CN109725524A - A method of based on image processor step debugging functions to photoelectric nacelle tracking parameter Self-tuning System - Google Patents
A method of based on image processor step debugging functions to photoelectric nacelle tracking parameter Self-tuning System Download PDFInfo
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Abstract
It is proposed by the present invention based on image processor step debugging functions to the method for photoelectric nacelle tracking parameter Self-tuning System, using the step debugging functions of image processor, carry out Self-tuning System tracking parameter using the tracing deviation that image processor is fed back.When adjusting tracking parameter, the visual field cross searching of TV or infrared sensor is directed at a feature static object, photoelectric nacelle is switched to tracing mode, keeps the real-time tracking to the static object.Then another static object in visual field is clicked with mouse, assign step revise signal, photoelectric nacelle is set to track another static object, during photoelectric nacelle is switched to another static object, the tracing deviation of servo antrol plate real-time monitoring images processor feedback, judge tracking effect, tracking parameter is adjusted by parameter self-tuning program as needed, realizes the self-setting function of photoelectric nacelle image trace parameter.The present invention has many advantages, such as that debugging is simple, lower, high-efficient to debugging equipment requirement.
Description
Technical field
The invention belongs to servo control technique, specially a kind of image processor step debugging functions that are based on are to photoelectric nacelle
The method of tracking parameter Self-tuning System.
Background technique
The adjustment of existing domestic and international photoelectric nacelle image trace parameter, mostly based on manual debugging.Debugging process are as follows:
Under specific sensor field of view, moving-target is tracked, and according to tracking effect, tracking parameter is adjusted by trial and error procedure.
Such method advantage is can to recall more satisfactory tracking parameter, the disadvantage is that the theory and practice Capability Requirement of commissioning staff
Higher, debug time is longer.It is higher to debugging equipment requirement if debugging tracking parameter using five-axis flight table.
Summary of the invention
Complicated to solve existing photoelectric nacelle image trace parameter tuning process, debug time is long, to the reason of commissioning staff
By more demanding with the ability of practice, it is in emergency circumstances difficult to the problem of quickly adjusting tracking parameter, the present invention proposes that one kind is based on
Image processor step debugging functions have and debug simply, to commissioning device to the method for photoelectric nacelle tracking parameter Self-tuning System
It is required that the advantages that lower, high-efficient.
The present invention utilizes the step debugging functions of image processor, and the tracing deviation fed back using image processor is from whole
Determine tracking parameter, including scale parameter Kp, differential parameter Kd and integral parameter Ki.When adjusting tracking parameter, by TV or red
The visual field cross searching of outer sensor is directed at a feature static object, and photoelectric nacelle is switched to tracing mode, is kept to this
The real-time tracking of static object.Then another static object in visual field is clicked with mouse, assigns step revise signal, makes light
Electric gondola tracks another static object, and during photoelectric nacelle is switched to another static object, servo antrol plate is real
When monitoring image processor feedback tracing deviation, judge tracking effect, as needed by parameter self-tuning program adjustment tracking
Parameter realizes the self-setting function of photoelectric nacelle image trace parameter.
Based on the above principles, when specific implementation, can directly be realized by program, it is corresponding the technical solution of the present invention is as follows:
It is described it is a kind of based on image processor step debugging functions to the method for photoelectric nacelle tracking parameter Self-tuning System, it is special
Sign is: the following steps are included:
Step 1: the visual field cross searching of the TV of photoelectric nacelle or infrared sensor is directed at a feature static object,
And photoelectric nacelle is switched to tracing mode, keep the real-time tracking to the static object；
Step 2: clicking another static object in visual field, generate step revise signal, keep photoelectric nacelle tracking another
A static object, during photoelectric nacelle is switched to another static object, the processing of servo antrol plate real-time monitoring images
The tracing deviation amount of machine feedback；
Step 3: the tracing deviation fed back according to image processor in step 2 obtains aircraft pursuit course, if aircraft pursuit course is super
Tune amount and response time are all satisfied requirement, then it represents that and current tracking parameter meets the requirements, and method terminates, if aircraft pursuit course
Overshoot or response time are unsatisfactory for requiring, then carry out step 4；
Step 4: sending the Self-tuning System order of photoelectric nacelle tracking parameter to the servo antrol plate of photoelectric nacelle；
Step 5: after servo antrol plate receives Self-tuning System order, first by the differential parameter Kd in photoelectric nacelle tracking parameter
It is set to 0 with integral parameter Ki, scale parameter Kp is incrementally increased since 0 according to setting step-length；
For each scale parameter Kp value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current scale parameter Kp value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by scale parameter Kp from current value according to smaller setting
Step-length is gradually smaller；Obtain aircraft pursuit course corresponding to each scale parameter Kp value again, take overshoot just reach 2% or
Aircraft pursuit course when being just reduced to 2% or less, the maximum Kp allowed using the corresponding scale parameter Kp value of the aircraft pursuit course as system
Value, sets the 70% of the maximum Kp value that actual ratio parameter Kp value allows as system；
Step 6: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the reality that step 5 obtains
Border scale parameter gradually reduces integral parameter Ki since a preset big value according to setting step-length；
For each integral parameter Ki value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current integration parameter Ki value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by integral parameter Ki from current value according to smaller setting
Step-length incrementally increases；Obtain aircraft pursuit course corresponding to each integral parameter Ki value again, take overshoot just reach 2% or
Aircraft pursuit course when being just reduced to 2% or less, using the corresponding integral parameter Ki value of the aircraft pursuit course as integral parameter record value, if
Determine 150% that actual integration parameter Ki value is integral parameter record value；
Step 7: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the reality that step 5 obtains
Border scale parameter, the actual integration parameter that integral parameter Ki takes step 6 to obtain, control servo antrol plate generate step amendment order
With step amendment target to photoelectric nacelle image processor, image processor Real-time Feedback photoelectric nacelle field of view center cross with
Step corrects the tracing deviation amount of target, obtains corresponding aircraft pursuit course；If the response time of aircraft pursuit course meets the requirements, side
Method terminates, and otherwise keeps scale parameter Kp and integral parameter Ki, and differential parameter Kd is gradually increased since 0 according to setting step-length
Greatly；
For each differential parameter Kd value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current differential parameter Kd value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by differential parameter Kd from current value according to smaller setting
Step-length is gradually smaller；Obtain aircraft pursuit course corresponding to each differential parameter Kd value again, take overshoot just reach 2% or
Just it is reduced to aircraft pursuit course when 2% or less to set using the corresponding differential parameter Kd of the aircraft pursuit course as differential parameter record value
Practical differential parameter Kd value is the 30% of differential parameter record value.
Beneficial effect
It is proposed by the present invention based on image processor step debugging functions to the method for photoelectric nacelle tracking parameter Self-tuning System,
Using the tracking correction function of image processor come the moving-target in simulation tracing debugging process, servo antrol plate passes through at image
Reason machine step corrects the feedback of real-time tracking deviation, Self-tuning System tracking parameter, so as to fast automatic adjusting tracking parameter.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is system principle diagram of the invention.
Fig. 2 is tenacious tracking parameter self-tuning flow chart of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the embodiment is exemplary, it is intended to it is used to explain the present invention, and
It is not considered as limiting the invention.
The present invention is substituted when conventional tracking parameter is debugged using the step debugging functions of the tracking correction of image processor
Moving-target.And the tracing deviation fed back by control panel real-time monitoring images processor, tracking parameter amendment is carried out, realizes photoelectricity
The self-setting function of gondola image stabilization tracking parameter.
As shown in Fig. 2, process of the invention are as follows:
Step 1: the visual field cross searching of the TV of photoelectric nacelle or infrared sensor is directed at a feature static object,
And photoelectric nacelle is switched to tracing mode, keep the real-time tracking to the static object；
Step 2: clicking another static object in visual field, generate step revise signal, keep photoelectric nacelle tracking another
A static object, during photoelectric nacelle is switched to another static object, the processing of servo antrol plate real-time monitoring images
The tracing deviation amount of machine feedback；
Step 3: the tracing deviation fed back according to image processor in step 2 obtains aircraft pursuit course, if aircraft pursuit course is super
Tune amount and response time are all satisfied requirement, then it represents that and current tracking parameter meets the requirements, and method terminates, if aircraft pursuit course
Overshoot or response time are unsatisfactory for requiring, then carry out step 4；
Step 4: sending the Self-tuning System order of photoelectric nacelle tracking parameter to the servo antrol plate of photoelectric nacelle；
Step 5: after servo antrol plate receives Self-tuning System order, first by the differential parameter Kd in photoelectric nacelle tracking parameter
It is set to 0 with integral parameter Ki, scale parameter Kp is incrementally increased since 0 according to setting step-length；
For each scale parameter Kp value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current scale parameter Kp value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by scale parameter Kp from current value according to smaller setting
Step-length is gradually smaller；Obtain aircraft pursuit course corresponding to each scale parameter Kp value again, take overshoot just reach 2% or
Aircraft pursuit course when being just reduced to 2% or less, the maximum Kp allowed using the corresponding scale parameter Kp value of the aircraft pursuit course as system
Value, sets the 70% of the maximum Kp value that actual ratio parameter Kp value allows as system；
Step 6: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the reality that step 5 obtains
Border scale parameter gradually reduces integral parameter Ki since a preset big value according to setting step-length；
For each integral parameter Ki value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current integration parameter Ki value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by integral parameter Ki from current value according to smaller setting
Step-length incrementally increases；Obtain aircraft pursuit course corresponding to each integral parameter Ki value again, take overshoot just reach 2% or
Aircraft pursuit course when being just reduced to 2% or less, using the corresponding integral parameter Ki value of the aircraft pursuit course as integral parameter record value, if
Determine 150% that actual integration parameter Ki value is integral parameter record value；
Step 7: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the reality that step 5 obtains
Border scale parameter, the actual integration parameter that integral parameter Ki takes step 6 to obtain, control servo antrol plate generate step amendment order
With step amendment target to photoelectric nacelle image processor, image processor Real-time Feedback photoelectric nacelle field of view center cross with
Step corrects the tracing deviation amount of target, obtains corresponding aircraft pursuit course；If the response time of aircraft pursuit course meets the requirements, side
Method terminates, and otherwise keeps scale parameter Kp and integral parameter Ki, and differential parameter Kd is gradually increased since 0 according to setting step-length
Greatly；
For each differential parameter Kd value, servo antrol plate generates step amendment order and step amendment target is hung to photoelectricity
The image processor in cabin, the tracing deviation of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target
Amount, obtains the corresponding aircraft pursuit course of current differential parameter Kd value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by differential parameter Kd from current value according to smaller setting
Step-length is gradually smaller；Obtain aircraft pursuit course corresponding to each differential parameter Kd value again, take overshoot just reach 2% or
Just it is reduced to aircraft pursuit course when 2% or less to set using the corresponding differential parameter Kd of the aircraft pursuit course as differential parameter record value
Practical differential parameter Kd value is the 30% of differential parameter record value.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (1)
1. it is a kind of based on image processor step debugging functions to the method for photoelectric nacelle tracking parameter Self-tuning System, feature exists
In: the following steps are included:
Step 1: the visual field cross searching of the TV of photoelectric nacelle or infrared sensor being directed at a feature static object, and will
Photoelectric nacelle is switched to tracing mode, keeps the real-time tracking to the static object；
Step 2: clicking another static object in visual field, generate step revise signal, so that photoelectric nacelle is tracked another quiet
State target, during photoelectric nacelle is switched to another static object, servo antrol plate real-time monitoring images processor is anti-
The tracing deviation amount of feedback；
Step 3: the tracing deviation fed back according to image processor in step 2 obtains aircraft pursuit course, if the overshoot of aircraft pursuit course
Requirement is all satisfied with the response time, then it represents that current tracking parameter meets the requirements, and method terminates, if the overshoot of aircraft pursuit course
Amount or response time are unsatisfactory for requiring, then carry out step 4；
Step 4: sending the Self-tuning System order of photoelectric nacelle tracking parameter to the servo antrol plate of photoelectric nacelle；
Step 5: after servo antrol plate receives Self-tuning System order, first by the differential parameter Kd and product in photoelectric nacelle tracking parameter
Point parameter Ki is set to 0, and scale parameter Kp is incrementally increased since 0 according to setting step-length；
For each scale parameter Kp value, servo antrol plate generates step amendment order and step amendment target to photoelectric nacelle
Image processor, the tracing deviation amount of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target,
Obtain the corresponding aircraft pursuit course of current scale parameter Kp value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by scale parameter Kp from current value according to smaller setting step-length
It is gradually smaller；Aircraft pursuit course corresponding to each scale parameter Kp value is obtained again, and overshoot is taken just to reach 2% or just drop
Aircraft pursuit course when down to 2% or less, using the maximum Kp value that the corresponding scale parameter Kp value of the aircraft pursuit course allows as system, if
Determine 70% that actual ratio parameter Kp value is the maximum Kp value that system allows；
Step 6: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the practical ratio that step 5 obtains
Example parameter gradually reduces integral parameter Ki since a preset big value according to setting step-length；
For each integral parameter Ki value, servo antrol plate generates step amendment order and step amendment target to photoelectric nacelle
Image processor, the tracing deviation amount of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target,
Obtain the corresponding aircraft pursuit course of current integration parameter Ki value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by integral parameter Ki from current value according to smaller setting step-length
It incrementally increases；Aircraft pursuit course corresponding to each integral parameter Ki value is obtained again, and overshoot is taken just to reach 2% or just drop
Aircraft pursuit course when down to 2% or less, using the corresponding integral parameter Ki value of the aircraft pursuit course as integral parameter record value, setting is real
Border integral parameter Ki value is the 150% of integral parameter record value；
Step 7: the differential parameter Kd in photoelectric nacelle tracking parameter being set to 0, scale parameter Kp takes the practical ratio that step 5 obtains
Example parameter, the actual integration parameter that integral parameter Ki takes step 6 to obtain, control servo antrol plate generate step amendment order and rank
Jump corrects target to the image processor of photoelectric nacelle, image processor Real-time Feedback photoelectric nacelle field of view center cross and step
The tracing deviation amount for correcting target, obtains corresponding aircraft pursuit course；If the response time of aircraft pursuit course meets the requirements, method knot
Otherwise beam keeps scale parameter Kp and integral parameter Ki, differential parameter Kd is incrementally increased since 0 according to setting step-length；
For each differential parameter Kd value, servo antrol plate generates step amendment order and step amendment target to photoelectric nacelle
Image processor, the tracing deviation amount of image processor Real-time Feedback photoelectric nacelle field of view center cross and step amendment target,
Obtain the corresponding aircraft pursuit course of current differential parameter Kd value；
If the overshoot of aircraft pursuit course meets or exceeds 20%, by differential parameter Kd from current value according to smaller setting step-length
It is gradually smaller；Aircraft pursuit course corresponding to each differential parameter Kd value is obtained again, and overshoot is taken just to reach 2% or just drop
Aircraft pursuit course when down to 2% or less, using the corresponding differential parameter Kd of the aircraft pursuit course as differential parameter record value, setting is practical
Differential parameter Kd value is the 30% of differential parameter record value.
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