CN109164709A - A kind of photoelectric follow-up control method based on lmproved Smith Estimator - Google Patents
A kind of photoelectric follow-up control method based on lmproved Smith Estimator Download PDFInfo
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- CN109164709A CN109164709A CN201811356145.XA CN201811356145A CN109164709A CN 109164709 A CN109164709 A CN 109164709A CN 201811356145 A CN201811356145 A CN 201811356145A CN 109164709 A CN109164709 A CN 109164709A
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Abstract
The photoelectric follow-up control method based on lmproved Smith Estimator that the present invention provides a kind of, for delay and interference rejection ability deficiency problem present in current photoelectric follow-up, it is reduced by using Smith time lag compensation principle and postpones the influence stable to system, classical Smith predictor control structure is improved simultaneously, realizing one kind not only can reduce time delay, moreover it is possible to effectively improve the control structure of system disturbance rejection ability.Its core is the thought with error-feedforward, and delay bring is influenced and disturbance quantity estimates, is then fed forward in the forward path of control loop, realizes delay compensation and disturbance compensation.This method not only solves delay to the adverse effect of system, and also further improves the Disturbance Rejection ability of system, keeps the stability of system stronger.
Description
Technical field
The invention belongs to system control fields, and in particular to a kind of photoelectric tracking system based on lmproved Smith Estimator
System control method is mainly used for sensor delay in compensation control system stabilized speed circuit and eliminates external disturbance to system
The influence of stability.
Background technique
Photoelectric follow-up receives the light radiation of selected moving target, and generates control signal to track target, answers extensively
For fields such as target following, space flight and astronomical observations.The closed-loop characteristic of photoelectric follow-up is severely limited by the low of detector
Sample rate and mechanical resonance.The assessment of its closed-loop characteristic depends on closed-loop bandwidth and AF panel performance.Past, researcher pass through
It increases speed ring, accelerates the combination of ring or velocity and acceleration ring to improve the nonlinear characteristic of controll plant, and obtain bigger
System stiffness.R.Yan proposes the combination of comprehensive disturbance observer and contragradience integral sliding mode control, to realize spacecraft attitude
Stablize.Doctor Deng Chao has studied the interference observer based on mems accelerometer, to improve the AF panel performance of system.But
Strategy before all has ignored the influence of sensor delay.
With the extension of photoelectric follow-up application field, to stability and tracking accuracy, more stringent requirements are proposed for it.
This also means that the influence of sensor delay be can not ignore.In the 1980s, fibre optic gyroscope (FOG) realizes inertia device
The breakthrough of part.Nowadays, it is widely used.In actual use in order to reduce the noise of FOG and ensure the measurement in engineering
Precision needs to be filtered the output signal of FOG, this brings significant delay to speed ring.Delay will limit speed ring
Bandwidth and reduce the non-linear rejection ability of control system.In addition, although speed feedback control is High Precision Robust controlling party
Method, but when by uncertain noises, the Disturbance Rejection performance of inertially stabilized platform is still insufficient.Therefore, stable control method
One of have been a hot spot of research.
Summary of the invention
Aiming at the problem that delay and disturbance that current photoelectric follow-up faces, the invention proposes a kind of follow-on controls
Technical method processed, this method not only can be with sensor delay links significant in compensation system by way of feedforward, moreover it is possible to have
Effect ground compensating disturbance, finally improves the stable loop bandwidth and Disturbance Rejection ability of system.
To achieve the purpose of the present invention, the present invention provides a kind of photoelectric follow-up based on lmproved Smith Estimator
Control method, the specific steps are as follows:
Step (1): according to the control loop of photoelectric follow-up, determine that the delay link of system has A/D and D/A conversion
Delay, signal transmission delay and sensor delay, wherein sensor delay can seriously affect system performance, and other postpone
Link is substantially negligible；
Step (2): big delay link is defined to the influence degree of system phase nargin and tracking bandwidth；
Step (3): in the stabilized speed circuit of photoelectric follow-up, Smith predictor is quoted.Control is estimated first
Then delay error is fed forward to before speed control by the delay error in circuit by way of feedforward.It is final to realize
Compensate the purpose of the delayed impact of gyrosensor；
Step (4): observing link based on the error in the circuit Smith, while the disturbance quantity of system being observed,
Disturbance wave filter is added in the feed-forward loop of Smith.Theory analysis finds that the lmproved Smith Estimator can be complete by disturbance
It eliminates.Its theoretical disturbance wave filter M are as follows:
M=e-Ls+[CvGve-Ls]-1
But in actual design disturbance wave filter, delay link e-LsIt cannot achieve, therefore be approximately 1 by it, together
When need to also be added in disturbance wave filter M,Item is to guarantee denominator order not less than molecule
Order and filter out high-frequency noise；
Wherein, L is retardation coefficient, CvFor speed control, GvFor speed controlled device, β is second-order low-pass filter system
Number.
Step (5): according to the electrical structure and mechanical structure of the fast anti-mirror system in photoelectric follow-up, correspondence is derived
Transfer function model, model reference is as follows:
Wherein, k, p1、p2, T be the undetermined parameter for needing to be fitted in fast anti-mirror system model；
Step (6): using above-mentioned lmproved Smith Estimator in the stabilized speed circuit in hair mirror control system fastly,
Measure the Disturbance Rejection ability of its speed closed loop bandwidth and system.Compared with the two close cycles of unused lmproved Smith Estimator,
The Disturbance Rejection ability of speed closed loop bandwidth and system has been significantly improved.
The invention has the following advantages over the prior art:
(1) delay link present in control system is defined.For the feature of photoelectric follow-up, find out to system
Performance influences maximum delay link.Analyze influence of the significant delay to the open loop characteristic of system.
(2) a kind of lmproved Smith Estimator suitable for stabilized speed circuit is devised, this method not only can be effective
Influence of the sensor delay to speed closed loop bandwidth is solved, and further improves system disturbance rejection ability.
(3) the lmproved Smith Estimator structure is simple, applied widely, and time lag compensation and disturbance compensation effect are good.
It can be in other inertially stabilized platforms there are same problem.
Detailed description of the invention
Fig. 1 describes the closed loop of photoelectric follow-up.
Fig. 2 describes influence of the delay link to system open loop characteristic.
Fig. 3 describes the double-closed-loop control principle of photoelectric follow-up described in the present invention.
Fig. 4 describes the typical Smith predictor realized in speed loop in the present invention.
Fig. 5 describes the lmproved Smith Estimator designed in the present invention.
Fig. 6, which is described, to be not used and using the speed closed loop result figure after lmproved Smith Estimator.
Fig. 7, which is described, to be not used and using the system disturbance suppression result figure after lmproved Smith Estimator.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention will be described in detail.
The single loop feedback arrangement block diagram of photoelectric follow-up as shown in Figure 1, which includes A/D, controller, D/A,
The links such as controlled device and sensor.In order to guarantee the stability of system, need for sensor delay ring layout in system
Corresponding compensation circuit.Simultaneously in order to solve the problems, such as system disturbance rejection ability deficiency, need to add disturbance compensation strategy simultaneously.
Therefore delay present in analysis system and perturbed problem are the theoretical basis solved the problems, such as, are designed accordingly according to theory analysis
Compensation control loop, specific implementation step is as follows:
Step (1): the delay link in photoelectric follow-up mainly includes 3 kinds: sensor delay, transmission delay and digital-to-analogue
Postpone with analog-to-digital conversion.It is wherein sensor delay to the maximum delay link of systematic influence, remaining delay link very little can
To ignore.Fig. 2 illustrates influence of the delay link to system, since the presence of delay link can reduce the phase margin of system,
The open-loop gain of influence system causes the closed-loop bandwidth of system to reduce；
Step (2): the double circle structure based on photoelectric follow-up shown in Fig. 3 has used Smith predictor in Fig. 4
Gyrosensor delay in velocity-stabilization circuit is compensated, the sensor delay link in speed loop is moved to speed
Spend the outside of closed loop；
Step (3): on the basis of step (2), disturbance wave filter M, final control structure block diagram such as Fig. 5 institute are introduced
Show.Then according to the disturbance transfer function of speed closed loop:
Design M disturbance wave filter.It is expected that DpMeet lims→0Dp=0.Therefore disturbance wave filter M optimal design is M=e-Ls+
[CvGve-Ls]-1.Since delay link cannot achieve in reality, so being approximately 1.It is added in filter M simultaneouslyTo guarantee denominator order not less than molecule order and filtering out high-frequency noise；
Wherein, DpThe disturbance transfer function of system is represented, L is retardation coefficient, CvFor speed control, GvIt is controlled for speed
Object, β are second-order low-pass filter coefficient.
Realization process of the invention and effect are carried out by taking the fast anti-mirror experimental system in photoelectric follow-up as an example below
It is described in detail:
(1): modelling by mechanism method is used, according to the physical characteristic of fast anti-mirror, the transmission function of building system anti-mirror fastly.
(2): the input and output signal that frequency of use specificity analysis instrument chooses fast anti-mirror is analyzed, and the frequency of signal is obtained
Rate, amplitude and phase information.
(3): the frequency characteristic data that measurement obtains controlled device being depicted as Bode figure, then passes through non-linear least square
Method fits the parameter of transmission function.
(4): corresponding speed control is designed according to the speed controlled device of fast anti-mirror, it is pre- in addition modified Smith
Device structure is estimated into speed closed loop.
(5): measuring its speed closed loop characteristic and system disturbance rejection characteristic, obtain the result of Fig. 6 and Fig. 7.
Claims (3)
1. a kind of photoelectric follow-up control method based on lmproved Smith Estimator, it is characterised in that: its specific steps is such as
Under:
Step (1): according to the control loop of photoelectric follow-up, the delay link of system, including A/D and D/A conversion are analyzed
Delay, signal transmission delay and sensor delay, determine to influence maximum delay link to system performance；Wherein, it passes through
Analysis and test are crossed, influence of the sensor delay to system performance is maximum, and the influence very little of other delay links, substantially
It can ignore；
Step (2): by the big delay link of frequency Bode map analysis to the phase margin of system, open-loop gain and closed-loop bandwidth
It influences；
Step (3): in the stabilized speed circuit of photoelectric follow-up, Smith predictor is quoted, Smith predictor is utilized
Error observation link estimates the delay error in control loop, and delay error is then fed forward to speed by way of feedforward
Before controller.Realize the purpose of the delayed impact of compensation gyrosensor；
Step (4): observing link based on the error in the circuit Smith, the disturbance quantity of system is also observed, Smith's
Disturbance wave filter is added in feed-forward loop, by theoretical model, its disturbance wave filter structure for optimizing of mathematical derivation,
Wherein, optimization disturbance wave filter theoretically can completely eliminate the disturbance of system, theoretical disturbance filtering
Device M are as follows:
M=e-Ls+[CvGve-Ls]-1
But in actual design disturbance wave filter, delay link e-LsIt cannot achieve, therefore be approximately 1 by it, simultaneously also
It need to be added in disturbance wave filter M,Item is to guarantee denominator order not less than molecule order
With filter out high-frequency noise；
Wherein, L is retardation coefficient, CvFor speed control, GvFor speed controlled device, β is second-order low-pass filter coefficient.
2. a kind of photoelectric follow-up control method based on lmproved Smith Estimator according to claim 1, special
Sign is: disturbance wave filter M is added in step (4), in the feed-forward loop of Smith to realize the compensation of system disturbance.
3. a kind of photoelectric follow-up control method based on lmproved Smith Estimator according to claim 1, special
Sign is: the theoretical optimal design of the disturbance wave filter M in step (4), and its is designed in systems in practice to delay link e-Ls
Processing mode andThe design of item is realized.
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Cited By (9)
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|---|---|---|---|---|
| CN109884882A (en) * | 2019-02-25 | 2019-06-14 | 中国科学院光电技术研究所 | A kind of photoelectric follow-up control method based on differential tracker |
| CN110068977A (en) * | 2019-04-08 | 2019-07-30 | 中国科学院光电技术研究所 | A kind of liquid crystal beam deflection method based on Smith predictor system |
| WO2020220469A1 (en) * | 2019-04-30 | 2020-11-05 | 东南大学 | Visual measurement time lag compensation method for photoelectric tracking system |
| WO2021097738A1 (en) * | 2019-11-21 | 2021-05-27 | 大连理工大学 | Aeroengine h∞ control method based on improved smith predictor |
| CN112906928A (en) * | 2019-12-03 | 2021-06-04 | 国网山西省电力公司电力科学研究院 | Wind power plant cluster active power prediction method and system |
| CN115933528A (en) * | 2022-11-03 | 2023-04-07 | 吉林大学 | Gantry machine tool large-inertia movable beam synchronous error compensation method considering communication time delay |
| CN116400603A (en) * | 2023-05-25 | 2023-07-07 | 南京信息工程大学 | Laser tracking control method of Smith predictor based on pseudo feedforward improvement |
| CN116820003A (en) * | 2023-06-27 | 2023-09-29 | 中国航发沈阳发动机研究所 | Spout bus communication control time lag threshold determining method |
| CN117471921A (en) * | 2023-12-26 | 2024-01-30 | 天津大学 | Disturbance observation suppression and target tracking system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109884882A (en) * | 2019-02-25 | 2019-06-14 | 中国科学院光电技术研究所 | A kind of photoelectric follow-up control method based on differential tracker |
| CN110068977A (en) * | 2019-04-08 | 2019-07-30 | 中国科学院光电技术研究所 | A kind of liquid crystal beam deflection method based on Smith predictor system |
| US11838636B2 (en) | 2019-04-30 | 2023-12-05 | Southeast University | Method for compensating for visual-measurement time lag of electro-optical tracking system |
| WO2020220469A1 (en) * | 2019-04-30 | 2020-11-05 | 东南大学 | Visual measurement time lag compensation method for photoelectric tracking system |
| WO2021097738A1 (en) * | 2019-11-21 | 2021-05-27 | 大连理工大学 | Aeroengine h∞ control method based on improved smith predictor |
| CN112906928A (en) * | 2019-12-03 | 2021-06-04 | 国网山西省电力公司电力科学研究院 | Wind power plant cluster active power prediction method and system |
| CN112906928B (en) * | 2019-12-03 | 2022-09-16 | 国网山西省电力公司电力科学研究院 | Wind power plant cluster active power prediction method and system |
| CN115933528A (en) * | 2022-11-03 | 2023-04-07 | 吉林大学 | Gantry machine tool large-inertia movable beam synchronous error compensation method considering communication time delay |
| CN116400603B (en) * | 2023-05-25 | 2023-09-12 | 南京信息工程大学 | Laser tracking control method of Smith predictor based on pseudo feedforward improvement |
| CN116400603A (en) * | 2023-05-25 | 2023-07-07 | 南京信息工程大学 | Laser tracking control method of Smith predictor based on pseudo feedforward improvement |
| CN116820003A (en) * | 2023-06-27 | 2023-09-29 | 中国航发沈阳发动机研究所 | Spout bus communication control time lag threshold determining method |
| CN116820003B (en) * | 2023-06-27 | 2024-03-19 | 中国航发沈阳发动机研究所 | Spout bus communication control time lag threshold determining method |
| CN117471921A (en) * | 2023-12-26 | 2024-01-30 | 天津大学 | Disturbance observation suppression and target tracking system |
| CN117471921B (en) * | 2023-12-26 | 2024-03-15 | 天津大学 | Disturbance observation suppression and target tracking system |
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