation comparison module are used for what is exported according to preset reference frequency and chopper disk
Currently practical frequency calculates deviation；
Change of error computing module, the change of error computing module are used to calculate the change of error according to the deviation
Rate；
Parameter self-tuning fuzzy PID controller, the parameter self-tuning fuzzy PID controller are used to become the deviation and the deviation
Rate carries out fuzzy quantization processing, and multiple control rules are determined, and carry out fuzzy reasoning and determine according to fuzzy quantization handling result
Plan obtains fuzzy output amount, carries out ambiguity solution processing to fuzzy output amount, obtains the three of the adaptive Fuzzy PID Control algorithm
Kind gain coefficient；
And proportional plus integral plus derivative controller, the proportional plus integral plus derivative controller are used for according to the adaptive fuzzy
Three kinds of gain coefficients, the reference frequency and the currently practical frequency of pid control algorithm calculate the control voltage value.
Optionally, the pulse processor includes digital delay impulse generator and pulse counter,
The digital delay impulse generator generates Multi-path synchronous pulse signal according to the pulse duration frequency signal, wherein one
Main synchronizing clock signals of the road synchronization pulse needed for as the laser radar, the main synchronizing clock signals are same after dividing
Other component in the laser radar is walked, and synchronization pulse is exported to the pulse all the way in remaining synchronization pulse
Counter；
The pulse counter is used to the synchronization pulse of acquisition being characterized as digital output to the control calculating
Machine using the actual frequency exported as the chopper disk, forms second of closed-loop control.
Compared to the prior art, technical solution provided by the invention has at least the following advantages：
MP1730543
The present invention provides a kind of subsequent light path chopper disk output frequency self-adaptation control method of laser radar and system, packets
It includes：Deviation and deviation variation rate are calculated according to the currently practical frequency that preset reference frequency and chopper disk export, passed through
Adaptive Fuzzy PID Control algorithm determines control voltage value；Motor driver is powered on according to the control voltage value, so that institute
State the phase sequence voltage and the monitoring high rotating speed of high torque needed for the high rotating speed driving motor rotation of motor driver output high torque
Speed control signal, direction control signal and the brake control signal that Hall sensor returns in driving motor form first layer
Closed-loop control, wherein, the high rotating speed driving motor rotation of high torque drives the chopping the light disc spins；Output characterizes the chopping the light
The pulse duration frequency signal of the velocity of rotation of disk；The practical frequency that the pulse duration frequency signal is obtained to be exported as the chopper disk
Rate forms second of closed-loop control.
As shown in the above, technical solution provided by the invention is controlled using adaptive Fuzzy PID Control algorithm
The output control of voltage value effectively reduces the time lag characteristic of subsequent light path chopper disk, has both the rapidity and stable state of dynamic regulation
The stability of adjusting, while driving motor rotating speed is controlled by second layer closed-loop control, compensation driving motor carries
Rotary speed unstabilization under first layer closed-loop control is determined, and then overcomes subsequent light path caused by a variety of environmental factors and control voltage dithering
The larger shake of chopper disk output frequency, so as to ensure the stability of laser radar echo signal starting altitude；In addition, using frequency
Rate follower directly quickly and accurately exports the speed-frequency of subsequent light path chopper disk, compared to Hall sensor in driving motor
The speed voltage signal of output is more accurately and reliably.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of subsequent light path chopper disk output frequency self adaptive control side of laser radar provided by the embodiments of the present application
The flow chart of method；
MP1730543
Fig. 2 is a kind of subsequent light path chopper disk output frequency self adaptive control system of laser radar provided by the embodiments of the present application
The structure diagram of system；
Fig. 3 is the subsequent light path chopper disk output frequency self adaptive control of another laser radar provided by the embodiments of the present application
The structure diagram of system；
Fig. 4 is a kind of structure diagram of parameter self-tuning fuzzy PID controller provided by the embodiments of the present application；
Fig. 5 is a kind of laser radar actual ghosts signal chopping the light height-change chart provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
As described in background, we use laser radar multi-channel in the ozone laser radar system of independent development
During receiving light path high speed chopping the light device, find long-time in, due to a variety of environmental factors and motor control voltage shake,
For the output frequency of chopper disk there are larger shake, the control accuracy of common pid (proportional-integral-differential) controller is larger still
It is high not enough for dynamic and a variety of operating condition precision of stable state.And larger frequency jitter can cause the echo of laser radar to be believed
The Forward of number transition section height (refer to signal and start to open at complete opening) or pusher, this directly causes the effective of echo-signal
The large change of starting altitude, to reduce influence of the frequency jitter to laser radar echo signal, to the output frequency of chopper disk
Stablize particularly necessary.
Based on this, the embodiment of the present application provides a kind of subsequent light path chopper disk output frequency self adaptive control of laser radar
Method and system, subsequent light path chopper disk output frequency is larger caused by overcome a variety of environmental factors and control voltage dithering
Shake, so as to ensure the stability of laser radar echo signal starting altitude.To achieve the above object, the embodiment of the present application provides
Technical solution it is as follows, specifically technical solution provided by the embodiments of the present application is described in detail with reference to Fig. 1 to Fig. 5.
Refering to what is shown in Fig. 1, for a kind of subsequent light path chopper disk output frequency of laser radar provided by the embodiments of the present application certainly
The flow chart of adaptive control method, wherein, self-adaptation control method includes：
S1, the currently practical frequency exported according to preset reference frequency and chopper disk calculate deviation and change of error
Rate determines control voltage value by adaptive Fuzzy PID Control algorithm；
S2, motor driver is powered on according to the control voltage value, so that motor driver output high torque is high
Hall sensor returns in phase sequence voltage and the monitoring high rotating speed driving motor of high torque needed for the rotation of rotating speed driving motor
Speed control signal, direction control signal and brake control signal, formed first layer closed-loop control, wherein, the high torque
High rotating speed driving motor rotation drives the chopping the light disc spins；
S3, output characterize the pulse duration frequency signal of the velocity of rotation of the chopper disk；
S4, actual frequency of the pulse duration frequency signal to be exported as the chopper disk is obtained, forms second of closed loop
Control.
As shown in the above, technical solution provided by the embodiments of the present application, using adaptive Fuzzy PID Control algorithm into
The output control of row control voltage value effectively reduces the time lag characteristic of subsequent light path chopper disk, has both the rapidity of dynamic regulation
With the stability of steady-state adjustment, while driving motor rotating speed is controlled by second layer closed-loop control, compensate driving motor
Rotary speed unstabilization under included first layer closed-loop control is determined, so overcome a variety of environmental factors and control voltage dithering caused by after
After the larger shake of light path chopper disk output frequency, so as to ensure the stability of laser radar echo signal starting altitude；In addition,
The speed-frequency of subsequent light path chopper disk is directly quickly and accurately exported using rate-adaptive pacemaker device, compared to Hall in driving motor
The speed voltage signal of sensor output is more accurately and reliably.
In one embodiment of the application, what the application provided determines control voltage by adaptive Fuzzy PID Control algorithm
Value includes：
Fuzzy quantization processing is carried out to the deviation and the deviation variation rate；
Multiple control rules are determined, and carry out fuzzy reasoning and decision obtains fuzzy output according to fuzzy quantization handling result
Amount；
Ambiguity solution processing is carried out to fuzzy output amount, obtains three kinds of gain systems of the adaptive Fuzzy PID Control algorithm
Number；
According to three kinds of gain coefficients of the adaptive Fuzzy PID Control algorithm, the reference frequency and the current reality
Border frequency calculates the control voltage value.
In one embodiment of the application, the adaptive Fuzzy PID Control algorithm that the application provides is subordinate to using triangle
Category degree function.
In one embodiment of the application, the carry out fuzzy reasoning and decision that the application provides obtain fuzzy output amount packet
It includes：
Fuzzy reasoning is carried out using Mamdani reasoning algorithms and decision obtains fuzzy output amount.
In one embodiment of the application, described handle fuzzy output amount progress ambiguity solution that the application provides includes：
Ambiguity solution processing is carried out to fuzzy output amount using gravity model appoach.
And in one embodiment of the application, the acquisition pulse duration frequency signal that the application provides is using as institute
The actual frequency of chopper disk output is stated, second of closed-loop control is formed and includes：
Multi-path synchronous pulse signal is generated according to the pulse duration frequency signal, wherein described in synchronization pulse is used as all the way
Main synchronizing clock signals needed for laser radar, the main synchronizing clock signals synchronize other portions in the laser radar after dividing
Part, and synchronization pulse is characterized as being digital output and is exported as the chopper disk all the way in remaining synchronization pulse
Actual frequency, formed second of closed-loop control.
Further, the currently practical frequency that the application provides is the frequency signal after Kalman filtering.
Correspondingly, to additionally provide a kind of subsequent light path chopper disk output frequency of laser radar self-adaptive controlled for the embodiment of the present application
System processed, refering to what is shown in Fig. 2, adaptive for a kind of subsequent light path chopper disk output frequency of laser radar provided by the embodiments of the present application
The structure diagram of control system is answered, wherein, adaptive control system includes：
Control computer 100, the control computer 100 are used to be exported according to preset reference frequency and chopper disk
Currently practical frequency calculate deviation and deviation variation rate, control voltage value is determined by adaptive Fuzzy PID Control algorithm；
Programmable regulated power supply 200, the programmable regulated power supply 200 is used for should according to the control voltage value the output phase
Voltage powers on motor driver 300, so that the motor driver 300 exports the high rotating speed driving motor 400 of high torque and rotates
The speed control letter that Hall sensor returns in required phase sequence voltage and the monitoring high rotating speed driving motor 400 of high torque
Number, direction control signal and brake control signal, form first layer closed-loop control, wherein, the high rotating speed driving electricity of high torque
The rotation of machine 400 drives the chopper disk 500 to rotate；
Rate-adaptive pacemaker device 600, the rate-adaptive pacemaker device 600 characterize the velocity of rotation of the chopper disk 500 for output
Pulse duration frequency signal；
And pulse processor 700, the pulse processor 700 is for obtaining the pulse duration frequency signal using as institute
The actual frequency of the output of chopper disk 500 is stated, forms second of closed-loop control.
As shown in the above, technical solution provided by the embodiments of the present application, using adaptive Fuzzy PID Control algorithm into
The output control of row control voltage value effectively reduces the time lag characteristic of subsequent light path chopper disk, has both the rapidity of dynamic regulation
With the stability of steady-state adjustment, while driving motor rotating speed is controlled by second layer closed-loop control, compensate driving motor
Rotary speed unstabilization under included first layer closed-loop control is determined, so overcome a variety of environmental factors and control voltage dithering caused by after
After the larger shake of light path chopper disk output frequency, so as to ensure the stability of laser radar echo signal starting altitude；In addition,
The speed-frequency of subsequent light path chopper disk is directly quickly and accurately exported using rate-adaptive pacemaker device, compared to Hall in driving motor
The speed voltage signal of sensor output is more accurately and reliably.
Refering to what is shown in Fig. 3, for the subsequent light path chopper disk output frequency of another laser radar provided by the embodiments of the present application
The structure diagram of adaptive control system, wherein, the control computer 100 provided by the embodiments of the present application includes：
Deviation comparison module 110, the deviation comparison module 110 are used for according to preset reference frequency and chopper disk
The currently practical frequency of output calculates deviation；
Change of error computing module 120, the change of error computing module 120 are used to be calculated according to the deviation described inclined
Poor change rate；
Parameter self-tuning fuzzy PID controller 130, the parameter self-tuning fuzzy PID controller 130 are used for the deviation and described
Deviation variation rate carries out fuzzy quantization processing, and multiple control rules are determined, and carry out fuzzy push away according to fuzzy quantization handling result
Reason and decision obtain fuzzy output amount, and ambiguity solution processing is carried out to fuzzy output amount, obtain the adaptive Fuzzy PID Control and calculate
Three kinds of gain coefficients of method；
And proportional plus integral plus derivative controller 140, the proportional plus integral plus derivative controller 140 are used for according to described adaptive
Three kinds of gain coefficients, the reference frequency and the currently practical frequency of Fuzzy PID is answered to calculate the control electricity
Pressure value.
In one embodiment of the application, control computer provided by the embodiments of the present application be equipped with voluntarily write carry from
The control software of suitable solution algorithm, control software are calculated according to preset reference frequency and currently practical frequency
Control voltage value needed for stable frequency, and then export and powered on to power supply structure with the motor driver to chopping the light disc system
And change the rotating speed of the driving electrodes of its connection, and then change the rotating speed of chopper disk.Wherein, control computer is mainly completed following
Work：
Reference frequency is preset, obtains the currently practical frequency of chopper disk output；To reference frequency and currently practical frequency
Size between rate is compared, and judges the deviation size of the two, meanwhile, compare ratio of this deviation to last time deviation,
And the change direction of judgment bias obtains deviation variation rate；Then parameter self-tuning fuzzy PID controller passes through Adaptive Fuzzy PID control
Algorithm adaptively changing ratio processed, integration and differential coefficient, i.e. parameter self-tuning fuzzy PID controller according to the size of this deviation and
It is regular to determine that several are controlled for the change direction of deviation, and is superimposed different gains according to different control rules, adjusts respectively certainly
Adapt to three kinds of gain coefficients of Fuzzy PID；Finally according to the three of adaptive Fuzzy PID Control algorithm kinds of gain coefficients
Corresponding control voltage value is calculated with deviation, then the control voltage value is exported to programmable regulated power supply, makes may be programmed
Regulated power supply the output phase answers DC voltage to be powered on to motor driver (in addition, being carried out in DC voltage to motor driver
Power on and control driving motor simultaneously, also control disturbance amount impacts driving motor rotating speed, i.e., external environmental interference because
Element impacts driving motor), and then the subsequent light path chopper disk output frequency of laser radar is controlled, this process constantly carries out,
Achieve the effect that the subsequent light path chopper disk output frequency of long-time stable.
Further, control computer provided by the embodiments of the present application is additionally operable to the reference frequency of display setting, practical frequency
The judgement carried out in rate and its course of work and result of calculation.And control computer is additionally operable to stored reference frequency, practical frequency
The judgement carried out in rate and its course of work and result of calculation, to be preserved and to be shown at the end of work and to working
The intermediate result of each link of process is preserved and is played back display.
Refering to what is shown in Fig. 4, for a kind of structure diagram of parameter self-tuning fuzzy PID controller provided by the embodiments of the present application,
Wherein, parameter self-tuning fuzzy PID controller 130 provided by the embodiments of the present application includes the fuzzier unit 131 of input variable, obscures
Reasoning element 132, fuzzy rule base 133 conciliate blur unit 134；The input signal of the fuzzier unit 131 for deviation and
Deviation variation rate, the output terminal of fuzzier unit 131 are connect with the input terminal of fuzzy reasoning unit 132, fuzzy reasoning unit 132
Output terminal connect with the input terminal of ambiguity solution unit 134, the input terminal of the ambiguity solution unit 134 has also inputted controlled variable
Deviation and controlled variable deviation variation rate.In one embodiment of the application, the adaptive Fuzzy PID Control of the application offer
Device is using Triangleshape grade of membership function.
Mamdani reasoning algorithms may be used in fuzzy reasoning unit 132 provided by the embodiments of the present application, as shown in Table 1
A Kp (proportionality coefficient) fuzzy control rule table provided by the embodiments of the present application, E and EC be respectively deviation and deviation variation rate into
Row fuzzy quantization treated fuzzy quantity, it can be seen that the control rule format that the reasoning algorithm uses for：
If NB and NS, then PM
If NM and NM, then PB
……
If PB and PM, then NB
Wherein, NB, NS and PB etc. are the fuzzy sets on different domains.
Table 1
And gravity model appoach may be used in ambiguity solution unit 134 provided by the embodiments of the present application, formula is as follows：
U (x in formulai) be fuzzy reasoning unit fuzzy output amount, n be master control rule number, xiIt is the regular number i of control
Corresponding value, U are fuzzy control final output values.Finally, three kinds of gain coefficients of ambiguity solution unit output pid algorithm.
Finally, proportional plus integral plus derivative controller 140 (compares according to three kinds of gain coefficients of adaptive Fuzzy PID Control algorithm
Example COEFFICIENT K p, integral coefficient Ki and differential coefficient Kd), reference frequency r (t) and currently practical frequency y (t) calculate the control electricity
Pressure value u (t), equation below：
Wherein, e (t)=r (t)-y (t), Ti be integration time constant and Ki=Kp/Ti, Td be derivative time constant and
Kd=Kp*Td.
The subsequent light path chopping the light disc system of laser radar has its own characteristic, output frequency self-adaptation control method control system
The adjustment of parameter need to combine control object characteristic and carry out, and all parameters described in above-mentioned formula can be directed to the variation of system
It is manually set by control software, the design parameter of system all can show and change on the computer screen, and operating personnel can be with
It is conveniently operated the data of change system.
Said program based on the embodiment of the present invention is tested, and above device laser radar number is had recorded in the experiment
According to four hour laser radar chopping the light height of acquisition as a result, as shown in figure 5, Fig. 5 is provided by the embodiments of the present application a kind of sharp
Optical radar actual ghosts signal chopping the light height-change chart, it can be seen from the figure that chopping the light is highly basically stable at about 184.32m models
In enclosing, respective frequencies variation is stablized in the range of about ± 0.0246Hz.
In one embodiment of the application, the rate-adaptive pacemaker device that the application provides can be by light emitting diode, photoelectric tube group
Into opto-electronic conversion trigger output circuit, high torque high rotating speed driving motor driving chopper disk rotates according to certain speed, cuts
With multiple notches on CD, it is defeated that notch cuts the echo-signal of receiving telescope and cutting opto-electronic conversion triggering in laser radar
Go out circuit, notch cutting opto-electronic conversion trigger output circuit output represents the pulse duration frequency signal of chopper disk velocity of rotation.
In one embodiment of the application, refering to what is shown in Fig. 3, the pulse processor 700 provided by the embodiments of the present application wraps
Digital delay impulse generator 710 and pulse counter 720 are included,
The digital delay impulse generator 710 generates Multi-path synchronous pulse signal according to the pulse duration frequency signal,
In main synchronizing clock signals of the synchronization pulse needed for as the laser radar all the way, the main synchronizing clock signals frequency dividing
After synchronize other component in the laser radar, and synchronization pulse is exported to described all the way in remaining synchronization pulse
Pulse counter；
The synchronization pulse of acquisition by being characterized as based on digital output to the control by the pulse counter 720
Calculation machine 100 using the actual frequency exported as the chopper disk, forms second of closed-loop control.
And refering to what is shown in Fig. 3, the subsequent light path chopper disk output frequency of laser radar provided by the embodiments of the present application is adaptive
Control system is answered to further include a Kalman filter 800, the frequency of 800 pulse count device of Kalman filter output carries out
Filtered frequency is exported after filtering out measurement noise and system noise.Wherein, Kalman filtering is for the control system at each moment
Unite error and measurement error, if their statistical property is made it is certain appropriate it is assumed that by believing noise-containing observation
It number is handled, just can acquire estimated value of the error for minimum actual signal in the sense that average.
The embodiment of the present application provide a kind of subsequent light path chopper disk output frequency self-adaptation control method of laser radar and
System, including：Deviation and change of error are calculated according to the currently practical frequency that preset reference frequency and chopper disk export
Rate determines control voltage value by adaptive Fuzzy PID Control algorithm；According to the control voltage value on motor driver
Electricity, so that phase sequence voltage and the monitoring height needed for the high rotating speed driving motor rotation of motor driver output high torque
Speed control signal, direction control signal and the brake control signal that Hall sensor returns in the high rotating speed driving motor of torque,
First layer closed-loop control is formed, wherein, the high rotating speed driving motor rotation of high torque drives the chopping the light disc spins；Export table
Levy the pulse duration frequency signal of the velocity of rotation of the chopper disk；The pulse duration frequency signal is obtained to be exported as the chopper disk
Actual frequency, formed second of closed-loop control.
As shown in the above, technical solution provided by the embodiments of the present application, using adaptive Fuzzy PID Control algorithm into
The output control of row control voltage value effectively reduces the time lag characteristic of subsequent light path chopper disk, has both the rapidity of dynamic regulation
With the stability of steady-state adjustment, while driving motor rotating speed is controlled by second layer closed-loop control, compensate driving motor
Rotary speed unstabilization under included first layer closed-loop control is determined, so overcome a variety of environmental factors and control voltage dithering caused by after
After the larger shake of light path chopper disk output frequency, so as to ensure the stability of laser radar echo signal starting altitude；In addition,
The speed-frequency of subsequent light path chopper disk is directly quickly and accurately exported using rate-adaptive pacemaker device, compared to Hall in driving motor
The speed voltage signal of sensor output is more accurately and reliably.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide range caused.
Claims (10)
1. a kind of subsequent light path chopper disk output frequency self-adaptation control method of laser radar, which is characterized in that including：
Deviation and deviation variation rate are calculated according to the currently practical frequency that preset reference frequency and chopper disk export, passed through
Adaptive Fuzzy PID Control algorithm determines control voltage value；
Motor driver is powered on according to the control voltage value, so that the high rotating speed driving of motor driver output high torque
The speed control that Hall sensor returns in phase sequence voltage and the monitoring high rotating speed driving motor of high torque needed for motor rotation
Signal processed, direction control signal and brake control signal form first layer closed-loop control, wherein, the high rotating speed of high torque drives
Dynamic motor rotation drives the chopping the light disc spins；
Output characterizes the pulse duration frequency signal of the velocity of rotation of the chopper disk；
The actual frequency that the pulse duration frequency signal is obtained to be exported as the chopper disk forms second of closed-loop control.
2. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 1, feature
It is, determines that control voltage value includes by adaptive Fuzzy PID Control algorithm：
Fuzzy quantization processing is carried out to the deviation and the deviation variation rate；
Multiple control rules are determined, and carry out fuzzy reasoning and decision obtains fuzzy output amount according to fuzzy quantization handling result；
Ambiguity solution processing is carried out to fuzzy output amount, obtains three kinds of gain coefficients of the adaptive Fuzzy PID Control algorithm；
According to three kinds of gain coefficients of the adaptive Fuzzy PID Control algorithm, the reference frequency and the currently practical frequency
Rate calculates the control voltage value.
3. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 1, feature
It is, the adaptive Fuzzy PID Control algorithm uses Triangleshape grade of membership function.
4. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 2, feature
It is, the progress fuzzy reasoning and decision obtain fuzzy output amount and include：
Fuzzy reasoning is carried out using Mamdani reasoning algorithms and decision obtains fuzzy output amount.
5. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 2, feature
It is, it is described that the progress ambiguity solution processing of fuzzy output amount is included：
Ambiguity solution processing is carried out to fuzzy output amount using gravity model appoach.
6. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 1, feature
It is, the actual frequency for obtaining the pulse duration frequency signal to be exported as the chopper disk forms second of closed loop control
System includes：
Multi-path synchronous pulse signal is generated according to the pulse duration frequency signal, wherein synchronization pulse is as the laser all the way
Main synchronizing clock signals needed for radar, the main synchronizing clock signals synchronize other component in the laser radar after dividing,
And synchronization pulse is characterized as being what digital output was exported as the chopper disk all the way in remaining synchronization pulse
Actual frequency forms second of closed-loop control.
7. the subsequent light path chopper disk output frequency self-adaptation control method of laser radar according to claim 1, feature
It is, the currently practical frequency is the frequency signal after Kalman filtering.
8. a kind of subsequent light path chopper disk output frequency adaptive control system of laser radar, which is characterized in that including：
Control computer, the control computer are used to be exported according to preset reference frequency and chopper disk currently practical
Frequency calculates deviation and deviation variation rate, and control voltage value is determined by adaptive Fuzzy PID Control algorithm；
Programmable regulated power supply, the programmable regulated power supply are used to export relevant voltage to motor according to the control voltage value
Driver powers on, so that phase sequence voltage and prison needed for the high rotating speed driving motor rotation of motor driver output high torque
Survey the speed control signal, direction control signal and braking control that Hall sensor returns in the high rotating speed driving motor of the high torque
Signal processed forms first layer closed-loop control, wherein, the high rotating speed driving motor rotation of high torque drives the chopping the light to spiral
Turn；
Rate-adaptive pacemaker device, the rate-adaptive pacemaker device characterize the pulse duration frequency signal of the velocity of rotation of the chopper disk for output；
And pulse processor, the pulse processor is for obtaining the pulse duration frequency signal using defeated as the chopper disk
The actual frequency gone out forms second of closed-loop control.
9. the subsequent light path chopper disk output frequency adaptive control system of laser radar according to claim 8, feature
It is, the control computer includes：
Deviation comparison module, the deviation comparison module are used to be exported according to preset reference frequency and chopper disk current
Actual frequency calculates deviation；
Change of error computing module, the change of error computing module are used to calculate the deviation variation rate according to the deviation；
Parameter self-tuning fuzzy PID controller, the parameter self-tuning fuzzy PID controller are used for the deviation and the deviation variation rate
Fuzzy quantization processing is carried out, multiple control rules are determined, and carry out fuzzy reasoning and decision is obtained according to fuzzy quantization handling result
To fuzzy output amount, ambiguity solution processing is carried out to fuzzy output amount, obtains three kinds of increasings of the adaptive Fuzzy PID Control algorithm
Beneficial coefficient；
And proportional plus integral plus derivative controller, the proportional plus integral plus derivative controller are used for according to the Adaptive Fuzzy PID control
Three kinds of gain coefficients, the reference frequency and the currently practical frequency of algorithm processed calculate the control voltage value.
10. the subsequent light path chopper disk output frequency adaptive control system of laser radar according to claim 8, feature
It is, the pulse processor includes digital delay impulse generator and pulse counter,
The digital delay impulse generator generates Multi-path synchronous pulse signal according to the pulse duration frequency signal, wherein same all the way
Main synchronizing clock signals of the step pulse signal needed for as the laser radar, the main synchronizing clock signals synchronous institute after dividing
Other component in laser radar is stated, and synchronization pulse is exported to the step-by-step counting all the way in remaining synchronization pulse
Device；
The pulse counter is used to the synchronization pulse of acquisition being characterized as digital output to the control computer, with
As the actual frequency of chopper disk output, second of closed-loop control is formed.
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