CN110764538A - Three-step adaptive algorithm-based three-axis stabilized platform and tracking method for unmanned aerial vehicle - Google Patents
Three-step adaptive algorithm-based three-axis stabilized platform and tracking method for unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm and a tracking method. The platform comprises a photoelectric switch, a triaxial stable gyroscope, a sensor acquisition MCU, an antenna control panel MCU, a feed source, a beacon machine, a slip ring, a positioning system, a motor driver and a motor. The method comprises the following steps: the aerial platform sends the geographic position information of the local terminal, and the ground system captures a target; the photoelectric switch and the three-axis stable gyroscope transmit information to the sensor acquisition MCU, the sensor acquisition MCU performs data preprocessing and sends an antenna state to the antenna control panel MCU; the antenna control panel MCU controls the motor driver through comprehensive calculation, so that the antenna always keeps the optimal communication posture. In the tracking process, a three-step tracking algorithm is adopted, a closed-loop PID feedback control mode is adopted to inhibit carrier interference, a disturbance compensation mode is adopted to inhibit carrier disturbance, the problem of over-jacking of the platform is solved, and the tracking precision, the response speed and the stability are high.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm and a tracking method.
Background
The stabilized platform is a device for stabilizing a stabilized object relative to a certain direction, and is mainly characterized in that a gyroscope is widely used as an angular motion sensitive element, the adopted technical means belongs to the field of inertial technology research, the device has the specific function of isolating carrier disturbance, accurately keeping the dynamic attitude reference of a carrier by measuring the change of the attitude and the position of the platform, and realizing the automatic tracking of a maneuvering target through image detection equipment, so the device is a long-standing research subject in all countries. The stable platform is widely applied to the industry, and on aerial photography observation equipment, the stable platform can accurately enable the photography equipment to be aligned to a target so as to obtain a more accurate and clear image; in the development of modern satellite television receiving and broadcasting, mobile satellite communication for vehicles and ships, cash trucks, public security, fire fighting and other industries, a platform with stable tracking capability is needed to isolate the influence of the motion of a carrier on the attitude of the platform, and the interception, identification and tracking of target signals are guaranteed under various meteorological environment conditions. In addition, the stable tracking platform is widely applied to deep sea operation occasions such as an airborne target indicator, space remote sensing detection, seabed sonar detection and the like.
The united states RaySat Antenna Systems (RAS) is the Antenna equipment manufacturer of the more advanced mobile communication Systems in the world, the main application in the united states is military communication, and now many areas of the world have RaySat Antenna equipment in service. The produced Stealthray series vehicle-mounted mobile communication platform equipment supports two-way communication, can automatically track and keep pointing by automatically controlling azimuth, pitching and polarization angle in the vehicle moving process, and supports the two-way 2Mbps transmission rate of the vehicle under the running condition of 350km per hour. The relevant product systems researched by China in the science and technology institutions of national important military and civil large-scale electronic information systems, communication and electronic equipment comprise portable antennas, vehicle-mounted antennas and ship-mounted antennas, the vehicle-mounted antenna systems adopt gyro stabilization, inertial navigation guidance tracking and phase-controlled electronic beam scanning and tracking technologies, the antennas are kept to be always aligned to satellites in high precision, smooth communication is guaranteed, the phase-controlled electronic beam scanning and tracking can correct inertial navigation data in real time, the inherent defect that the inertial navigation data drift along with time is overcome, the inertial navigation data do not need to be corrected by timing parking, and stable tracking in a long-time traveling process is achieved. For example, SATPRO brand vehicle and ship-borne stable tracking equipment independently developed by seian star exhibition measurement and control technology corporation is widely praised in the fields of civilian use, military use and the like. With the continuous increase of satellite communication demand in the international aviation field in recent years, SATPRO airborne antenna equipment gradually enters the international market by means of advanced technology, super-strong research and development strength and accurate market judgment capability of satellite exhibition measurement and control, and various related experiments are successfully completed under the supervision of the european aviation safety bureau at present. The SATPRO antenna equipment integrates a plurality of industry leading technologies such as a GNSS/INS fusion attitude measurement system, cone scanning peak tracking, carrier attitude resolving, a compensation algorithm, phased array communication and the like, and can still ensure that the antenna is stable and aimed at the satellite under the conditions of large ship swing, severe automobile bump and high-speed airplane flight.
In the aspect of the stable tracking platform of on-vehicle unmanned aerial vehicle, mainly adopt the platform of diaxon structure to trail. When a tracking target crosses the top, the tracking platform is limited by a two-axis structure, a tracking blind area is inevitably generated, and the continuous and accurate tracking of the platform is influenced by the blind area. And relatively speaking, the platform precision for unmanned aerial vehicle tracking is lower, can not satisfy the high accuracy tracking requirement. In addition, the structure of the existing stable platform is relatively wide and is not suitable for small-sized vehicle bodies.
Disclosure of Invention
The invention aims to provide the three-axis stabilized platform of the unmanned aerial vehicle based on the three-step adaptive algorithm, which can solve the problem of over-jacking of the platform and has high tracking precision, high response speed and high stability.
The technical solution for realizing the purpose of the invention is as follows: an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm comprises a photoelectric switch, a three-axis gyroscope, a sensor acquisition MCU, an antenna control panel MCU, a feed source, a beacon machine, a slip ring, a positioning system, a motor driver and a motor;
the photoelectric switch comprises an azimuth photoelectric switch, a roll photoelectric switch and a pitch photoelectric switch and is used for transmitting the position information of azimuth, roll and pitch to the sensor acquisition MCU through the GPIO port;
the three-axis gyroscope is used for transmitting speed information and acceleration information to the sensor acquisition MCU;
the sensor acquisition MCU is used for sending a message to the antenna control panel MCU through a serial port;
the feed source is a primary radiator of the high-gain antenna and is used for converging electric waves to the position of the feed source so as to receive a maximum signal and then transmitting the signal to the slip ring;
the beacon machine is used for sending the geographic position of the aerial platform to the antenna control panel MCU;
the slip ring is used for receiving output signals of the feed source and the positioning system and transmitting the signals to the antenna control panel MCU;
the positioning system, namely an inertial navigation system, is used for providing longitude and latitude information and altitude of a target and transmitting the longitude and latitude information and the altitude to the slip ring;
the antenna control panel MCU is used for carrying out comprehensive calculation on the received signals and controlling the motor driver so as to control the motor to adjust the communication posture of the communication-in-motion antenna;
the motor driver comprises an azimuth motor driver, an azimuth motor driver and a pitching motor driver and is used for driving the motor to operate at a corresponding speed;
the motor comprises an azimuth motor, an azimuth motor and a pitching motor and is used for adjusting the angle of the antenna, so that the communication-in-motion antenna can keep the optimal communication attitude.
As a specific example, the sensor acquisition MCU adopts STM32F103VET6, the antenna control panel MCU adopts STM32F427VET6, the motor adopts an alternating current servo motor of Mingzhi corporation, the photoelectric switch adopts KJT-ST676, and the triaxial gyroscope adopts an ADIS16475-2 type MEMS gyroscope.
As a specific example, the antenna control board MCU sends the debugging information to the PC through USART1, and displays the debugging information on the PC, and outputs the debugging information of the antenna to view the results of operation and control, so as to assist in debugging the antenna;
the antenna control panel MCU is connected with the beacon machine through USART2 to obtain the geographical position information of the target;
the antenna control panel MCU receives inertial navigation system information in the positioning system through USART3, and adjusts the antenna alignment direction according to the inertial navigation information;
the antenna control panel MCU receives information of the MCU collected by the sensor through USART4, and further adjusts the antenna alignment angle by processing gyroscope information in the MCU;
the antenna control board MCU sends a speed instruction to the azimuth motor driver through the UART1, and controls the azimuth motor to operate at a corresponding speed;
the antenna control board MCU sends a speed instruction to the roll motor driver through the UART2 to control the roll motor to operate according to the corresponding speed;
the antenna control board MCU sends a speed instruction to the pitching motor driver through the UART3, and controls the pitching motor to operate at a corresponding speed;
the antenna control panel MCU is connected with the servo control equipment through a network port and receives equipment related information inquiry and an antenna motion control command;
the antenna control panel MCU generates a path of PWM signal through a channel 2 of the timer 4, and is used for controlling the STEP signal of the azimuth motor so as to control the rotation of the azimuth motor; the antenna control panel MCU generates a path of PWM signal through a channel 2 of the timer 5, and is used for controlling the STEP signal of the roll motor so as to control the rotation of the roll motor; the antenna control panel MCU generates a path of PWM signal through a channel 1 of the timer 8, and is used for controlling the STEP signal of the pitching motor so as to control the rotation of the pitching motor.
A tracking algorithm of an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm comprises the following steps:
step 2, the photoelectric switch transmits the azimuth, roll and pitch information to a sensor acquisition MCU through a GPIO port, and the three-axis gyroscope transmits speed information and acceleration information to the sensor acquisition MCU;
and 4, the antenna control panel MCU controls the motor driver through comprehensive calculation and adjusts the communication posture of the communication-in-motion antenna.
As a specific example, the aerial platform described in step 1 sends the geographic location information of the local terminal through the beacon channel, and the ground system completes target acquisition and tracking according to the geographic location information provided by the beacon channel, which is specifically as follows:
step 1.1, adopting ground equipment to send beacon inquiry signals in a TDMA (time division multiple access) mode in a target acquisition stage, namely sending the beacon inquiry signals by each user station in different time periods by taking Beidou time service as a reference;
step 1.2, the aerial platform sends a beacon response signal after receiving the inquiry signal of the ground equipment, and keeps a silent state at other times;
and step 1.3, the ground equipment performs target capture and network access operation, stops sending the beacon inquiry signal and finishes geographic position information updating through the service channel.
As a specific example, the ground device in step 1.3 performs the target capturing and network accessing operation, which specifically includes the following steps:
step 1.3.1, aligning the position of a target through coarse alignment, and scanning an antenna pitching motor at the speed of 0.533 degrees/S when the target is within 3 Km; when the antenna is positioned in the range of 3-15 Km, the antenna pitching motor scans at the speed of 0.267 DEG/S; when the antenna is out of the range of 15Km, the antenna pitching motor scans at the speed of 0.133 degrees/S; the azimuth motor always scans at the speed of 60 degrees/S, and the total capture time of the system is 43.5 seconds;
and 1.3.2, further aligning the target through fine alignment, and capturing the target by adopting a cone scanning algorithm in the fine alignment.
As a specific example, the antenna control board MCU in step 4 controls the motor driver to adjust the communication posture of the mobile communication antenna through comprehensive calculation, and includes adopting a three-step tracking algorithm to control α, β and the motors on the γ axes to track the target, wherein α, β and the γ axes respectively correspond to the azimuth axis, the pitch axis and the roll axis, and the steps are as follows:
step 4.1, when the target is in a rising stage and the elevation angle is less than 75 degrees, keeping the gamma axis still and tracking the target by rotating α and β axes;
step 4.2, when the target is positioned at an elevation angle larger than 75 degrees, keeping the α axis still, and tracking the target by rotating the β axis and the gamma axis;
step 4.3, when the target is in the descent phase and when the elevation angle is less than 75 degrees, the gamma axis is stationary and the target is tracked by rotating the α and β axes.
As a specific example, the antenna control board MCU in step 4 performs comprehensive calculation to control the motor driver and adjust the communication attitude of the mobile communication antenna, and includes a closed-loop PID feedback control mode to suppress carrier interference, and the following steps:
the innermost ring of the closed-loop PID feedback control mode is a current ring, and the transfer function model of the current regulator is
The specific coefficient is obtained by regulation in practice, and the current sensor forms a current loop feedback loop, and a current feedback coefficient β is adopted1And a filter
Forming a current loop feedback loop; speed of middle ringThe ring and the outer ring stabilizing ring adopt PID control algorithm; wherein K1Is the gain factor, T, of the current regulator1Is the time constant of the current regulator, s represents a complex number, TAIs the time constant of the filter.
Compared with the prior art, the invention has the remarkable advantages that: (1) the target is tracked by adopting three axes of pitching, rolling and azimuth, so that the target tracking is faster and more stable; (2) a three-axis structure is adopted, and a three-step switching tracking algorithm is adopted, so that the problem of over-jacking of target tracking is solved; (3) by adopting the stm32 series, the tracking system has the characteristics of high processing speed and strong anti-interference capability; (4) the used chip has small volume, and the whole control panel is small, thereby being convenient for simulation and practicality.
Drawings
Fig. 1 is a structural block diagram of an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm.
Fig. 2 is a block diagram of the antenna control board MCU according to the present invention.
FIG. 3 is a block diagram of the acquisition MCU of the sensor in the present invention.
Fig. 4 is a schematic flowchart of a cone scanning algorithm according to an embodiment of the present invention.
Fig. 5 is a graph of a three-axis system in accordance with an embodiment of the present invention.
Fig. 6 is a coordinate diagram of a spatial rectangular coordinate system established in an embodiment of the present invention.
FIG. 7 is a flow chart of a closed loop PID feedback control method in an embodiment of the invention.
FIG. 8 is a flow diagram of a disturbance compensation control system in accordance with an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
With reference to fig. 1, the three-axis stabilized platform of the unmanned aerial vehicle based on the three-step adaptive algorithm comprises a photoelectric switch 1, a three-axis gyroscope 2, a sensor acquisition MCU3, an antenna control panel MCU4, a feed source 5, a beacon machine 6, a slip ring 7, a positioning system 8, a motor driver 9 and a motor 10;
the photoelectric switch 1 comprises an azimuth photoelectric switch, a roll photoelectric switch and a pitch photoelectric switch, and is used for transmitting the position information of azimuth, roll and pitch to the sensor acquisition MCU3 through the GPIO port;
the three-axis gyroscope 2 is used for transmitting speed information and acceleration information to the sensor acquisition MCU 3;
the sensor acquisition MCU3 is used for sending messages to the antenna control panel MCU4 through a serial port;
the feed source 5 is a primary radiator of a high-gain antenna and is used for converging electric waves to the position of the feed source so as to receive a maximum signal and then transmitting the signal to the slip ring 7;
the beacon machine 6 is used for sending the geographic position of the aerial platform to the antenna control panel MCU 4;
the slip ring 7 is used for receiving output signals of the feed source 5 and the positioning system 8 and transmitting the signals to the antenna control board MCU 4;
the positioning system 8, namely an inertial navigation system, is used for providing longitude and latitude information and altitude of a target and transmitting the longitude and latitude information and the altitude to the slip ring 7;
the antenna control board MCU4 is used for carrying out comprehensive calculation on the received signals and controlling the motor driver 9, so that the motor 10 is controlled to adjust the communication posture of the communication-in-motion antenna;
the motor driver 9 comprises an azimuth motor driver, an azimuth motor driver and a pitch motor driver and is used for driving the motor 10 to run at a corresponding speed;
the motor 10 comprises an azimuth motor, an azimuth motor and a pitching motor, and is used for adjusting the angle of the antenna, so that the communication-in-motion antenna keeps the optimal communication attitude.
The sensor acquisition MCU3 reads information such as speed, acceleration and the like in the three-axis gyroscope through the SPI interface to carry out data preprocessing; the photoelectric switch 1 transmits the direction, roll and pitch information to the sensor acquisition MCU3 through the GPIO port, and the sensor acquisition MCU3 transmits the information of the antenna state to the antenna control panel MCU4 through the serial port according to the IMU and the feedback information of the photoelectric switch 1. The antenna control board MCU4 senses the motion state of the communication-in-motion antenna through the sensor acquisition board MCU3, and controls the motor driver 9 through comprehensive calculation by the processor according to the information of the IMU, the inertial navigation, the beacon machine 6 and the photoelectric switch 1, so that the communication-in-motion antenna always keeps the optimal communication attitude, the stability of the communication process is ensured, and the communication of control and state information is carried out through the network port and the indoor unit.
With reference to fig. 2, the photoelectric switch 1 of the present invention transmits the azimuth, roll and pitch information to the sensor acquisition MCU3 through the GPIO port, the three-axis gyroscope 2 transmits the speed and acceleration information to the sensor acquisition MCU3, and the sensor acquisition MCU3 uses the STM32F103VET 6. STM32F103VET6 is internally provided with a FLASH space 512K, a CPU is internally provided with a 20K SRAM, the highest frequency of the CPU is 72MHz, 3 universal timers, 1 advanced timer, 2 SPI interfaces and 3 usart interfaces; the triaxial gyroscope 2 adopts an ADIS16475-2 type MEMS gyroscope of AD company, and the ADIS16475-2 is an IMU (inertial measurement Unit), comprises a gyroscope and an accelerometer, and can solve the attitude information of pitching and rolling through a certain algorithm besides providing gyroscope information.
With reference to fig. 3, the sensor acquisition board MCU3 of the present invention reads the speed and acceleration information in the three-axis gyroscope 2 through the SPI interface, performs data preprocessing, then sends the antenna state to the antenna control board MCU4 through the serial port, and the antenna control board MCU4 controls the motor driver 9 through comprehensive calculation, so that the mobile antenna can always maintain the optimal communication attitude, thereby ensuring the stability of the communication process. The sensor acquisition MCU3 adopts STM32F103VET6, the antenna control panel MCU4 adopts STM32F427VET6, the motor 10 adopts an alternating current servo motor of the Mingzhi company, the photoelectric switch 1 adopts KJT-ST676, and the triaxial gyroscope 2 adopts an ADIS16475-2 type MEMS gyroscope.
Furthermore, the antenna control board MCU4 sends the debugging information to the PC end through USART1, and displays the debugging information on the PC end, and outputs the debugging information of the antenna to view the results of operation and control, thereby assisting in the debugging of the antenna; the antenna control panel MCU4 is connected with the beacon machine 6 through USART2 to obtain the target related information; the antenna control panel MCU4 receives inertial navigation system information in the positioning system through USART3, and adjusts the antenna alignment direction according to the inertial navigation information; the antenna control board MCU4 receives the information of the MCU3 collected by the sensor through USART4, and further adjusts the antenna alignment angle by processing the gyroscope information therein; the antenna control board MCU4 sends a speed instruction to the azimuth motor driver through the UART1 to control the azimuth motor to operate according to the corresponding speed; the antenna control board MCU4 sends a speed instruction to the roll motor driver through the UART2 to control the roll motor to operate according to the corresponding speed; the antenna control board MCU4 sends a speed instruction to the pitching motor driver through the UART3 to control the pitching motor to operate according to the corresponding speed; the antenna control panel MCU4 is connected with the servo control equipment through a network port, receives equipment related information inquiry and antenna motion control commands and receives feedback result information; the antenna control panel MCU4 generates a path of PWM signal through the channel 2 of the timer 4, and is used for controlling the STEP signal of the azimuth motor so as to control the rotation of the azimuth motor; the antenna control panel MCU4 generates a path of PWM signal through the channel 2 of the timer 5, and is used for controlling the STEP signal of the roll motor so as to control the rotation of the roll motor; the antenna control panel MCU4 generates a path of PWM signal through the channel 1 of the timer 8, and is used for controlling the STEP signal of the pitching motor so as to control the rotation of the pitching motor.
A tracking algorithm of an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm comprises the following steps:
step 2, the photoelectric switch 1 transmits the azimuth, roll and pitch information to the sensor acquisition MCU3 through the GPIO port, and the three-axis gyroscope 2 transmits the speed information and acceleration information to the sensor acquisition MCU 3;
and 4, the antenna control board MCU4 controls the motor driver 9 through comprehensive calculation, adjusts the communication posture of the communication-in-motion antenna and ensures the stability of the communication process.
Further, the aerial platform described in step 1 sends the geographic position information of the local terminal through the beacon channel, and the ground system completes target capture and tracking according to the geographic position information provided by the beacon channel, which is specifically as follows:
step 1.1, adopting ground equipment to send beacon inquiry signals in a TDMA (time division multiple access) mode in a target acquisition stage, namely sending the beacon inquiry signals by each user station in different time periods by taking Beidou time service as a reference;
step 1.2, the aerial platform sends a beacon response signal after receiving the inquiry signal of the ground equipment, and keeps a silent state at other times;
and step 1.3, the ground equipment performs target capture and network access operation, stops sending the beacon inquiry signal and finishes geographic position information updating through the service channel.
Further, the ground device in step 1.3 performs target capturing and network access operations, specifically as follows:
step 1.3.1, roughly aligning the position of a target through rough alignment, and when the target is within 3Km, scanning an antenna pitching motor at the speed of 0.533 degrees/S; when the antenna is positioned in the range of 3-15 Km, the antenna pitching motor scans at the speed of 0.267 DEG/S; when the antenna is out of the range of 15Km, the antenna pitching motor scans at the speed of 0.133 degrees/S; the azimuth motor always scans at the speed of 60 degrees/S, and the total capture time of the system is 43.5 seconds;
and 1.3.2, the target is more accurately aligned through fine alignment, and the target is captured with high precision by adopting a cone scanning algorithm in the fine alignment, as shown in FIG. 4.
Further, the antenna control board MCU4 in step 4 controls the motor driver 9 through comprehensive calculation to adjust the communication attitude of the mobile communication antenna, including controlling the motors on the α, β and γ axes to track the target by using a three-step tracking algorithm, where the α, β and γ axes respectively correspond to the azimuth axis, the pitch axis and the roll axis, and the steps are as follows:
step 4.1, when the target is in a rising stage and the elevation angle is less than 75 degrees, keeping the gamma axis still and tracking the target by rotating α and β axes;
step 4.2, when the target is positioned at an elevation angle larger than 75 degrees, keeping the α axis still, and tracking the target by rotating the β axis and the gamma axis;
step 4.3, when the target is in the descent phase and when the elevation angle is less than 75 degrees, the gamma axis is stationary and the target is tracked by rotating the α and β axes.
The theoretical analysis of the three-step tracking algorithm for solving the problem of target over-top is as follows:
as shown in fig. 5, the three-axis system includes three parts of an azimuth, a pitch, and a roll, which respectively correspond to three rotating axes of α axis, β axis, and γ axis, the intersection point O of the three rotating axes is fixed, the direction indicated by OS is the observation direction, the system uses O as the origin of coordinates, uses the east direction as the positive direction of x axis, uses the north direction as the positive direction of y axis, and uses the zenith direction as the positive direction of z axis, and establishes a spatial rectangular coordinate system as shown in fig. 6, when (α, γ) ═ 0, 0, 0, it is specified that α axis coincides with z axis, β axis coincides with x axis, γ axis coincides with y axis, and at this time, the observation direction OS points to the positive direction of rotation of zenith axis as shown in fig. 6.
The rotation angles of the three shafts are α, β and gamma respectively, and the value ranges are as follows:
0≤α<360°,-90°≤β≤90°,-90°≤γ≤90°
the rotation matrices for the α axis, the β axis, and the γ axis are set as:
assuming that the spatial target S is a unit length from the origin of coordinates O, S has coordinates (x, y, z) in the coordinate system, and the three-axis platform is rotated (α, γ) to align the viewing direction with the target S, then (x, y, z) and (α, γ) are related as follows:
the three-step tracking algorithm means that when the tracked target is in a rising stage and when the pitch angle is smaller than 75 degrees, the α shaft is kept still, and the target is tracked by rotating the β shaft and the gamma shaft, and since the α shaft is kept still, α is made to be 0, which is obtained by the following formula:
after derivation, the following results are obtained:
finally, the following can be obtained:
when γ ≠ 0, i.e., the target is above horizontal,
andnone are infinite and their values decrease with decreasing values of γ; when the object is over-the-top,andas the pitch angle decreases, the triaxial system may employ a three-step tracking algorithm to solve the over-tip problem.
Further, the antenna control board MCU4 described in step 4 controls the motor driver 9 through comprehensive calculation to adjust the communication attitude of the mobile communication antenna, including suppressing carrier interference by using a closed-loop PID feedback control method, and with reference to fig. 7, includes the following steps:
the innermost ring of the closed-loop PID feedback control mode is a current ring, and the transfer function model of the current regulator is
The specific coefficient is obtained by adjusting in practice; the current loop feedback loop is formed by a current sensor, and a current is adoptedFeedback coefficient β1And a filter
Forming a current loop feedback loop; the middle ring speed ring and the outer ring stabilizing ring adopt PID control algorithm; wherein K1Is the gain factor, T, of the current regulator1Is the time constant of the current regulator, s represents a complex number, TAIs the time constant of the filter.
Further, the system adopts a disturbance compensation mode to suppress the carrier disturbance, and with reference to fig. 8, the following details are provided:
the angular speed of the platform in the azimuth direction is detected, and then the platform is controlled to rotate in the opposite direction at the same speed, so that the influence of disturbance on the system is reduced.
The invention tracks the target by adopting three axes of pitching, rolling and azimuth, and the tracked target is faster and more stable; a three-axis structure is adopted, and a three-step switching tracking algorithm is adopted, so that the problem of over-jacking of target tracking is solved; by adopting the stm32 series, the tracking system has the characteristics of high processing speed and strong anti-interference capability; the used chip has small volume, and the whole control panel is small, thereby being convenient for simulation and practicality.
Claims (8)
1. An unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm is characterized by comprising a photoelectric switch (1), a three-axis gyroscope (2), a sensor acquisition MCU (3), an antenna control panel MCU (4), a feed source (5), a beacon machine (6), a slip ring (7), a positioning system (8), a motor driver (9) and a motor (10);
the photoelectric switch (1) comprises an azimuth photoelectric switch, a roll photoelectric switch and a pitch photoelectric switch, and is used for transmitting the position information of azimuth, roll and pitch to the sensor acquisition MCU (3) through the GPIO port;
the three-axis gyroscope (2) is used for transmitting speed information and acceleration information to the sensor acquisition MCU (3);
the sensor acquisition MCU (3) is used for sending a message to the antenna control panel MCU (4) through a serial port;
the feed source (5) is a primary radiator of a high-gain antenna and is used for converging electric waves to the position of the feed source so as to receive a maximum signal and then transmitting the signal to the slip ring (7);
the beacon machine (6) is used for sending the geographic position of the aerial platform to the antenna control panel MCU (4);
the slip ring (7) is used for receiving output signals of the feed source (5) and the positioning system (8) and transmitting the signals to the antenna control panel MCU (4);
the positioning system (8), namely an inertial navigation system, is used for providing longitude and latitude information and altitude of the target and transmitting the longitude and latitude information and the altitude to the slip ring (7);
the antenna control board MCU (4) is used for carrying out comprehensive calculation on the received signals and controlling the motor driver (9), so that the motor (10) is controlled to adjust the communication posture of the communication-in-motion antenna;
the motor driver (9) comprises an azimuth motor driver, an azimuth motor driver and a pitch motor driver and is used for driving the motor (10) to operate at a corresponding speed;
the motor (10) comprises an azimuth motor, an azimuth motor and a pitching motor and is used for adjusting the angle of the antenna, so that the communication-in-motion antenna can keep the optimal communication posture.
2. The unmanned aerial vehicle three-axis stabilization platform based on the three-step adaptive algorithm according to claim 1, wherein the sensor acquisition MCU (3) adopts STM32F103VET6, the antenna control panel MCU (4) adopts STM32F427VET6, the motor (10) adopts an alternating current servo motor of Mingzhi corporation, the photoelectric switch (1) adopts KJT-ST676, and the three-axis gyroscope (2) adopts an ADIS16475-2 type MEMS gyroscope.
3. The unmanned aerial vehicle triaxial stabilized platform based on the three-step adaptive algorithm according to claim 1, wherein the antenna control board MCU (4) sends debugging information to the PC terminal through USART1, and the debugging information is displayed at the PC terminal, so as to output the debugging information of the antenna, so as to view the results of operation and control and assist in the debugging of the antenna;
the antenna control panel MCU (4) is connected with the beacon machine (6) through USART2 to obtain the geographical position information of the target;
the antenna control board MCU (4) receives inertial navigation system information in the positioning system through USART3, and adjusts the antenna alignment direction according to the inertial navigation information;
the antenna control board MCU (4) receives the information of the MCU (3) collected by the sensor through USART4, and further adjusts the antenna alignment angle by processing the gyroscope information therein;
the antenna control board MCU (4) sends a speed instruction to the azimuth motor driver through the UART1 to control the azimuth motor to operate at a corresponding speed;
the antenna control board MCU (4) sends a speed instruction to the roll motor driver through the UART2 to control the roll motor to operate at a corresponding speed;
the antenna control board MCU (4) sends a speed instruction to the pitching motor driver through the UART3, and controls the pitching motor to operate at a corresponding speed;
the antenna control panel MCU (4) is connected with the servo control equipment through a network port and receives equipment related information inquiry and an antenna motion control command;
the antenna control panel MCU (4) generates a path of PWM signal through the channel 2 of the timer 4, and is used for controlling the STEP signal of the azimuth motor so as to control the rotation of the azimuth motor; the antenna control board MCU (4) generates a path of PWM signal through the channel 2 of the timer 5, and is used for controlling the STEP signal of the roll motor so as to control the rotation of the roll motor; the antenna control panel MCU (4) generates a path of PWM signal through the channel 1 of the timer 8, and is used for controlling the STEP signal of the pitching motor so as to control the rotation of the pitching motor.
4. A tracking algorithm of an unmanned aerial vehicle three-axis stable platform based on a three-step adaptive algorithm is characterized by comprising the following steps:
step 1, an air platform sends local geographical position information through a beacon channel, and a ground system finishes target capture and tracking according to the geographical position information provided by the beacon channel;
step 2, the photoelectric switch (1) transmits the azimuth, roll and pitch information to the sensor acquisition MCU (3) through the GPIO port, and the three-axis gyroscope (2) transmits the speed information and acceleration information to the sensor acquisition MCU (3);
step 3, the sensor acquisition MCU (3) reads speed information and acceleration information in the three-axis gyroscope (2) through the SPI interface, data preprocessing is carried out, and an antenna state is sent to the antenna control panel MCU (4) through a serial port;
and 4, the antenna control panel MCU (4) controls the motor driver (9) through comprehensive calculation to adjust the communication posture of the communication-in-motion antenna.
5. The method for tracking the triaxial stable platform of the unmanned aerial vehicle based on the three-step adaptive algorithm as claimed in claim 4, wherein the aerial platform in step 1 transmits the geographical location information of the local terminal through a beacon channel, and the ground system captures and tracks the target according to the geographical location information provided by the beacon channel, specifically as follows:
step 1.1, adopting ground equipment to send beacon inquiry signals in a TDMA (time division multiple access) mode in a target acquisition stage, namely sending the beacon inquiry signals by each user station in different time periods by taking Beidou time service as a reference;
step 1.2, the aerial platform sends a beacon response signal after receiving the inquiry signal of the ground equipment, and keeps a silent state at other times;
and step 1.3, the ground equipment performs target capture and network access operation, stops sending the beacon inquiry signal and finishes geographic position information updating through the service channel.
6. The tracking method of the unmanned aerial vehicle three-axis stable platform based on the three-step adaptive algorithm as claimed in claim 4 or 5, wherein the ground device in step 1.3 performs target capture and network access operations, specifically as follows:
step 1.3.1, aligning the position of a target through coarse alignment, and scanning an antenna pitching motor at the speed of 0.533 degrees/S when the target is within 3 Km; when the antenna is positioned in the range of 3-15 Km, the antenna pitching motor scans at the speed of 0.267 DEG/S; when the antenna is out of the range of 15Km, the antenna pitching motor scans at the speed of 0.133 degrees/S; the azimuth motor always scans at the speed of 60 degrees/S, and the total capture time of the system is 43.5 seconds;
and 1.3.2, further aligning the target through fine alignment, and capturing the target by adopting a cone scanning algorithm in the fine alignment.
7. The tracking method of the unmanned aerial vehicle three-axis stabilized platform based on the three-step adaptive algorithm as claimed in claim 6, wherein the antenna control panel MCU (4) in step 4 controls the motor driver (9) through comprehensive calculation to adjust the communication attitude of the mobile communication antenna, and comprises the following steps of controlling α, β and motors on the gamma axis to track targets by adopting the three-step tracking algorithm, wherein the α, β and the gamma axis respectively correspond to the azimuth axis, the pitch axis and the roll axis:
step 4.1, when the target is in a rising stage and the elevation angle is less than 75 degrees, keeping the gamma axis still and tracking the target by rotating α and β axes;
step 4.2, when the target is positioned at an elevation angle larger than 75 degrees, keeping the α axis still, and tracking the target by rotating the β axis and the gamma axis;
step 4.3, when the target is in the descent phase and when the elevation angle is less than 75 degrees, the gamma axis is stationary and the target is tracked by rotating the α and β axes.
8. The tracking method of the unmanned aerial vehicle triaxial stabilized platform based on the three-step adaptive algorithm according to claim 6, wherein the antenna control panel MCU (4) in the step 4 controls the motor driver (9) through comprehensive calculation, adjusts the communication attitude of the communication-in-motion antenna, and includes adopting a closed-loop PID feedback control mode to suppress carrier interference, and the steps are as follows:
the innermost ring of the closed-loop PID feedback control mode is a current ring, and the transfer function model of the current regulator isThe specific coefficient is obtained by regulation in practice, and the current sensor forms a current loop feedback loop, and a current feedback coefficient β is adopted1And a filter
Forming a current loop feedback loop; the middle ring speed ring and the outer ring stabilizing ring adopt PID control algorithm; wherein K1Is the gain factor, T, of the current regulator1Is the time constant of the current regulator, s represents a complex number, TAIs the time constant of the filter.
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