CN109471459A - A kind of north finder transposition control device and method using step integration PI algorithm - Google Patents
A kind of north finder transposition control device and method using step integration PI algorithm Download PDFInfo
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- CN109471459A CN109471459A CN201811325238.6A CN201811325238A CN109471459A CN 109471459 A CN109471459 A CN 109471459A CN 201811325238 A CN201811325238 A CN 201811325238A CN 109471459 A CN109471459 A CN 109471459A
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- control
- angle
- fpga
- dsp
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/58—Turn-sensitive devices without moving masses
- G01C19/64—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams
- G01C19/72—Gyrometers using the Sagnac effect, i.e. rotation-induced shifts between counter-rotating electromagnetic beams with counter-rotating light beams in a passive ring, e.g. fibre laser gyrometers
- G01C19/721—Details
Abstract
The present invention relates to a kind of north finder transposition control device and methods using step integration PI algorithm, described device includes torque motor, Circular gratings angular transducer, FPGA, DSP, H bridge driver, RS232 transceiver, Circular gratings angular transducer acquisition angles data information, the information is issued into FPGA, FPGA transfers data to DSP by data/address bus, and DSP passes through H bridge driver driving moment motor；Meanwhile serial ports control module is write using FPGA, and correspondence with foreign country is realized by RS232 transceiver.The present invention is directed to requirement of the high-precision optical fiber gyro north finder to rotating mechanism angle control precision, novel transposition control device is built, innovatively propose step integration PI control algolithm, and application is successfully realized in north finder system, angle SERVO CONTROL precision and stability is above ± 3 "; while by the integral parameter of reasonable disposition starting and braking response process, settling time is greatly shortened, is created condition to realize that the quick high accuracy of north finder seeks north.
Description
Technical field
The invention belongs to technical field of navigation and positioning, are related to high-precision optical fiber gyro north finder, and especially a kind of use is divided
Walk the north finder transposition control device and method of integral PI algorithm.
Background technique
Fiber gyro north seeker realizes the transposition control of the sensing elements such as gyro, accelerometer using rotating mechanism, passes through
The sensitive amount for acquiring inertial measurement cluster (IMU), is resolved using north-seeking algorithm, and the IMU posture amount superposition calculated and outputted turns
Parallactic angle degree obtains final attitude of carrier.Traditional north finder generallys use motor driven rotary part and goes to special angle, leads to
It crosses the movement of electromagnetism pin pedestal and rotary part are connected, enrolls the gyro and inclination angle sensor data of a period of time.Using the party
The advantages of method is: of less demanding to control algolithm, data stability collected is good after locking, but it locks angle repeatability
It is limited by structural member precision, is difficult to meet high-precision north finder demand, while can only realize using which and specifically seek northern calculation
Method is unfavorable for the realization of novel high-precision north-seeking algorithm.
By the retrieval of patent document, such as next chapter correlation patent document is only found:
A kind of quick gyroscope north searching instrument any position control indexing mechanism (203375968U), including bracket, the bracket
It is connect by first bearing with the gyro installation chamber that internal stent is arranged, second bearing, institute is set below the gyro installation chamber
It states and torque motor is set below second bearing, absolute type photoelectricity editing machine is set below the torque motor.The utility model energy
It is enough effectively to realize any position angle finding position fixing, course effect is eliminated, realizes that the comprehensive any position high-precision of gyroscope north searching instrument is sought
North.
By the comparison of technical characteristic, Article Ⅰ patent document, be only innovated in mechanism, and the innovation with
The present patent application is not identical, is not also related to the control method of the present patent application, therefore will not influence the creativeness of the present patent application.
Summary of the invention
It is an object of the invention to provide a kind of height using step integration PI algorithm in place of overcome the deficiencies in the prior art
Precision north finder transposition control device and method, the control device have the functions such as angle measurement, communication interface, motor driven,
Simultaneously as the carrier for seeking north resolving and the realization of transposition control algorithm.
The present invention realizes that the technical solution of purpose is:
A kind of north finder transposition control device using step integration PI algorithm, it is characterised in that: the control device packet
Include torque motor, angle measurement element Circular gratings angular transducer, FPGA, DSP, H bridge driver, RS232 transceiver, angle measurement element circle
The information is issued FPGA by Grating Angle Sensor acquisition angles data information, and FPGA is transferred data to by data/address bus
DSP, DSP pass through H bridge driver driving moment motor；Meanwhile serial ports control module is write using FPGA, and receive by RS232
It sends out device and realizes correspondence with foreign country.
Moreover, the torque motor parameter is control voltage 24VDC, peak value stalling torque 0.44Nm, current at peak torque
2.5A, electrical time constant 0.4ms；The Circular gratings angular transducer selects the absolute type Circular gratings of Reinshaw to survey as angle
Metering device, precision are ± 2.69 ", resolution ratio 26.
Moreover, the control circuit of the north finder control device writes BISS protocol interface program using FPGA, read in real time
Then the angle information for taking Circular gratings to export forwards that information to the DSP of operation control algolithm, is encoded in DSP and seeks northern solution
Calculate algorithm and indexable servo control algorithm, angle step integration PI governing loop and angular speed PI in indexable servo control algorithm
Governing loop calculates PWM output quantity, then by light-coupled isolation and drive amplification, is applied on direct current torque motor, band turn
The rotation of position mechanism, completes circuit closed loop.
A kind of north finder transposition control method using step integration PI algorithm, it is characterised in that: the step of control method
It is: collected angle value and setting value is obtained into error e as difference, by judging the size of e, carried out under standard angle speed preset
At the uniform velocity SERVO CONTROL, the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed, the angle in the case of three kinds of proportional integration parameters
Four kinds of operations of angle SERVO CONTROL under SERVO CONTROL, stable state are as follows；
1) the at the uniform velocity SERVO CONTROL under standard angle speed preset: for realizing rotation process, angular speed setting value is 30 °/
S, it is assumed that turn to 90 ° from 0 ° of angle setpoint, when error is greater than 0.5 °, operation at the uniform velocity controls program, guarantees that revolving speed is kept
In 30 °/s or so；
2) the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed: for realizing control of slowing down, when angular error is less than
0.5 ° and when being greater than 0.2 °, still run at the uniform velocity control program, but angular speed is reduced to 3 °/s；
3) the angle SERVO CONTROL in the case of three kinds of proportional integration parameters:, should for realizing quick indicial response process
Proportionality coefficient successively has high-low-high feature in step integration PI control algolithm, integral coefficient successively have it is low-in-
High feature, with the reduction of angular error, integral coefficient is substantially incremented by double, guarantees that the angle value of indexing mechanism is quickly received
It holds back, system enters stable state when angular error is less than 0.001 °；
4) it the angle SERVO CONTROL under stable state: controls for realizing the high-precision and high-stability of indexing mechanism, is used for simultaneously
External and itself caused angle fluctuation of disturbance is cut down, sampling is 1ms with the control period, when angular error is less than 0.001 °
After time is continued above 2s, the control parameter under the state is run, parameter attribute is high proportion coefficient, high integral coefficient.
The advantages and positive effects of the present invention are:
1, the present invention is directed to requirement of the high-precision optical fiber gyro north finder to rotating mechanism angle control precision, has built new
Type transposition control device innovatively proposes step integration PI control algolithm, and is successfully realized and answers in north finder system
With.The angle SERVO CONTROL precision and stability of the turn device is above ± 3 ", while starting and braking by reasonable disposition
The integral parameter of response process, is greatly shortened settling time, creates to realize that the quick high accuracy of north finder seeks north
Condition.
2, the present invention is by the transposition control device built above, for the special exercises mould such as electric motor starting, rotation, braking
The characteristics of formula lower angle responds, according to the size of the margin of error, selects specific integral parameter, devises a kind of novel step integration
PI control algolithm makes system not only and can guarantee quick track reference input, but can guarantee in special angle SERVO CONTROL in high precision,
High rigidity and high stability finally meet requirement of the high-precision north finder to transposition control performance.
Detailed description of the invention
Fig. 1 is the composition block diagram of high-precision north finder transposition control device of the present invention；
Fig. 2 is the control circuit block diagram of transposition control device of the present invention；
Fig. 3 is angle step integration PI control flow chart of the present invention.
Specific embodiment
The embodiment of the present invention is further described below in conjunction with attached drawing；The present embodiment is descriptive, is not to limit
Property, it cannot thus limit the scope of protection of the present invention.
A kind of north finder transposition control device using step integration PI algorithm, including executive component torque motor, angle measurement
Element Circular gratings angular transducer, FPGA, DSP, H bridge driver, RS232 transceiver, the component relationship of each component are shown in Fig. 1.It surveys
The information is issued FPGA by angle element Circular gratings angular transducer acquisition angles data information, and FPGA will be counted by data/address bus
According to DSP is transferred to, DSP passes through H bridge driver driving moment motor；Meanwhile serial ports control module is write using FPGA, and pass through
RS232 transceiver realizes correspondence with foreign country.
In the present embodiment, the torque motor major parameter is control voltage 24VDC, peak value stalling torque 0.44Nm, peak
Be worth locked rotor current 2.5A, electrical time constant 0.4ms, the type motor have low speed run smoothly, large torque, can stall, response
Quickly, the features such as linearity is good.
Circular gratings angular transducer select Reinshaw absolute type Circular gratings be used as angle measurement device, precision for ±
2.69 ", resolution ratio 26.Because the angular error of angle measurement element can be directly superimposed on output accuracy, while according to high-precision
North finder index request comprehensively considers the factors such as reliability, cost, volume, weight, and the absolute type Circular gratings of Reinshaw is selected to make
For angle measurement device.
Information collection and process circuit plate use the structure of FPGA+DSP, with data acquisition and resolve control.FPGA
The XC6SLX25 for selecting XILINX company, to realize the function such as synchronised clock generation, serial communication, the reading of Circular gratings angle information
Energy；DSP selects the TMS320C6748 of TI company, to realize that element calibration, temperature-compensating, navigation information resolves and motor control
The functions such as system.
This control device is the controller based on TMS320C6748, has angle measurement, communication interface, motor driven etc.
Function, while the carrier realized with transposition control algorithm is resolved as north is sought.
Control device is the hardware components for realizing north finder servo control loop, signal acquisition process and servo control algorithm
It is the control section of control loop, the two organically combines the final high-performance for realizing north finder indexing mechanism and rotates control.
The control circuit block diagram of north finder transposition control device using FPGA as shown in Fig. 2, compiled involved in the present embodiment
BISS protocol interface program is write, reads the angle information of Circular gratings output in real time, operation control is then forwarded that information to and calculates
It is encoded in the DSP of method, DSP and seeks northern computation and indexable servo control algorithm, the angle point in indexable servo control algorithm
Step integral PI governing loop and angular speed PI governing loop calculate PWM output quantity, then by light-coupled isolation and drive amplification, apply
It is added on direct current torque motor, drives indexing mechanism rotation, complete circuit closed loop.
Since high-precision north finder has following particular requirement to transposition control: starting, braking, the transition of speed regulation three phases
Process time may be short, and it is most short to guarantee that complete machine once seeks the time used in north；Angle control precision is as high as possible, guarantees north-seeking algorithm
It is succinct effective；In addition, angle stability is high as far as possible under angle servo condition, each band noise and fluctuation are small as far as possible, and north is sought in guarantee
The margin of error that algorithm introduces is minimum.
A kind of north finder transposition control method using step integration PI algorithm, the flow chart of control method as shown in figure 3,
Step is: collected angle value and setting value obtained into error e as difference, by judging the size of e, carry out different operations,
Concrete operations include at the uniform velocity SERVO CONTROL under standard angle speed preset, the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed,
The angle SERVO CONTROL under angle SERVO CONTROL, stable state in the case of three kinds of proportional integration parameters；
1) the at the uniform velocity SERVO CONTROL under standard angle speed preset: for realizing rotation process, in the present embodiment, angular speed
Setting value is 30 °/s, it is assumed that 90 ° are turned to from 0 ° of angle setpoint, when error is greater than 0.5 °, operation at the uniform velocity controls program,
Guarantee that revolving speed is maintained at 30 °/s or so.
2) the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed: for realizing control of slowing down, when angular error is less than
0.5 ° and when being greater than 0.2 °, still run at the uniform velocity control program, but angular speed is reduced to 3 °/s.
3) the angle SERVO CONTROL in the case of three kinds of proportional integration parameters:, should for realizing quick indicial response process
Proportionality coefficient has the characteristics of " high-low-high " in step integration PI control algolithm, and integral coefficient has " low-in-high "
Feature, with the reduction of angular error, integral coefficient is substantially incremented by double, guarantees the angle value fast convergence of indexing mechanism,
In the present invention, it is believed that system enters stable state when angular error is less than 0.001 °.
4) it the angle SERVO CONTROL under stable state: controls for realizing the high-precision and high-stability of indexing mechanism, is used for simultaneously
It cuts down outside and itself disturbs caused angle fluctuation, in the present embodiment, sampling and control period are 1ms, work as angular error
After time less than 0.001 ° is continued above 2s, the control parameter under the state is run, parameter attribute is " high proportion coefficient, height
Integral coefficient ".
Claims (4)
1. a kind of north finder transposition control device using step integration PI algorithm, it is characterised in that: the control device includes
Torque motor, angle measurement element Circular gratings angular transducer, FPGA, DSP, H bridge driver, RS232 transceiver, angle measurement element circle light
Grid angular transducer acquisition angles data information, issues FPGA for the information, FPGA is transferred data to by data/address bus
DSP, DSP pass through H bridge driver driving moment motor；Meanwhile serial ports control module is write using FPGA, and receive by RS232
It sends out device and realizes correspondence with foreign country.
2. the north finder transposition control device according to claim 1 using step integration PI algorithm, it is characterised in that: institute
Torque motor parameter is stated as control voltage 24VDC, peak value stalling torque 0.44Nm, current at peak torque 2.5A, electrical time is normal
Number 0.4ms；The Circular gratings angular transducer selects the absolute type Circular gratings of Reinshaw to be used as angle measurement device, precision for ±
2.69 ", resolution ratio 26.
3. the north finder transposition control device according to claim 1 using step integration PI algorithm, it is characterised in that: institute
The control circuit for stating north finder control device writes BISS protocol interface program using FPGA, reads the angle of Circular gratings output in real time
Information is spent, the DSP of operation control algolithm is then forwarded that information to, is encoded in DSP and seeks northern computation and indexable servo
Control algolithm, angle step integration PI governing loop and angular speed PI governing loop in indexable servo control algorithm calculate
PWM output quantity, then by light-coupled isolation and drive amplification, be applied on direct current torque motor, indexing mechanism rotation is driven, is completed
Circuit closed loop.
4. a kind of north finder transposition control side for using step integration PI algorithm using control device as described in claim 1
Method, it is characterised in that: the step of control method is: collected angle value and setting value are obtained into error e as difference, pass through judgement
The size of e, carry out at the uniform velocity SERVO CONTROL under standard angle speed preset, the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed,
Four kinds of operations of angle SERVO CONTROL under angle SERVO CONTROL, stable state in the case of three kinds of proportional integration parameters are as follows；
1) the at the uniform velocity SERVO CONTROL under standard angle speed preset: for realizing rotation process, angular speed setting value is 30 °/s, false
Fixed to turn to 90 ° from 0 ° of angle setpoint, when error is greater than 0.5 °, operation at the uniform velocity controls program, guarantees that revolving speed is maintained at
30 °/s or so；
2) the at the uniform velocity SERVO CONTROL of given 10 times of the reduction of angular speed: for realizing control of slowing down, when angular error less than 0.5 ° and
When greater than 0.2 °, at the uniform velocity control program is still run, but angular speed is reduced to 3 °/s；
3) the angle SERVO CONTROL in the case of three kinds of proportional integration parameters: for realizing quick indicial response process, the substep
Proportionality coefficient successively has high-low-high feature in integral PI control algolithm, integral coefficient successively have it is low-in-it is high
Feature, with the reduction of angular error, integral coefficient is substantially incremented by double, guarantees the angle value fast convergence of indexing mechanism, angle
System enters stable state when spending error less than 0.001 °；
4) it the angle SERVO CONTROL under stable state: is controlled for realizing the high-precision and high-stability of indexing mechanism, while for cutting down
External and itself caused angle fluctuation of disturbance, sampling is 1ms with the control period, when time of the angular error less than 0.001 °
After being continued above 2s, the control parameter under the state is run, parameter attribute is high proportion coefficient, high integral coefficient.
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Cited By (4)
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| CN110849342A (en) * | 2019-11-20 | 2020-02-28 | 中国船舶重工集团公司第七0七研究所 | North-seeking error compensation method |
| CN112729264A (en) * | 2020-12-24 | 2021-04-30 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
| CN113364655A (en) * | 2021-04-30 | 2021-09-07 | 北京航天发射技术研究所 | DSP-based reliable communication system and communication method of inertial north-seeking component |
| CN115493590A (en) * | 2022-11-16 | 2022-12-20 | 湖南天羿领航科技有限公司 | Micro-inertia north seeker and application method thereof |
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| CN112729264A (en) * | 2020-12-24 | 2021-04-30 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
| CN112729264B (en) * | 2020-12-24 | 2021-11-02 | 中南大学 | Arbitrary four-position single gyroscope north-seeking method |
| CN113364655A (en) * | 2021-04-30 | 2021-09-07 | 北京航天发射技术研究所 | DSP-based reliable communication system and communication method of inertial north-seeking component |
| CN115493590A (en) * | 2022-11-16 | 2022-12-20 | 湖南天羿领航科技有限公司 | Micro-inertia north seeker and application method thereof |
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| CN109471459B (en) | 2021-07-23 |
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