CN110231845A - A kind of control method and multiplex control system of target seeker stabilized platform - Google Patents
A kind of control method and multiplex control system of target seeker stabilized platform Download PDFInfo
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Abstract
The invention discloses the control method and multiplex control system of a kind of target seeker stabilized platform, which uses three close-loop control, i.e. electric current loop, speed ring and position ring to target seeker stabilized platform；The electric current loop is realized by using brush motor pwm power driving chip, and the speed ring is realized by Compound Control Strategy, and Compound Control Strategy includes Butterworth filter, interference observer, trapper, incomplete derivative PID；The position ring is realized using small integral PI or proportional controller.The multiplex control system of target seeker stabilized platform of the invention realizes the control to target seeker stabilized platform using the control method of above-mentioned target seeker stabilized platform.Control method of the invention can effectively improve the vulnerability to jamming and rapidity of system, and easy to accomplish.In addition, the multiplex control system of target seeker stabilized platform, with simple, the easy to accomplish advantage of structure.
Description
Technical field
The present invention relates to automation field, the control method of especially a kind of target seeker stabilized platform and complex controll system
System.
Background technique
Demand with current guidance system to precision strike target is higher and higher, to the property of target seeker photoelectric stable platform
Higher requirements are also raised for energy, and guiding head system is the device for integrating light, mechanical, electrical technology, usually by position marker and electricity
Sub-component composition.Position marker is located at the front end of target seeker, is made of photoelectric stable platform, detection system, is to realize guiding system
System target acquisition, optical axis stable, servo-actuated and tracking core component.Wherein photoelectric stable platform major function is passed using inertia
The spatial stability function of sensor, is isolated the disturbance of guided missile, stablizes so that the optical axis of photodetector is directed toward.Stabilized platform isolation is disturbed
Dynamic ability is decided by that the control precision of platform servo system, the mobility of stabilized platform are decided by the fast of platform servo system
Speed.
Common method is PID control in target seeker stabilized platform at present.This method design is simple and effective, but
When being in face of the disturbance of complex environment, PID interference rejection ability is limited, and in order to meet increasing tactical and technical norms, having must
Designing corresponding controller improves the rapidity and vulnerability to jamming of system.
Therefore, it is necessary to design the control method and multiplex control system of a kind of target seeker stabilized platform, have structure simple,
Advantage easy to accomplish, and also there is rapidity and vulnerability to jamming.
Summary of the invention
The purpose of the invention is to overcome the above-mentioned deficiency of the prior art, and provide a kind of control of target seeker stabilized platform
Method processed, this method take the three close-loop controls such as effective electric current loop, speed ring and position ring to target seeker stabilized platform, to solve
The limited problem of PID interference rejection ability in the prior art.
The technical scheme is that a kind of control method of target seeker stabilized platform, the control method are steady to target seeker
Fixed platform uses three close-loop control, the tricyclic are as follows: electric current loop, speed ring and position ring；The electric current loop is by using there is brush
Motor PWM power drive chip come what is realized, realized by Compound Control Strategy by the speed ring comprising Butterworth filter
Wave device, interference observer, trapper, incomplete derivative PID, the position ring use small integral PI or proportional controller；Speed
It spends ring and position ring and realizes control using following steps:
The first step is filtered gyro using Butterworth filter；
Second step, open cycle system identification；
Third step designs interference observer；
4th step, system response is tested after interference observer is added；
5th step designs trapper；Trapper is designed according to the result that the 4th step carries out frequency characteristic test to system；
6th step, system response is tested after trapper is added；
7th step designs incomplete derivative PID controller；The frequency characteristic obtained to the 6th step is analyzed, root
Incomplete derivative PID controller is designed according to analysis result；
Speed closed-link system frequency characteristic test after incomplete derivative PID controller is added in 8th step；
9th step, design position ring controller；Position ring uses small integral PI controller or proportional controller, adjusts control
Device parameter processed obtains the system for meeting performance indicator.
Further, in the first step, Butterworth filter is steady according to the output of the speed of target seeker stabilized platform
For state error criterion come what is designed, which uses second order Butterworth filter, analyzes Gyro Filtering
And determine final cutoff frequency.
Further, in the second step, filtered open cycle system is recognized, using frequency sweep method or random noise
Method obtains system inputoutput data, is handled inputoutput data to obtain the frequency characteristic of system, by being based on
Second-order linearity passes letter model, is recognized using least square method to system, obtains open cycle system model.
Further, in the third step, design interference observer is realized by following steps:
Step 1 comprehensively considers noise and vulnerability to jamming, by being debugged in the interference observer met the requirements repeatedly
Low-pass filter；
Step 2, the open cycle system model secondly recognized according to second step, obtains the nominal plant model of system；
Step 3 finally obtains the interference observer met the requirements in conjunction with system nominal plant model.
Further, in the 4th step, the 6th step and the 8th step, the system after addition observer, addition are fallen into respectively
The closed-loop system of system and speed after addition incomplete derivative PID controller carries out frequency characteristic test after wave device, using frequency sweep
Method or random noise method obtain inputoutput data, are handled inputoutput data to obtain the frequency characteristic of system.
Further, in the 5th step, reference system mechanical resonant suppressing method, design trapper is seen to interference is added
The convex closure region that system response introduces after survey device is inhibited.
Further, the design parameter of the trapper determines centre frequency according to convex closure region highest point.
Further, the electric current loop uses hardware realization, according to hardware chip characteristic configuration coefficients, realizes that electric current closes
Ring.
The present invention also provides a kind of multiplex control systems of target seeker stabilized platform, pass through above-mentioned target seeker stabilized platform
Control method realize control to target seeker stabilized platform, the target seeker stabilized platform yaws double frame knots using pitching
Structure；Detection system, gyro and angular transducer are installed on target seeker stabilized platform.
Further, the detection system is mounted on target seeker stabilized platform as load, and gyro is steady loaded on target seeker
It is used to measure the angular speed of pitching yaw on fixed platform, angular transducer is separately mounted to be used to measure angle position on pitching yaw axis
It moves.
Beneficial effects of the present invention: the present invention provides a kind of control method of target seeker stabilized platform, this method is to leading
Leader stabilized platform takes the three close-loop controls such as effective electric current loop, speed ring and position ring, can effectively improve the anti-interference of system
Property and rapidity, and it is easy to accomplish.In addition, additionally providing a kind of multiplex control system of target seeker stabilized platform, there is structure
Simply, advantage easy to accomplish.
Detailed description of the invention
Fig. 1 is the Semi-active LASER target seeker system schematic of the embodiment of the present invention；
Fig. 2 is the controller block diagram of the embodiment of the present invention 1；
Fig. 3 is the controller block diagram of the embodiment of the present invention 2；
Fig. 4 is the control method flow chart of the embodiment of the present invention；
Fig. 5 is the Butterworth filtering and comparison of the embodiment of the present invention；
Fig. 6 is that the open cycle system of the embodiment of the present invention recognizes curve；
Fig. 7 is the equivalent transformation of the interference observer of the embodiment of the present invention；
Fig. 8 is system response after the addition interference observer of the embodiment of the present invention；
Fig. 9 is system response after the addition trapper of the embodiment of the present invention；
Figure 10 is the speed ring step response of the embodiment of the present invention；
Figure 11 is the speed closed loop frequency characteristic of the embodiment of the present invention；
Figure 12 is the position closed loop step response of the embodiment of the present invention；
Figure 13 is the component relationship figure of the isolation degree test platform of the embodiment of the present invention；
Figure 14 is that the isolation degree test of the embodiment of the present invention exports.
In figure, 10-optical systems, 20-laser detectors, 30-stabilized platforms, 40-yaw motors, 50-angles biography
Sensor, 60-gyros, 70-speed rings, 80-incomplete integral PID control devices, 90-trappers, 100-second order Butterworths
Filter, 110-proportional controllers, 120-potentiometers, 130-small integral PI controllers.
Specific embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
Embodiment 1
Semi-active LASER target seeker system schematic as shown in Figure 1, it include optical system 10, it is laser detector 20, steady
Fixed platform 30, yaw motor 40 etc..Wherein in photoelectric stable platform 30 pitching frame performance by using compound control proposed in this paper
System and control method processed are verified.System main indicator is as follows: the speed stable state worst error of system is less than 0.2 °；System
Isolation under 7 ° of 1Hz disturbance inputs, isolation be less than or equal to 5%；70 bandwidth of system speed ring is not less than 15Hz.
Target seeker stabilized platform 30 yaws double frame construction using pitching, and detection system is equipped on target seeker stabilized platform 30
System, gyro 60 and angular transducer 50.Detection system is mounted on target seeker stabilized platform 30 as load, and gyro 60 is loaded on and leads
It is used to measure the angular speed of pitching yaw on leader stabilized platform 30, angular transducer 50 is separately mounted to use on pitching yaw axis
To measure angular displacement.Specifically, gyro 60 uses MEMS gyro 60, angular transducer 50 uses potentiometer.
Specifically, system is divided into tricyclic debugging, i.e. electric current loop, speed ring 70 and position ring.Wherein electric current loop, which uses, brush
Motor PWM power drive chip MSK4253 realizes that current closed-loop, electric current loop use hardware realization, match according to hardware chip characteristic
Coefficient is set, realizes current closed-loop.System carry out assembly connected with hardware after, driving chip is configured, realization electric current loop band
Width is 1000Hz or more.
Specifically, the bandwidth of electric current loop reaches 1300Hz after design.
As shown in Fig. 2, speed ring 70 uses Compound Control Strategy comprising Butterworth filter, is fallen at interference observer
Wave device 90, incomplete derivative PID, using proportional controller 110, (black dotted lines part with the arrow, illustrates and leads position ring in figure
It takes the lead distinctive tracing mode, if it is being exactly to export and instruct using potentiometer to make difference and generate position control under instruction trace mode
Device control input processed；If it is being missed the target by what is directly obtained after laser detector 20 and data processing
The input as positioner is measured, actually uses both of which, the position step response in the 9th step below herein
It is instruction tracing mode, uses potentiometer and feed back；In isolation degree test using detector tupe, do not use
Potentiometer feedback).After the assembly work of completion system and hard wires work, the control method of the embodiment is according to shown in Fig. 4
Flow chart carry out (provided in following methods be all model continuous model, needed in debugging using bilinearity discrete method
It carries out discrete, the sampling period, speed ring 70 is 1ms, position ring 20ms).
To speed ring 70 and position ring through the following steps that realize:
The first step is filtered gyro 60 using Butterworth filter；According to the speed of target seeker stabilized platform 30
Steady-state error index Design Butterworth filter is exported, using second order Butterworth filter 100, gyro 60 is filtered and is carried out
It analyzes and determines final cutoff frequency.
Specifically, utilizing software realization using second order Butterworth filter 100.Butterworth filter such as following formula institute
Show:
Wherein ωcFor cutoff frequency.
Cutoff frequency is selected as 100Hz, finally obtains the systematic steady state output of filtering front and back as shown in figure 5, meeting stable state most
Big demand of the error less than 0.2 °/s.
Second step, open cycle system identification；Filtered open cycle system is recognized, can be made an uproar using frequency sweep method or at random
Sound method obtains system inputoutput data, is handled inputoutput data to obtain the frequency characteristic of system.Based on two
Rank linearly passes letter model, is recognized using least square method to system, obtains open cycle system model.
Specifically, system inputs the random noise that 10s amplitude is 0.3 °/s using random noise method, acquisition gyro 60 is passed through
The output valve of wave filter, after input and output are handled, the Bode diagram such as curve (actual measurement) institute in Fig. 6 of obtained system
Showing, system is recognized using second-order linear system and least square method, identification curve is that curve (fitting) is shown in Fig. 6,
The nominal plant model of obtained system is
Third step designs interference observer；Interference observer is designed to realize by following steps:
Step 1 comprehensively considers noise and vulnerability to jamming, by being debugged in the interference observer met the requirements repeatedly
Low-pass filter；
Step 2, the open cycle system model secondly recognized according to second step, obtains the nominal plant model of system；
Step 3 finally obtains the interference observer met the requirements in conjunction with system nominal plant model.
Specifically, the basic thought of the interference observer using propositions such as C.J.Kempf, utilizes the equivalent frame of interference observer
G- Design interference observer, as shown in Figure 6.Wherein the design of low-pass filter uses second-order linearity model in interference observer:
Comprehensively consider the rejection ability to disturbance and the sensibility to noise, the final τ determined in low-pass filter=
0.005。
Since interference observer can observe disturbance, but it is sensitive to noise, so needing to comprehensively consider to be designed.
4th step, system response is tested after interference observer is added；Frequency is carried out to the system after addition observer
Characteristic test can obtain inputoutput data using frequency sweep method or random noise method, handle to inputoutput data
To the frequency characteristic of system, curve is analyzed, for designing trapper 90.
Specifically, the model that system after interference observer is added also is changed, using random noise method test macro
Frequency characteristic, method is according to second step, and the frequency response curve for having obtained system is as shown in Figure 8, it can be seen that system exists
The Frequency point of 211.7rad/s nearby has elevated regions.
5th step designs trapper 90；Frequency-response analysis is carried out to system using the 4th step, it can be seen that due to being added
Interference observer in third step, system response introduce convex closure region, and system needs to inhibit the point, and reference system is mechanical
Resonance suppressing method, design trapper 90 inhibit the region, and the design parameter of trapper 90 is according to convex closure region highest
Point determines centre frequency.
Trapper is utilized in order to reduce influence of the third step protrusions region to system with reference to mechanical resonant suppressing method
90 method inhibits the elevated regions.Trapper 90 uses twin-T network trapper 90:
The center frequency points of twin-T network trapper 90 are in ωn=211.7rad/s, Avf=1.
The system convex closure that interference observer introducing is effectively inhibited using trapper 90, is reduced system overshoot, mentioned
High system bandwidth.
Trapper system response test after 90s is added in 6th step；It is after 90s to addition interference observer and trapper
System carries out frequency characteristic test, inputoutput data can be obtained using frequency sweep method or random noise method, to input and output number
According to being handled to obtain the frequency characteristic of system, curve is analyzed, for designing incomplete derivative PID controller.
Specifically, using random noise method test macro frequency characteristic, method has obtained the frequency of system according to second step
Characteristic response curve is as shown in Figure 9.It can be seen that Frequency point near zone addition trapper of the system in 211.7rad/s is after 90s,
The protrusion of system is not present, and is preferably conducive to system control.
7th step designs incomplete derivative PID controller；The frequency characteristic obtained to the 6th step is analyzed, root
Incomplete derivative PID controller is designed according to analysis result；In order to improve the rapidity of system, need to increase the P value in PID, but
It is that P value increases, then the overshoot of system increases, and differential can be effectively reduced the overshoot of system, improve the dynamic property of system,
So joined incomplete derivative PID.
Specifically, in order to improve the bandwidth of system, using incomplete derivative PID controller, incomplete derivative PID controller
Transmission function is as follows:
Controller parameter is respectively that proportionality coefficient is kp=0.062, ki=0.5, kd=0.0002, N=500.The rank of system
Jump response be it is as shown in Figure 10, the system rise time is 24ms, and overshoot 3% meets the requirements.
Speed closed-link system frequency characteristic test after incomplete derivative PID controller is added in 8th step；To speed closed loop system
System carries out frequency characteristic test, inputoutput data can be obtained using frequency sweep method or random noise method, to inputoutput data
It is handled to obtain the frequency characteristic of system, curve is analyzed, be used for 70 characteristic of evaluation system speed ring.
Specifically, using random noise method test macro frequency characteristic, method has obtained the frequency of system according to second step
Characteristic response curve is as shown in figure 11.It can be seen that system bandwidth meets the requirements for 24Hz.
9th step, design position ring controller；Position ring uses proportional controller 110, and adjusting controller parameter is expired
The system of sufficient performance indicator.Due to having used electric current loop and speed ring 70, in order to avoid control two with cascaded sections
Circuit, so position ring using proportional controller 110 can be realized system position ring stablize.
Specifically, position ring uses proportional controller 110, the step of proportionality coefficient 6.3, system is exported such as Figure 12 institute
Show, it can be seen that position ring output overshoot is small, and steady-state error is less than 0.05 °.In order to verify the vulnerability to jamming of target seeker, in five axis
Seeker performance test experiments are carried out on turntable.Target seeker experimental provision functional block diagram is as shown in figure 13.Target seeker is mounted on three
On axis turntable, echo signal is generated by the Laser Simulator being mounted on two-axis platcform, three-axis simulating table applies different amplitudes
The disturbance simulant missile of different frequency disturbs.It defines isolation and describes system vulnerability to jamming, isolation J's is defined as:ωout=1.1 be 60 output angular velocity of pitch axis gyro, ωbThe disturbance of the body of=7 × 1 × 2 π=43.98
Angular speed, angular speed unit be °/s.Given amplitude is that target seeker output angular velocity compares when the body that 7 ° of frequencies are 1Hz disturbs
The isolation output of system is as shown in figure 13.Isolation is that test is 2.5%, meets system requirements.
Embodiment 2
Semi-active LASER target seeker system schematic as shown in Figure 1, it include optical system 10, it is laser detector 20, steady
Fixed platform 30, yaw motor 40 etc..Wherein in photoelectric stable platform 30 pitching frame performance by using compound control proposed in this paper
System and control method processed are verified.System main indicator is as follows: the speed stable state worst error of system is less than 0.2 °；System
Isolation under 7 ° of 1Hz disturbance inputs, isolation be less than or equal to 5%；70 bandwidth of system speed ring is not less than 15Hz.
Target seeker stabilized platform 30 yaws double frame construction using pitching, and detection system is equipped on target seeker stabilized platform 30
System, gyro 60 and angular transducer 50.Detection system is mounted on target seeker stabilized platform 30 as load, and gyro 60 is loaded on and leads
It is used to measure the angular speed of pitching yaw on leader stabilized platform 30, angular transducer 50 is separately mounted to use on pitching yaw axis
To measure angular displacement.Specifically, gyro 60 uses MEMS gyro 60, angular transducer 50 uses potentiometer.
Specifically, system is divided into tricyclic debugging, i.e. electric current loop, speed ring 70 and position ring.Wherein electric current loop, which uses, brush
Motor PWM power drive chip MSK4253 realizes that current closed-loop, electric current loop use hardware realization, match according to hardware chip characteristic
Coefficient is set, realizes current closed-loop.System carry out assembly connected with hardware after, driving chip is configured, realization electric current loop band
Width is 1000Hz or more.
Specifically, the bandwidth of electric current loop reaches 1300Hz after design.
As shown in figure 3, speed ring 70 uses Compound Control Strategy comprising Butterworth filter, is fallen at interference observer
Wave device 90, incomplete derivative PID, using small integral PI controller 130, (black dotted lines part with the arrow, indicates position ring in figure
The distinctive tracing mode of target seeker, if it is being exactly to export and instruct using potentiometer to make difference and generate position under instruction trace mode
Set controller control input；If it is under target following, being then by being directly obtained after laser detector 20 and data processing
Input of the miss distance as positioner actually uses both of which, the position step in the 9th step below herein
Response is instruction tracing mode, uses potentiometer and feeds back；In isolation degree test using detector tupe, do not have
It is fed back using potentiometer).After the assembly work of completion system and hard wires work, the control method of the embodiment is according to Fig. 4
Shown in flow chart carry out (provided in following methods be all model continuous model, needed in debugging using bilinearity from
Arching pushing carries out discrete, the sampling period, and speed ring 70 is 1ms, position ring 20ms).
The rest part and embodiment 1 of embodiment 2 are consistent, the difference from embodiment 1 is that: the 9th step, design position ring
Using small integral PI controller 130.
9th step, design position ring controller；Position ring uses small integral PI controller 130, and adjusting controller parameter obtains
To the system for meeting performance indicator.Due to having used electric current loop and speed ring 70, in order to avoid control two with cascade
Partial circuit is stablized so system position ring can be realized using small integral PI controller 130 in position ring.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technology
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of control method of target seeker stabilized platform, it is characterised in that: the control method adopts target seeker stabilized platform
With three close-loop control, the tricyclic are as follows: electric current loop, speed ring and position ring；The electric current loop is by using brush motor PWM function
Rate driving chip come what is realized, realized by Compound Control Strategy by the speed ring comprising Butterworth filter, interference
Observer, trapper, incomplete derivative PID, the position ring use small integral PI or proportional controller；Speed ring and position
Ring realizes control using following steps:
The first step is filtered gyro using Butterworth filter；
Second step, open cycle system identification；
Third step designs interference observer；
4th step, system response is tested after interference observer is added；
5th step designs trapper；Trapper is designed according to the result that the 4th step carries out frequency characteristic test to system；
6th step, system response is tested after trapper is added；
7th step designs incomplete derivative PID controller；The frequency characteristic obtained to the 6th step is analyzed, according to point
It analyses result and designs incomplete derivative PID controller；
Speed closed-link system frequency characteristic test after incomplete derivative PID controller is added in 8th step；
9th step, design position ring controller；Position ring uses small integral PI controller or proportional controller, adjusting controller
Parameter obtains the system for meeting performance indicator.
2. the control method of target seeker stabilized platform as described in claim 1, it is characterised in that: in the first step, Bart
Butterworth filter is to export steady-state error index according to the speed of target seeker stabilized platform to design, the Butterworth filter
Using second order Butterworth filter, Gyro Filtering analyze and determines final cutoff frequency.
3. the control method of target seeker stabilized platform as described in claim 1, it is characterised in that: in the second step, to filter
Open cycle system after wave is recognized, and system inputoutput data is obtained using frequency sweep method or random noise method, to input and output
Data are handled to obtain the frequency characteristic of system, by passing letter model based on second-order linearity, utilize least square method pair
System is recognized, and open cycle system model is obtained.
4. the control method of target seeker stabilized platform as claimed in claim 3, it is characterised in that: in the third step, design
Interference observer is realized by following steps:
Step 1 comprehensively considers noise and vulnerability to jamming, by debugging the low pass in the interference observer met the requirements repeatedly
Filter；
Step 2, the open cycle system model recognized according to second step, obtains the nominal plant model of system；
Step 3 finally obtains the interference observer met the requirements in conjunction with system nominal plant model.
5. the control method of target seeker stabilized platform as described in claim 1, it is characterised in that: the 4th step, the 6th step
In the 8th step, respectively to be added observer after system, be added trapper after system and be added incomplete derivative PID controller
The closed-loop system of speed carries out frequency characteristic test afterwards, inputoutput data is obtained using frequency sweep method or random noise method, to defeated
Enter output data to be handled to obtain the frequency characteristic of system.
6. the control method of target seeker stabilized platform as claimed in any one of claims 1 to 5, it is characterised in that: the described 5th
In step, reference system mechanical resonant suppressing method, design trapper introduces system response after addition interference observer
Convex closure region is inhibited.
7. the control method of target seeker stabilized platform as claimed in claim 6, it is characterised in that: the specific ginseng of the trapper
Number determines centre frequency according to convex closure region highest point.
8. the control method of target seeker stabilized platform as claimed in any one of claims 1 to 5, it is characterised in that: the electric current
Ring uses hardware realization, according to hardware chip characteristic configuration coefficients, realizes current closed-loop.
9. a kind of multiplex control system of target seeker stabilized platform, it is steady by target seeker according to any one of claims 1 to 8
The control method of fixed platform realizes the control to target seeker stabilized platform, it is characterised in that: the target seeker stabilized platform uses
Pitching yaws double frame construction；Detection system, gyro and angular transducer are installed on target seeker stabilized platform.
10. the multiplex control system of target seeker stabilized platform as claimed in claim 9, it is characterised in that: the detection system
It is mounted on target seeker stabilized platform as load, gyro is loaded on the angle speed for being used to measure pitching yaw on target seeker stabilized platform
Degree, angular transducer are separately mounted to be used to measure angular displacement on pitching yaw axis.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113093818A (en) * | 2021-04-20 | 2021-07-09 | 中国科学院西安光学精密机械研究所 | Stable platform servo control system |
| CN113346797A (en) * | 2021-06-02 | 2021-09-03 | 南京达风数控技术有限公司 | Servo self-tuning method based on frequency domain analysis |
| CN113346797B (en) * | 2021-06-02 | 2024-04-30 | 南京达风数控技术有限公司 | Servo self-tuning method based on frequency domain analysis |
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