CN109683468A - A method of two axle The Cloud Terraces control system is established based on System Discrimination - Google Patents
A method of two axle The Cloud Terraces control system is established based on System Discrimination Download PDFInfo
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Abstract
The invention discloses a kind of methods for establishing two axle The Cloud Terraces control system based on System Discrimination, using the method for multiple identification, first pick out holder model, go out speed ring controller according to the model foundation, system plus speed ring controller is recognized again, out position ring controller is established according to new system, obtains cloud platform control system.Finally, analyzing the performance of the controller by the input and output of cloud platform control system.The method of the multiple identification of the present invention can will increase the interference that controller is introduced into well and be added in the system newly recognized, cumulative errors will not be amplified, compared with single identification, multiple each controller design that recognizes can consider the external disturbance being newly added, so that the design of each controller is in this case close to optimal.Therefore control system of the invention has fast response time, and robustness is good, the big advantage of frequency bandwidth.
Description
Technical field
It is specifically a kind of to establish two based on System Discrimination the present invention relates to a kind of method for establishing two axle The Cloud Terraces control system
The method of axis cloud platform control system.
Background technique
Holder has a wide range of applications in real life, including target following, monitoring, border patrol and amusement.In addition,
Holder is largely applied on unmanned plane for taking photo by plane.
Holder model is linear and nonlinear model.In linear model, centrifugal force, coulomb friction and Coriolis force
Ignored, but in nonlinear model, furthermore they also introduce viscous friction, inertia and quality there is no ignored.
For above two model, require to determine respective parameter.The method that can choose modelling by mechanism passes through measurement
The parameter of each section, substitutes them in model in model, ignores or simplify some parameters for being difficult to measure.It can also pass through and be
The method of system identification, the multi-section in model point is coupled, is calculated by one group of input and output.
The design of current cloud platform control system is all based on the model of modelling by mechanism foundation largely to carry out controller
Design, few methods using System Discrimination.Using the method for modelling by mechanism, the counter electromotive force for needing to obtain motor is normal
Number, torque constant, the physics such as rotary inertia of holder, electric parameter etc. increase the complexity of modeling, and the authenticity of model is also
It can be affected because of the accuracy of parameter measurement.And the parameters such as resistance, response lag be difficult be measured obtain so that establish
There are larger cumulative errors between the model and true model that get up.Using the method for System Discrimination, entire model as black box
Processing, outputs and inputs to obtain the transmission function of entire model by one, and without introducing higher-dimension parameter etc., to carry out modeling imitative
Very.Further, it is also possible to the factor that many modellings by mechanism are unable to measure all is picked out, such as: frictional resistance, mechanical wear.
PID controller is industrial most popular controller, which is suitable for most of industrial equipments, especially
It is dcs.PID controller programming is simple, and operand is small, and control effect is good, is suitble in the system using MCU
It uses.
Fuzzy Adaptive PID is developed on the basis of PID controller, can be according to fuzzy rule, to pid parameter
On-line tuning is carried out, control precision and response speed are promoted.By the deviation e of input and output, modified according to fuzzy control rule
Pid parameter.
In practical application scene, the external disturbance that holder is subject to is nonlinear.According to holder local environment, bionical control
System can establish a gamma controller, can be good at adapting to the environment with reference to the biological characteristic under the environment.
Two spindle motor holders are the rotatable platforms there are two freedom degree, by the rotatable Yaw axis of horizontal direction and vertical side
It is formed to tiltable Pitch axis, plays support and positioning action.Holder has fixed holder, steering engine holder and motor holder.It passes
The modeling of control system method of system is first to obtain holder model by System Discrimination or modelling by mechanism, is set simultaneously according to the model
Count out speed ring controller and position ring controller.Due between obtained holder model and true model there are deviation, can be with
The increase deviation of controller is constantly amplified.In addition, after each controller adds, it can be because of the parameter measurement that the controller is used
The reasons such as sensor introduce disturbing factor, be unfavorable for continuing to design controller.Therefore the control system designed at present its make
With the larger movement for being unable to accurately control two axle The Cloud Terraces of error in the process.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides one kind to establish two axle The Cloud Terraces control based on System Discrimination
The method of system obtains control system by the way of multiple identification, has fast response time, robustness is good, and frequency bandwidth is big
The advantages of.
To achieve the goals above, the technical solution adopted by the present invention is that: one kind establishing two axle The Cloud Terraces based on System Discrimination
The method of control system, specific steps are as follows:
(1) the Pitch axis of two axle The Cloud Terraces and Yaw axis are independently established into control system；The wherein control system of Yaw axis
It is established using the method for open cycle system identification, the control system of Pitch axis is established using the method for Identification of Closed Loop Systems；
(2) control system of Yaw axis is established；
A, the speed ring controller of Yaw axis is established；
The electricity for giving Yaw spindle motor adjusts one group of input signal, obtains angular speed feedback data by gyroscope；Then basis
The data of angular speed feedback obtain the controlled device transmission function of Yaw axis by the System Identification Toolbox of matlab software；Most
Speed ring controller is established using the sisotool of matlab software according to controlled device transmission function afterwards；
B, the position ring controller of Yaw axis is established；
The speed ring controller for the Yaw axis that step A is established and controlled device are generated to the control system of initial Yaw axis, it is right
The control system of initial Yaw axis gives one group of input signal, obtains location information feedback data by magnetic coder；Then basis
Location information feedback data obtains the transmitting letter of initial Yaw axis control system by the System Identification Toolbox of matlab software
Number；Position ring controller is finally established using the sisotool of matlab software according to transmission function；
C, the control system of initial Yaw axis in step B is added in the Yaw shaft position ring controller for establishing step B, obtains most
Whole Yaw axis control system；
(3) control system of Pitch axis is established；
1. establishing the speed ring controller of Pitch axis；
A speed ring controller is preset, and generates the control of initial p itch axis with the controller and controlled device
System gives one group of input signal of control system of initial p itch axis, obtains angular speed feedback data by gyroscope；Then
It is passed according to the data of angular speed feedback by the control system that the System Identification Toolbox of matlab software obtains initial p itch axis
Delivery function calculates the controlled device transmission function of Pitch axis in conjunction with preset speed ring controller；Last basis is controlled
Target transfer function establishes speed ring controller using the sisotool of matlab software；
2. establishing the position ring controller of Pitch axis；
Preset a position ring controller, the speed ring controller and controlled device of then 1. establishing step and its
The control system for forming mid-term Pitch axis, gives one group of input signal of control system of mid-term Pitch axis, passes through magnetic coder
Obtain location information feedback data；Then it is obtained according to location information feedback data by the System Identification Toolbox of matlab software
To the transmission function of mid-term Pitch axis control system, is calculated in conjunction with preset position ring controller and do not add the position ring
The controlled device transmission function of controller；Finally established according to controlled device transmission function using the sisotool of matlab software
Position ring controller；
3. by 2. Pitch shaft position ring controller that step is established and 1. Pitch axle speed ring controller that step is established
In conjunction with obtaining final Pitch axis control system；
(4) two axle The Cloud Terraces control system is established: what the Yaw axis control system and step (3) obtained by step (2) obtained
Pitch axis control system forms two axle The Cloud Terraces control system.
Further, the step (2) specifically:
A, the speed ring controller of Yaw axis is established；
By giving Yaw spindle motor one sinusoidal input signal:
Signal=Asin (2 π ft)
Amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from 1HZ
Change to 500HZ, each frequency continues 20 periods；
By acquiring the angular speed feedback of gyroscope, exports, will output and input by matlab as system
System Identification Toolbox carry out System Discrimination, zero point number be 0, pole number be 2, obtain the discrete transmitting of controlled device of Yaw axis
Function:
The controlled device transmission function C that will be obtainedYaw(z), using the sisotool desin speed ring controller in matlab
Using the proportional component in PID controller.By sliding the performance slot of sisotool, when the response of observing system
Between, optimal value therein is taken, the transmission function of speed ring controller is obtained:
B, the position ring controller of Yaw axis is established；
By speed ring controllerIt is added with controlled device in the control system of initial Yaw axis, generating includes speed
The Yaw axis control system of ring, is denoted as
To one sinusoidal input signal of control system of initial Yaw axis:
Signal=Asin (2 π ft)
Wherein amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from
1HZ to 500HZ variation, each frequency continue 20 periods；By reading the position feedback of magnetic coder, as the defeated of system
Out, carry out System Discrimination will be output and input again, obtain the discrete transfer function of the control system:
Pass through transmission functionDesign position ring controllerObtain the transmitting letter of position ring controller
Number:
Further, the step (3) specifically:
1. establishing the speed ring controller of Pitch axis；
Preset a speed ring controllerPitch axis is enabled to be in relatively steady state, and base
A speed ring closed-loop control system is established in the speed ring controller and controlled device of setting, is denoted asGive the speed
One sinusoidal input signal of ring closed-loop control system:
Signal=Asin (2 π ft)+B
Wherein amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from
1HZ to 500HZ variation, each frequency continue 20 periods；Offset B is added in the input signal, when holder inclination angle is spent
When big, by offset holder is deflected to horizontal direction；Then reduce when the rotation initial phase angle of holder is close to horizontal position
Or cancel offset B；By reading the angular speed feedback of gyroscope, as the output of system, carry out system will be output and input
Identification, obtains the discrete transfer function of the control system
Pass throughWithCalculate the transmission function C of controlled devicePitch(z):
Pass through transmission function CPitch(z), desin speed ring controllerObtain the transmission function of controller:
2. establishing the position ring controller of Pitch axis；
Preset a position ring controllerAnd the position ring controller based on setting, speed ring controllerWith controlled device CPitch(z) a position ring closed-loop control system is established, is denoted asGive the control system
One sinusoidal input signal:
Signal=Asin (2 π ft)
Amplitude A=20 is taken, the frequency of the input signal is changed simultaneously, is changed from 1HZ to 500HZ, each frequency continues 20
A period；Position feedback by reading magnetic coder will output and input carry out system again and distinguish as the output of system
Know, obtain the discrete transfer function of the control system:
By speed ring controllerWith controlled device CPitch(z) control system formed is denoted asPass throughWithIt calculates
The transmission function that will be obtainedDesign position ring controllerObtain the biography of position ring controller
Delivery function:
Compared with prior art, the present invention establishes control system, energy to Pitch axis and Yaw axis respectively using multiple identification
Effectively solves the problems, such as holder model controller design, in the more environment of disturbing factor, performance compared with single identification promotion compared with
It is more.Measurement work can be simplified by the model that System Discrimination is established, the measurements such as resistance, response lag are got up very difficult
Factor, which picks out, to be come, so that the reduction degree of model is high, is conducive to subsequent controllers design.The entire control system of design from inside to outside
System, ensure that each link is optimal in the case where meeting demand, and entire controller is enabled to obtain extraordinary property
Energy.By the designed cloud platform control system of MATLAB analysis, test result shows using System Discrimination and control of the invention
Device design method has fast response time, and robustness is good, the big advantage of frequency bandwidth.
Detailed description of the invention
Fig. 1 is the existing two axle The Cloud Terraces functional block diagram using continuous control；
Fig. 2 is discrete control principle block diagram of the present invention to two axle The Cloud Terraces；
Fig. 3 is the Yaw axis control system functional block diagram in the present invention comprising speed ring controller and angle feed-back；
The Yaw axis control system that Fig. 4 is the Yaw axis control system established of the present invention and the identification of existing single is established carries out pair
The response curve and Bode of ratio are schemed；
Fig. 5 is the Yaw axis control system that the present invention establishes and the Yaw axis control system that the identification of existing single is established in difference
The sinusoidal signal trace plot compared under period；
Fig. 6 is Pitch axis discrete control system block diagram unreduced in the present invention；
Fig. 7 is the Pitch axis control system functional block diagram in the present invention comprising speed ring controller；
Fig. 8 is the Pitch axis control system functional block diagram in the present invention comprising speed ring controller and angle feed-back；
Fig. 9 is that the Pitch axis control system that the present invention establishes and the Yaw axis control system that the identification of existing single is established carry out
The response curve and Bode of comparison are schemed；
Figure 10 is the Yaw axis control system that the present invention establishes and the Yaw axis control system that the identification of existing single is established not
With the sinusoidal signal trace plot compared under the period.
Specific embodiment
The present invention will be further described below.
As shown, specific steps of the invention are as follows:
(1) the Pitch axis of two axle The Cloud Terraces and Yaw axis are independently established into control system；Two axis independences of two axle The Cloud Terraces
Control, each axis individually use the dual-loop controller of position ring and speed ring.Exporting for controller is adjusted to electricity, electricity adjusts internal collection
At current loop control, motor will be under the driving that electricity is adjusted, control holder movement.Pass through the Inertial on holder
Measurement Unit (IMU) feeds back angular velocity information, passes through the magnetic coder feedback position information being mounted on motor.Control
Scheme processed such as Fig. 1.
The control program is the control program of continuous system, and clouds terrace system is a discrete system, institute in practical situations
With by the control program discretization of continuous system.Actually control in, directly by gyroscope feedback angular speed directly with position
Ring output is set to make the difference.Since the angular speed of gyroscope feedback is not that need to carry out unit conversion as unit of spending:
ω=ωIMU÷32768×1000
Wherein, ω be using °/s is the angular speed of unit, ωIMUIt is the angular speed of gyroscope feedback.
Sample time=0.001seconds herein carries out discretization to continuous system using zero-order holder.
Since electric current loop is integrated in motor driven, it is possible to which electricity is reconciled motor as an entirety.It completes when holder
Afterwards, each axis has 0 degree of an artificial settings, but at this time the value of motor encoder is not 0.Due to encoder feedback
It is an absolute position, value of feedback 0-8191, therefore the value at this moment of motor encoder can be subtracted the value of last moment
It adds up, as the accumulated value of encoder feedback, while considering the processing that encoder values are jumped from 8191 to 0.Finally, compiling
The accumulated value of code device feedback is by unit conversion, and convert angled accumulated value:
θ=θEncoder÷8192×360
Wherein, θ is the angle accumulated value as unit of spending, θEncoderIt is the accumulated value of magnetic coder.The angle of input
Target value also adds up, just at unity negative feedback between outputting and inputting in this way.
In continuous system, angular speed obtains angle by integral, i.e., angular speed is multiplied by an integral elementObtain magnetic volume
Angle accumulated value after code device resolving.Since angular speed is obtained by gyroscope, so integrating ring after carrying out unit conversion
Section becomesThe Sample time=0.001seconds of system carries out discretization to it using zero-order holder,
Integral element becomesObtain actual clouds terrace system control program such as Fig. 2.
Wherein horizontally rotate since Yaw axis is done, do not influenced by gravity factor, can keep stable without external force, therefore uses
The method of open cycle system identification establishes the control system of Yaw axis, since Pitch axis does pitch rotation, the shadow by gravity factor
It rings, controller applies external force and is just able to maintain stabilization, therefore the control system of Pitch axis is established using the method for Identification of Closed Loop Systems；
(2) control system of Yaw axis is established；
A, the speed ring controller of Yaw axis is established；
By giving Yaw spindle motor one sinusoidal input signal:
Signal=Asin (2 π ft)
Amplitude A according to electric tuning discuss in receive the ranges of data and determine, A=2000 herein.Change simultaneously the input
The frequency of signal, changes from 1HZ to 500HZ, and each frequency continues 20 periods.Since the frequency bandwidth of input signal is larger,
Holder is smaller in the amplitude variations of high frequency section, so using the variation tendency of class finger version.Meanwhile it is each defeated in order to guarantee
Jump will not be generated by entering between signal, so to guarantee that each signal will be since at zero phase.
Since the amplitude variations in high frequency section holder are smaller, vibration frequency is very fast, may be because of signal acquisition frequency
With the more low reason of sensor resolution, collected data can be prevented to reduce system from the truth of good reaction system
The degree of approximation for the transmission function that system identification obtains.In response to this, can the frequency appropriate that input signal be reduced promoted
The accuracy of identification.
By acquiring the angular speed feedback of gyroscope, exported as system.By reference to other paper modellings by mechanism
The transmission function of model, the zero point number of discovery holder model are 0, and pole number is 2.It will output and input by being in matlab
Identification toolbox of uniting carries out System Discrimination, and zero point number is 0, and pole number is 2, obtains the discrete transfer function of Yaw axis controlled device:
Sample time=0.001seconds.
The controlled device transmission function C that will be obtainedYaw(z), using the sisotool desin speed ring controller in matlab
There is classical PID controller with more in cradle head controllor.Wherein, PI controller, it can be improved holder
Precision when stablizing, PD control device can reduce the overshoot of holder.In addition, there are also the controller derived based on PID, such as mould
Paste PID controller etc..With the development of computer, there are also controller neural network based, BIOLOGICAL CONTROL devices etc. now.But
What industrial circle used is still PID controller, simple and reliable, convenient to realize on MCU, so it is still current industry
The mainstream controller in field.
The controller needs of this paper are realized on MCU, and require system reliable and stable, therefore use PID controller.Due to wanting
Holder fast response time is sought, therefore requires ResponseTime smaller, so only with the proportional component in PID controller.Pass through
The performance slot of sisotool is slided, the response time of observing system takes optimal value therein, obtained speed ring controller
Transmission function:
B, the position ring controller of Yaw axis is established；
By speed ring controllerIt is added with controlled device in the control system of initial Yaw axis, generating includes speed
The Yaw axis control system of ring, is denoted asSuch as Fig. 3:
The Yaw axis transmission function C obtained due to System DiscriminationYaw(z) and true model there are deviation, one moulds of every increase
Type ring section will amplify the deviation between the model of foundation and true model, while increasing new model link also and can introduce and is some dry
Disturb factor.Therefore need it is every establish a controller after, to increase controller model re-start identification, with recognize obtain it is new
Model designs next controller.
To one sinusoidal input signal of control system of initial Yaw axis:
Signal=Asin (2 π ft)
Wherein amplitude A=5000, frequency value mode and above it is identical.By reading the position feedback of magnetic coder, make
For the output of system.Carry out System Discrimination will be output and input again, obtain the discrete transfer function of the control system:
Sample time=0.001seconds
Pass through transmission functionDesign position ring controllerThe transmitting letter of position ring controller is obtained
Number:
C, the control system of initial Yaw axis in step B is added in the Yaw shaft position ring controller for establishing step B, obtains most
Whole Yaw axis control system；
(3) control system of Pitch axis is established；
1. establishing the speed ring controller of Pitch axis；
Preset a speed ring controllerPitch axis is enabled to be in relatively steady state, and base
A speed ring closed-loop control system is established in the speed ring controller and controlled device of setting, is denoted asSuch as Fig. 7, sheet
Wen ZhongGive the speed ring closed-loop control system one sinusoidal input signal:
Signal=Asin (2 π ft)+B
Wherein amplitude A=3000, frequency value mode and above it is identical.Due to holder center of gravity not on the rotating shaft, institute
It can be glided toward the direction under gravity with holder.Pitch axis is due to there is mechanical position limitation, when holder knocks mechanical limit
It can make the data failure of feedback behind position, therefore joined offset B in the input signal, when holder tilt angle is excessive, pass through
Offset deflects holder to horizontal direction；Then reduce or cancel compensation when the rotation initial phase angle of holder is close to horizontal position
Value B.Output by reading the angular speed feedback of gyroscope, as system.Carry out System Discrimination will be output and input, will be somebody's turn to do
The discrete transfer function of control system
Sample time=0.001seconds
Pass throughWithCalculate controlled device transmission function CPitch(z):
Sample time=0.001seconds；
Pass through transmission function CPitch(z), desin speed ring controllerBe under control the transmission function of device:
2. establishing the position ring controller of Pitch axis；
Preset a position ring controllerHereinAnd the position based on setting
Ring controller, speed ring controllerWith controlled device CPitch(z) a position ring closed-loop control system is established, is denoted asGive the control system one sinusoidal input signal:
Signal=Asin (2 π ft)
Due to Pitch influenced by gravity it is related with rotational angle, so in order to preferably pick out control system,
Holder should cover all rotational angles when acquiring data as far as possible.Therefore amplitude A=20 is taken, frequency value mode and phase above
Together.Position feedback by reading magnetic coder will output and input carry out System Discrimination again, obtain as the output of system
To the discrete transfer function of the control system:
Sample time=0.001seconds
As shown in figure 8, by speed ring controllerWith controlled device CPitch(z) control system formed is denoted asPass throughWithIt calculates
Sample time=0.001seconds
The transmission function that will be obtainedDesin speed ring controllerBe under control the transmitting letter of device
Number:
3. by 2. Pitch shaft position ring controller that step is established and 1. Pitch axle speed ring controller that step is established
In conjunction with obtaining final Pitch axis control system；
(4) two axle The Cloud Terraces control system is established: what the Yaw axis control system and step (3) obtained by step (2) obtained
Pitch axis control system forms two axle The Cloud Terraces control system.
Verification experimental verification:
Pitch axis is using RM6623 brshless DC motor in two axle The Cloud Terraces.Yaw axis is brushless straight using DM9015
Galvanic electricity machine, the hollow hole design among the motor, can install conducting slip ring, realize the 360 ° omni-directional rotation of Yaw axis.It has
Body parameter such as table 1:
1. parameter of electric machine of table
| RM6623 | DM9015 | |
| Weight | 605g | 560g |
| Torque constant | 0.38N·m/A | 0.53N·m/A |
| Revolving speed constant | 25RPM/V | 19.5RPM/V |
| Stall torque | 2N·m | 5.93N·m |
| Locked rotor current | 5.3A | 11.2A |
| No-load speed | 600RPM | 390RPM |
Yaw axis control system is established using the method that existing single recognizes, as a control group: obtaining Yaw axle speed ring control
Device processedYaw shaft position ring controller
In order to examine Yaw axis control system of the invention to the tracking performance of input signal, the Yaw axis that the present invention is established
Control system and control group input a sinusoidal angle signal respectively:
Signal=Asin (2 π ft)
Wherein A=10, f take low frequency part, obtain the Bode figure and response curve such as Fig. 4 of the two:
By observing Fig. 4 and table 2, it can be seen that multiple identification of the invention can increase the frequency bandwidth of system, reduce
Adjustment time, steady-state error are basically unchanged, and overshoot has small size rising.Since the external interference that Yaw axis is subject to is less, thus it is multiple
Identification promotes system performance limited.
As can be seen from Figure 5, for the system when frequency is lower, the performance of multiple identification and single identification is similar, can be fine
Identical input signal.But with the promotion of frequency, the lag time of multiple identification is slightly elongated, and precision slightly declines, performance
It is recognized better than single.The Yaw axis control system strong robustness established through the invention, fast response time, tracking performance are good.
The Yaw axis control system performance comparison of the Yaw axis control system of the invention of table 2. and single identification
| The present invention | Single identification | |
| Frequency bandwidth | 83.8rad/s | 71.7rad/s |
| Steady-state error | 0.5% | 0.5% |
| Regulating time | 0.036s | 0.041s |
| Overshoot | 4% | 2% |
Pitch axis control system is established using the method that existing single recognizes, as a control group: obtaining Pitch axle speed
Ring controllerPitch shaft position ring controller
In order to examine Pitch axis control system of the invention to the tracking performance of input signal, the present invention is established
Pitch axis control system and control group input sinusoidal angle signal: Signal=Asin (2 π ft) respectively
Wherein A=10, f take low frequency part, obtain the Bode figure and response curve such as Fig. 9 of the two:
By observing Fig. 9 and table 3, it can be seen that multiple identification can significantly increase the frequency bandwidth of system, substantially subtract
Few adjustment time, reduces steady-state error and overshoot.Since the external interference that Pitch axis is subject to is more, therefore multiple identification is to being
Performance boost unite clearly.
As can be seen from Figure 10, for the system when frequency is lower, the performance of multiple identification is already significantly better than single identification.With
The lag time of the promotion of frequency, multiple identification is slightly elongated, and precision slightly declines, and the performance decline ten of single identification is clearly demarcated
It is aobvious.The Pitch axis control system strong robustness established by System Discrimination, fast response time, tracking performance are good.
The Pitch axis control system performance comparison of the Pitch axis control system of the invention of table 3. and single identification
| The present invention | Single identification | |
| Frequency bandwidth | 71.4rad/s | 26rad/s |
| Steady-state error | 1% | 3% |
| Regulating time | 0.041s | 0105s |
| Overshoot | 1% | 3% |
Claims (3)
1. a kind of method for establishing two axle The Cloud Terraces control system based on System Discrimination, which is characterized in that specific steps are as follows:
(1) the Pitch axis of two axle The Cloud Terraces and Yaw axis are independently established into control system；Wherein the control system of Yaw axis uses
The method of open cycle system identification is established, and the control system of Pitch axis is established using the method for Identification of Closed Loop Systems；
(2) control system of Yaw axis is established；
A, the speed ring controller of Yaw axis is established；
The electricity for giving Yaw spindle motor adjusts one group of input signal, obtains angular speed feedback data by gyroscope；Then according to angle speed
The data of degree feedback obtain the controlled device transmission function of Yaw axis by the System Identification Toolbox of matlab software；Last root
Speed ring controller is established using the sisotool of matlab software according to controlled device transmission function；
B, the position ring controller of Yaw axis is established；
The control system that the speed ring controller for the Yaw axis that step A is established and controlled device are generated to initial Yaw axis, to initial
The control system of Yaw axis gives one group of input signal, obtains location information feedback data by magnetic coder；Then according to position
Information feedback data obtains the transmission function of initial Yaw axis control system by the System Identification Toolbox of matlab software；Most
Position ring controller is established using the sisotool of matlab software according to transmission function afterwards；
C, the control system of initial Yaw axis in step B is added in the Yaw shaft position ring controller for establishing step B, obtains final
Yaw axis control system；
(3) control system of Pitch axis is established；
1. establishing the speed ring controller of Pitch axis；
A speed ring controller is preset, and generates the control system of initial p itch axis with the controller and controlled device,
The one group of input signal of control system for giving initial p itch axis, obtains angular speed feedback data by gyroscope；Then according to angle
The data of velocity feedback transmit letter by the control system that the System Identification Toolbox of matlab software obtains initial p itch axis
Number, the controlled device transmission function of Pitch axis is calculated in conjunction with preset speed ring controller；Finally according to controlled device
Transmission function establishes speed ring controller using the sisotool of matlab software；
2. establishing the position ring controller of Pitch axis；
A position ring controller is preset, then forms 1. speed ring controller and controlled device that step is established with it
The control system of mid-term Pitch axis is given one group of input signal of control system of mid-term Pitch axis, is obtained by magnetic coder
Location information feedback data；Then in being obtained according to location information feedback data by the System Identification Toolbox of matlab software
The transmission function of phase Pitch axis control system calculates not in conjunction with preset position ring controller plus the position ring controls
The controlled device transmission function of device；Position is finally established using the sisotool of matlab software according to controlled device transmission function
Ring controller；
3. 2. Pitch shaft position ring controller that step is established and 1. Pitch axle speed ring controller that step is established are combined,
Obtain final Pitch axis control system；
(4) two axle The Cloud Terraces control system is established: the Pitch that the Yaw axis control system and step (3) obtained by step (2) obtains
Axis control system forms two axle The Cloud Terraces control system.
2. a kind of method for establishing two axle The Cloud Terraces control system based on System Discrimination according to claim 1, feature exist
In the step (2) specifically:
A, the speed ring controller of Yaw axis is established；
By giving Yaw spindle motor one sinusoidal input signal:
Signal=Asin (2 π ft)
Amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from 1HZ to
500HZ variation, each frequency continue 20 periods；
By acquiring the angular speed feedback of gyroscope, exports, will be output and input by being in matlab as system
Identification toolbox of uniting carries out System Discrimination, and zero point number is 0, and pole number is 2, obtains the controlled device discrete transfer function of Yaw axis:
The controlled device transmission function C that will be obtainedYaw(z), using the sisotool desin speed ring controller in matlab
It the response time of observing system, is taken using the proportional component in PID controller by sliding the performance slot of sisotool
Optimal value therein, obtains the transmission function of speed ring controller:
B, the position ring controller of Yaw axis is established；
By speed ring controllerIt is added in the control system of initial Yaw axis, is generated comprising speed ring with controlled device
Yaw axis control system, is denoted as
To one sinusoidal input signal of control system of initial Yaw axis:
Signal=Asin (2 π ft)
Wherein amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from 1HZ
Change to 500HZ, each frequency continues 20 periods；By reading the position feedback of magnetic coder, as the output of system, then
It is secondary to output and input carry out System Discrimination, obtain the discrete transfer function of the control system:
Pass through transmission functionDesign position ring controllerObtain the transmission function of position ring controller:
3. a kind of method for establishing two axle The Cloud Terraces control system based on System Discrimination according to claim 1, feature exist
In the step (3) specifically:
1. establishing the speed ring controller of Pitch axis；
Preset a speed ring controllerEnable Pitch axis to be in relatively steady state, and is based on setting
Fixed speed ring controller and controlled device establish a speed ring closed-loop control system, are denoted asIt is closed to the speed ring
One sinusoidal input signal of ring control system:
Signal=Asin (2 π ft)+B
Wherein amplitude A according to electric tuning discuss in receive data range determine；The frequency for changing simultaneously the input signal, from 1HZ
Change to 500HZ, each frequency continues 20 periods；Offset B is added in the input signal, when holder tilt angle is excessive
When, by offset holder is deflected to horizontal direction；Then reduce when the rotation initial phase angle of holder is close to horizontal position or
Cancel offset B；By reading the angular speed feedback of gyroscope, as the output of system, carry out system will be output and input and distinguished
Know, obtains the discrete transfer function of the control system
Pass throughWithCalculate the transmission function C of controlled devicePitch(z):
Pass through transmission function CPitch(z), desin speed ring controllerObtain the transmission function of controller:
2. establishing the position ring controller of Pitch axis；
Preset a position ring controllerAnd the position ring controller based on setting, speed ring controllerWith controlled device CPitch(z) a position ring closed-loop control system is established, is denoted asGive the control system
One sinusoidal input signal:
Signal=Asin (2 π ft)
Amplitude A=20 is taken, the frequency of the input signal is changed simultaneously, is changed from 1HZ to 500HZ, each frequency continued for 20 week
Phase；Position feedback by reading magnetic coder will output and input carry out System Discrimination again, obtain as the output of system
To the discrete transfer function of the control system:
By speed ring controllerWith controlled device CPitch(z) control system formed is denoted asPass throughWithIt calculates
The transmission function that will be obtainedDesign position ring controllerObtain the transmitting letter of position ring controller
Number:
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