CN110837222B - Space target optical characteristic simulation platform and working method thereof - Google Patents
Space target optical characteristic simulation platform and working method thereof Download PDFInfo
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Abstract
The invention discloses a space target optical characteristic simulation platform and a working method thereof, wherein the space target optical characteristic simulation platform comprises an optical system, a motion system and a central control management system; the central control management system receives test input information, calculates and obtains set parameters of an optical system and initial parameters of a motion system, calculates theoretical angle parameters corresponding to each corresponding kinematic pair in the simulation platform according to pose information of each point in the motion process of a time discretization actual target acquired by a detection device image in the motion process, and corrects the theoretical angle parameters by adopting a preset performance cascade control method in combination with control parameters corresponding to each kinematic pair fed back by a servo system so as to restrict the motion error of the simulation platform in the motion process within a set error range. The invention can restrict the range of motion errors at any moment in the motion process of the simulation platform while realizing that the simulation platform moves to a specified position, thereby realizing the high-precision simulation of the attitude adjustment of a space target and the maneuvering process of the target.
Description
Technical Field
The invention relates to the technical field of space target optical characteristic measurement, in particular to a space target optical characteristic simulation platform and a working method thereof.
Background
The research on the optical characteristics of the spatial target is an effective means for realizing the operations of spatial target posture inversion, target recognition, target imaging, theoretical model verification and the like, and various theoretical models of the optical characteristics of the target are established by means of target scattering intensity, scattering brightness distribution, equivalent stars and other key data obtained by a simulation platform in a spatial target optical characteristic simulation experiment based on a spatial target optical characteristic simulation platform. The precision of the optical characteristic simulation experiment data of the space target can be effectively improved through high-precision target motion process simulation, so that the relation between the optical characteristic of the target and multiple factors such as target shape, surface layer material, target pose, motion characteristic and the like can be more accurately described, and the purpose of improving the precision of a theoretical model is achieved. The technical basis of the simulation method for the target motion process of the space target optical characteristic simulation platform is the coordinate transformation of different coordinate systems in the simulation platform environment, and one of the key technologies is the preset performance control technology of the specific kinematic pair of the simulation platform.
The authorized Chinese patent number ZL 201510081245.6 is an indoor simulation device for the optical characteristic actual measurement condition of the space target, and the patent number ZL 201510081259.8 is an indoor simulation method for the optical characteristic actual measurement condition of the space target, and although the indoor simulation of the optical characteristic of the space target under the environment of the experimental platform is realized by the space target optical characteristic simulation platform, the simulation precision of the motion process of the space target on the simulation platform is not considered, the capability of reflecting the position change and the motion characteristic of the space target through the optical characteristic parameters of the simulation platform is greatly weakened, and the application effect and the application range of the optical characteristic research of the space target based on the simulation platform are influenced.
Disclosure of Invention
The invention aims to provide a space target optical characteristic simulation platform and a working method thereof, which can restrict the range of motion errors at any moment in the motion process of the simulation platform while realizing that the simulation platform moves to a specified position, thereby realizing the high-precision simulation of the attitude adjustment and the maneuvering process of a space target.
In order to achieve the above object, with reference to fig. 1, the present invention provides a spatial target optical property simulation platform, which includes an optical system, a motion system, and a central control management system;
the optical system comprises a detected target, detection equipment, a solar simulator and a reflector; the motion system comprises a panoramic test platform, a test track and a target rotary table;
the test track is in a semi-circular arc shape and is horizontally laid on the ground;
the panoramic test platform comprises a panoramic test platform body, a first pitching mechanism, a first direction mechanism, a lifting mechanism and a moving vehicle, wherein the first pitching mechanism, the first direction mechanism, the lifting mechanism and the moving vehicle are positioned on the panoramic test platform; the panoramic test platform body is arranged on the test track through a moving vehicle and moves along the extension direction of the test track; the lifting mechanism is arranged on the side surface of the panoramic test platform body, and the first azimuth mechanism is arranged on the lifting mechanism and is lifted along the vertical direction along with the lifting mechanism; the detection equipment is arranged on the first azimuth mechanism through the first pitching mechanism;
the first pitching mechanism, the first azimuth mechanism, the lifting mechanism and the movable vehicle are connected with the central control management system through respective corresponding servo systems, the pitching angle, the azimuth angle, the lifting position and the horizontal position of the detection equipment are respectively adjusted according to control instructions sent by the central control management system, and respective control parameters are fed back to the central control management system in real time/periodically through the corresponding servo systems;
the target rotary table is positioned at the arc center of the test track and comprises a target rotary table body, a rotation mechanism, a second pitching mechanism and a second azimuth mechanism; the second azimuth mechanism is a rotating shaft which is arranged on the base and rotates around the axis center line of the second azimuth mechanism, the second pitching mechanism is arranged on the second azimuth mechanism, and the measured target is arranged on the second pitching mechanism through the rotating mechanism; the autorotation mechanism, the second pitching mechanism and the second azimuth mechanism are connected with the central control management system through respective corresponding servo systems, respectively adjust the autorotation angle, the pitching angle and the azimuth angle of the measured target according to control instructions sent by the central control management system, and feed back respective control parameters to the central control management system in real time/periodically through the corresponding servo systems;
the solar simulator and the reflector are arranged on the outer side of one end of the test track, the solar simulator is connected with the central control management system, emits light beams to the reflector according to control instructions sent by the central control management system, and generates parallel light sources through reflection of the reflector to irradiate on a target to be tested;
the central control management system receives test input information sent from the outside, calculates to obtain set parameters of the optical system and initial parameters of the motion system, and
in the motion process, theoretical angle parameters corresponding to each corresponding motion pair in the simulation platform are calculated according to pose information of each point in the time discretization actual target motion process acquired by the detection equipment image, and the theoretical angle parameters are corrected by adopting a preset performance cascade control method in combination with control parameters corresponding to each motion pair fed back by the servo system so as to restrict the motion error in the motion process of the simulation platform within a set error range.
Based on the simulation platform, the invention also provides a working method of the space target optical characteristic simulation platform, which comprises the following steps:
s31: reading test input information according to requirements, wherein the test input information comprises solar illumination information, station information, actual target form and track information, form information of a tested target model and target motion process information;
s32: setting optical system parameters according to test input information, wherein the optical system parameters comprise solar simulator parameters, detection equipment attenuation sheets and acquisition time parameters;
s33: solving initial parameters of a motion system according to test input information, wherein the initial parameters of the motion system comprise initial angle and height information of simulation platform detection equipment and initial time attitude information of a measured target of a simulation platform;
adjusting the panoramic detection platform and the target rotary table to an initial state;
s34: discretizing the position and attitude information of each point in the actual target motion process according to the time acquired by the detection equipment image, and solving the corresponding angle of each corresponding kinematic pair in the simulation platform;
s35: sending control parameters of each kinematic pair of the simulation platform to a cascade control input end point by point according to set interval duration, and controlling the corresponding kinematic pair to rotate by combining angle information fed back by a servo motor;
s36: acquiring optical images of the detection equipment point by point according to set interval duration, and performing image compensation processing;
s37: and processing the simulation data, calibrating the quantification to obtain target optical characteristic information, and evaluating the simulation effect.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) The invention can accurately acquire the optical characteristic parameters of the space target in the motion state, thereby accurately analyzing the change of the optical characteristic parameters of the space target caused in the attitude adjustment and target maneuvering processes of the space target.
(2) Under the same test condition, the relation between the optical characteristic parameters of the space target and multiple factors such as the shape, the surface layer material, the pose and the motion characteristic of the space target can be reflected with high precision, and the application value of the space target optical characteristic simulation platform is greatly improved.
(3) The system adopts a cascade control strategy, adopts a self-adaptive RBF neural network control as an outer ring controller on a central control management system main control computer, and forms system cascade control through an inner ring controller consisting of an industrial Ethernet, a PLC and a servo driver, and does not need to increase any system hardware compared with the existing space target optical characteristic simulation platform.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. Additionally, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
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The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a layout diagram of a prior art spatial target optical property simulation platform system as claimed in the present invention;
FIG. 2 is a layout of the peripheral probing platform (2) of FIG. 1;
fig. 3 is a design drawing of the target turret (5) of fig. 1;
FIG. 4 is a block diagram of servo system preset performance control
FIG. 5 is a graph of observation vectors versus coordinates
FIG. 6 is a schematic diagram of coordinate system rotation
FIG. 7 is a flow chart of a method for simulating the motion process of an object
In the figure: (1) a target under test; (2) a panoramic test platform; (3) a detection device; (4) testing the track; (5) a target turntable; (6) a solar simulator; (7) a mirror; (8) a central control management system; (21) a pitching mechanism of the panoramic test platform; (22) an orientation mechanism of the panoramic test platform; (23) a lifting mechanism of the panoramic test platform; (24) a moving vehicle for the panoramic test platform; (51) a rotation mechanism of the target turntable; (52) a pitch mechanism of the target turret; (53) a lifting mechanism of the target rotary table.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
The invention provides a simulation method for adjusting the attitude of a space target aiming at a simulation platform of the light characteristics of the space target, and the method is established on the simulation platform based on the simulation platform shown in figure 1.
As shown in fig. 1, each component of the spatial target optical characteristic simulation platform includes: the system comprises a tested target (1), a panoramic test platform (2), a detection device (3), a test track (4), a target turntable (5), a solar simulator (6), a reflector (7) and a central control management system (8).
The measured target (1) is usually selected from a model which is related to the measured target in space and is reduced according to a certain proportion. The detection device (3) is generally an astronomical observation device with the same or similar performance as an actual observation device.
The installation requirements of each part are as follows:
firstly, a semicircular area is selected indoors, and all the parts are arranged by taking the semicircular area as a reference. A target turntable (5) is arranged at the circle center of the semicircular area; an arc-shaped test track (4) is arranged on the edge of the semicircular area and is flush with the ground, the arc center of the test track (4) is overlapped with the circle center of the semicircular area, and the arc angle is slightly larger than 180 degrees, so that the panoramic test platform has a certain redundant rotation space; a connecting rod is arranged between the panoramic test platform (2) carrying the detection equipment (3) and the target rotary table (5), one end of the connecting rod is fixedly connected with the panoramic test platform (2), the other end of the connecting rod is hinged with the target rotary table (5) through a centering mechanism, and the panoramic test platform (2) can make semi-circular motion around the target rotary table (5) on the test track (4) through the structural form; a solar simulator (6) and a reflector (7) are arranged outside the semicircular area, and light generated by the solar simulator (6) is reflected by the reflector (7) to form a parallel light source to irradiate the measured target (1) on the target turntable (5); and a central control management system (8) is arranged at one corner of the laboratory outside the semicircular area, is usually an operation table in physical realization and is mainly used for controlling each electric control device in the system to complete a spatial target optical characteristic measurement ground simulation experiment, storing a test result in a data server, and obtaining, storing and outputting the test result after data processing.
The structure of the panoramic detection platform (2) is shown in figure 2. The panoramic detection platform (2) is composed of a pitching mechanism (21), an azimuth mechanism (22), a lifting mechanism (23) and a moving vehicle (24), wherein the lifting mechanism (23) and the moving vehicle (24) are driven by corresponding electric control mechanisms, control parameter adjustment is realized in a central control management system (8), and the pitching mechanism (21) and the azimuth mechanism (22) can be driven by corresponding electric control mechanisms, control parameter adjustment is realized in the central control management system (8), and parameter adjustment can also be realized by local manual adjustment. The four movement mechanisms can enable the detection equipment (3) placed on the panoramic detection platform (2) to move along the arc-shaped detection track (4), and can also realize the adjustment of up-down, left-right, azimuth and pitching so as to ensure that the detection equipment (3) can be aligned to the center of the detected target (1).
The structure of the target turret (5) is shown in fig. 3. The target rotary table (5) consists of a rotation mechanism (51), a pitching mechanism (52) and a direction mechanism (53), the three mechanisms are driven by corresponding electric control mechanisms, and parameter adjustment is carried out in a central control management system (8). The three motion mechanisms can realize the attitude simulation of three degrees of freedom of azimuth, pitching and rotation of the measured object (1) fixed on the rotation mechanism (51), and can also simulate the adjustment of the azimuth, the pitching irradiation angle of the parallel light source and the pitching observation angle of the detection device (3) which are generated by the solar simulator (6) and reflected by the reflector (7).
Servo systems of four kinematic pairs of a moving vehicle (24) of a panoramic detection platform (2) and a rotation mechanism (51), a pitching mechanism (52) and a direction mechanism (53) of a target turntable (5) are controlled by a preset performance cascade control method, so that a detected target (1) and detection equipment (3) can reach a specified angle point by point according to requirements, and the angle adjustment process is within a preset error range.
Specifically, the preset performance cascade control method is implemented in the following manner: (1) In terms of hardware, the rotation of the four kinematic pairs is driven by a motion control system, and the motion control system comprises: the motion controller, the digital quantity input and output unit, the servo driver, the servo motor, the limit sensor and other equipment are connected with the industrial control computer through the network switch through the industrial control Ethernet to realize network interconnection, so that the industrial control computer can control the motion of each kinematic pair and can obtain the motion state of each kinematic pair. (2) In software, a servo driver and a servo motor which are positioned at the local part of each kinematic pair and a motion controller positioned on an operation platform form an inner ring control system, and a control algorithm of the inner ring control system is solidified in the motion controller; the output quantity of the outer ring control algorithm is transmitted to the motion controller through the industrial control Ethernet at certain intervals to serve as the given quantity of the inner ring control algorithm, and the interval is usually taken as the limited segmentation of the image acquisition time of the detection equipment.
Referring to fig. 4, an industrial control computer in the central control management system (8) calculates the angle of the servo system as the given input of the preset performance control system according to the set attitude data and the space environment data, and the actual angle fed back by the servo motor is used as the feedback input. The preset performance control system is used as an outer ring controller of the cascade control system through a preset performance self-adaptive RBF neural network control method in the same industrial control computer, calculates the given of inner ring control of the cascade system according to the given angle and the actual angle, and transmits the given to a motion controller which is also positioned in a central control management system (8) through an industrial control Ethernet. The operation controller generates output through a built-in PID controller according to the given value generated by the outer ring controller and in combination with the actual angle fed back by the servo motor, and drives a servo driver and the servo motor which are positioned near corresponding mechanisms through industrial control Ethernet. The performance function in which the preset performance is controlled is generally given by:
wherein: ρ (t) = (ρ 0 -ρ ∞ )e -nt +ρ ∞ ，M，
n and rho ∞ For positive design parameters, p, selected according to simulation requirements 0 (= ρ (0)) so that ρ 0 ＞ρ ∞ Is greater than 0 and
thereby ensuring that the angle y (t) of the servo system output is less than
The angle calculation process of each motion mechanism inevitably involves system coordinate transformation, and based on the space target optical characteristic simulation platform, the angle calculation process of the system can be obtained through proper coordinate transformation:
referring to fig. 5, a target specimen coordinate system OXYZ is established with the target centroid O as an origin, and an earth center inertial system xyz is established with the earth center O as an origin. The vectors of the target and the survey station under the geocentric inertial system are n respectively T And n 0 The sun direction is n s . Wherein n is T By observation ofData is calculated to obtain n s The station vector n is obtained by the solar calendar algorithm 0 Can be calculated from the following formula:
n 0 ＝(PR)(NR)(ER)(EP)R 0
where (PR) is a time matrix, (NR) is a nutation matrix, (ER) is a rotation of the earth matrix, (EP) is a polar shift matrix, and R is a polar shift matrix 0 Coordinates of the survey station in a ground-fixed coordinate system are as follows:
wherein:
a is the equator radius of the earth, epsilon is the oblateness of the earth, and H, lambda and phi are respectively the height, longitude and latitude of the geodetic coordinate of the survey station. Defining a target-to-station vector:
then with n s Direction is oX * Axis of P TO And n s In a plane X * Y * Plane can establish coordinate system oX * Y * Z * . And translating the center of the geocentric inertial system to the target centroid to obtain a coordinate system oXYZ. Then oXYZ, oXYZ and oX * Y * Z * The conversion relationship between them is shown in FIG. 6. Combining FIGS. 5 and 6, then P TO And oX * The included angle alpha is:
the included angle alpha is the rotation angle of the moving vehicle (24) in the panoramic detection equipment (2).
oX * The axial unit vector can be expressed in the oXYZ coordinate system as:
and oZ * The axis unit vector is:
oY * the axis unit vector is:
then according to the coordinate transformation relationships, oXYZ and oX * Y * Z * Three conversion angles psi between * ，θ * ，φ * This can be solved by the following equation:
and the three transformation angles ψ ', θ ', φ ' between oXYZ and oXYZ are given by the observation data. Then oX, oy, oz are at oX * Y * Z * In the coordinate system, are respectively expressed as:
wherein R is x (. And R) z (. Cndot.) is a rotation matrix:
from the above, oxyz and oX can be obtained * Y * Z * Three conversion angles therebetween
The three angles psi, theta and phi respectively correspond to the rotation angles of three rotation shafts of the azimuth mechanism (53), the pitching mechanism (52) and the autorotation mechanism (51) of the target turntable (5).
By combining the summary of the spatial target optical characteristic simulation platform and the angle calculation process of the system, a target motion process simulation method of the spatial target optical characteristic simulation platform is provided, and referring to fig. 7, the steps are as follows:
step 2, optical system parameters are set according to test input: the method specifically comprises solar simulator parameters, detection equipment attenuation sheets, acquisition time parameters and the like;
step 3, initializing a motion system: the method specifically comprises the steps of solving initial parameters of a motion system, such as initial angle and height information of simulation platform detection equipment and initial moment attitude information of a detected target of a simulation platform, according to test input information, and adjusting a panoramic detection platform and a target turntable to an initial state;
step 4, discretizing the motion process: specifically, the pose information of each point in the actual target motion process is discretized according to the time acquired by the detection equipment image, and the corresponding angle of each corresponding kinematic pair in the simulation platform is calculated;
step 5, servo system control: specifically, control parameters of each kinematic pair of the simulation platform are sent to a cascade control input end point by point according to required interval duration, and corresponding kinematic pair rotation is controlled by combining angle information fed back by a servo motor;
step 6, image acquisition and processing: acquiring optical images of the detection equipment point by point according to required interval duration, and performing image compensation processing;
step 7, simulation data processing: the method specifically comprises the steps of data processing and quantitative calibration, target optical characteristic information is obtained, and simulation effect evaluation is carried out.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (7)
1. The simulation platform is characterized by comprising an optical system, a motion system and a central control management system;
the optical system comprises a detected target, detection equipment, a solar simulator and a reflector; the motion system comprises a panoramic test platform, a test track and a target rotary table;
the test track is in a semi-circular arc shape and is horizontally laid on the ground;
the panoramic test platform comprises a panoramic test platform body, and a first pitching mechanism, a first azimuth mechanism, a lifting mechanism and a moving vehicle which are positioned on the panoramic test platform; the panoramic test platform body is arranged on the test track through a moving vehicle and moves along the extending direction of the test track; the lifting mechanism is arranged on the side surface of the panoramic test platform body, and the first azimuth mechanism is arranged on the lifting mechanism and is lifted along the vertical direction along with the lifting mechanism; the detection equipment is arranged on the first azimuth mechanism through the first pitching mechanism;
the first pitching mechanism, the first azimuth mechanism, the lifting mechanism and the movable vehicle are connected with the central control management system through respective corresponding servo systems, the pitch angle, the azimuth angle, the lifting position and the horizontal position of the detection equipment are respectively adjusted according to control instructions sent by the central control management system, and respective control parameters are fed back to the central control management system in real time/periodically through the corresponding servo systems;
the target turntable is positioned at the arc center of the test track and comprises a target turntable body, a self-rotating mechanism, a second pitching mechanism and a second azimuth mechanism; the second azimuth mechanism is a rotating shaft which is arranged on the base and rotates around the axis of the second azimuth mechanism, the second pitching mechanism is arranged on the second azimuth mechanism, and the target to be measured is arranged on the second pitching mechanism through the rotating mechanism; the autorotation mechanism, the second pitching mechanism and the second azimuth mechanism are connected with the central control management system through respective corresponding servo systems, respectively adjust the autorotation angle, the pitching angle and the azimuth angle of the measured target according to control instructions sent by the central control management system, and feed back respective control parameters to the central control management system in real time/periodically through the corresponding servo systems;
the solar simulator and the reflector are arranged on the outer side of one end of the test track, the solar simulator is connected with the central control management system, emits light beams to the reflector according to control instructions sent by the central control management system, and generates parallel light sources through reflection of the reflector to irradiate on a target to be tested;
the central control management system receives test input information sent from the outside, calculates to obtain set parameters of the optical system and initial parameters of the motion system, and
in the motion process, the position and posture information of each point in the actual target motion process is discretized according to the time acquired by the detection equipment image, theoretical angle parameters corresponding to each corresponding kinematic pair in the simulation platform are calculated, and the theoretical angle parameters are corrected by adopting a preset performance cascade control method in combination with control parameters corresponding to each kinematic pair fed back by the servo system, so that the motion error of the simulation platform in the motion process is constrained within a set error range.
2. The optical property simulation platform for the class of spatial targets according to claim 1, wherein a connecting rod is arranged between the panoramic test platform and the target turntable, one end of the connecting rod is fixedly connected with the panoramic test platform, and the other end of the connecting rod is hinged with the target turntable through a centering mechanism.
3. The optical property simulation platform for the space-oriented targets of claim 1, wherein servo systems of four kinematic pairs of a moving vehicle of the panoramic test platform and a target turntable, a second pitching mechanism and a second orientation mechanism are controlled by a preset performance cascade control method.
4. The one-class-oriented spatial target optical property simulation platform according to claim 3, wherein the central control management system comprises an industrial control computer;
the rotation of four kinematic pairs of a moving vehicle of the panoramic test platform and a self-rotation mechanism, a second pitching mechanism and a second orientation mechanism of the target turntable are all driven by a motion control system, and the motion control system is interconnected with an industrial control computer through an industrial control Ethernet network by a network switch so that the industrial control computer can control the motion of each kinematic pair and can obtain the motion state of each kinematic pair; the motion control system comprises a motion controller, a digital quantity input and output unit, a servo driver, a servo motor and a limit sensor, wherein the motion controller is positioned in the central control management system;
wherein, the servo driver, the servo motor and the motion controller which are positioned at the local part of each kinematic pair form an inner ring control system, and an inner ring control algorithm corresponding to the inner ring control system is solidified in the motion controller; an outer ring control algorithm is realized by a self-adaptive RBF neural network control algorithm in an industrial control computer, and the output quantity of the outer ring control algorithm is transmitted to a motion controller through an industrial control Ethernet according to a preset time interval to be used as the given quantity of an inner ring control algorithm.
5. The spatial target-oriented optical property simulation platform of claim 4, wherein the preset performance cascade control method comprises the following steps:
s11: an industrial control computer in the central control management system calculates the angle of the servo system as given input according to set attitude data and space environment data, and the actual angle fed back by a servo motor is used as feedback input;
s12: the method comprises the steps that a preset performance self-adaptive RBF neural network control method in the same industrial control computer is used as an outer ring controller of a cascade control system, a given amount of inner ring control of the cascade system is calculated according to a given angle and an actual angle, and the given amount is transmitted to a motion controller which is also located in a central control management system through an industrial control Ethernet;
s13: driving a motion controller to generate output through a built-in PID controller according to the received given quantity and in combination with an actual angle fed back by a servo motor, and driving a servo driver and the servo motor which are positioned near corresponding mechanisms through industrial control Ethernet;
wherein, the performance function of the preset performance control is as follows:
in the formula: ρ (t) = (ρ) 0 -ρ ∞ )e -nt +ρ ∞ ，M，
n and rho ∞ For positive design parameters, p, selected according to simulation requirements 0 (= ρ (0)) so that ρ 0 ＞ρ ∞ Is greater than 0 and
to ensure that the angle y (t) of the servo system output is less than
6. The optical property simulation platform for the class of spatial targets according to claim 5, wherein the optical property simulation platform is calculated to obtain a system angle by a coordinate transformation method, comprising the steps of:
s21: establishing a target specimen body coordinate system OXYZ by taking a target centroid O as an origin, establishing a geocentric inertial system OXYZ by taking the geocentric O as the origin, wherein vectors of the target and the survey station under the geocentric inertial system are n respectively T And n 0 The sun direction is n s ；
Wherein n is T Calculated from the observed data, n s Obtaining by a solar calendar algorithm;
s22: the station measurement vector n is obtained by calculation according to the following formula 0 ：
n 0 ＝(PR)(NR)(ER)(EP)R 0
Wherein, (PR) is a time matrix, (NR) is a nutation matrix, (ER) is a rotation matrix of the earth, (EP) is a polar shift matrix, and R is a polar shift matrix 0 Coordinates of the survey station in a ground-fixed coordinate system are as follows:
in the formula (I), the compound is shown in the specification,
a is the equator of the earthThe radius belongs to the earth oblation rate, and H, lambda and phi are respectively the height, longitude and latitude of the geodetic coordinate of the survey station;
s23: defining a target-to-station vector:
then n is used s Direction is oX * Axis of P TO And n s In the plane X * Y * Plane can establish coordinate system oX * Y * Z * ；
S24: translating the center of the geocentric inertial system to the target centroid to obtain a coordinate system oXYZ, then P TO And oX * The included angle alpha is:
taking the included angle alpha as the rotation angle of a moving vehicle in the panoramic detection equipment;
s25: representing oX in an oXYZ coordinate system * Axial unit vector:
representing oZ in an oXYZ coordinate system * Axial unit vector:
representing oY in oXYZ coordinate system * Axial unit vector:
from the coordinate transformation relationship, the sum of oXYZ is solved by the following equationoX * Y * Z * Three conversion angles psi between * ，θ * ，φ * ：
S26: obtaining three conversion angles psi ', theta ', phi ' between the oXYZ and the oXYZ from the observation data;
s27: at oX * Y * Z * In the coordinate system, ox, oy, oz:
wherein R is x (. Cndot.) and R z (. Cndot.) is a rotation matrix:
s28: to obtain oxyz and oX * Y * Z * Three conversion angles therebetween
The three angles psi, theta and phi respectively correspond to the rotation angles of three rotation shafts of the azimuth mechanism, the pitching mechanism and the autorotation mechanism of the target turntable.
7. An operating method for a class-oriented space target optical characteristic simulation platform according to claim 1, the operating method comprising:
s31: reading test input information according to requirements, wherein the test input information comprises solar illumination information, station information, actual target form and track information, form information of a tested target model and target motion process information;
s32: setting optical system parameters according to test input information, wherein the optical system parameters comprise solar simulator parameters, detection equipment attenuation sheets and acquisition time parameters;
s33: solving initial parameters of a motion system according to test input information, wherein the initial parameters of the motion system comprise initial angle and height information of simulation platform detection equipment and initial time attitude information of a measured target of a simulation platform;
adjusting the panoramic test platform and the target turntable to an initial state;
s34: discretizing the pose information of each point in the actual target motion process according to the time acquired by the detection equipment image, and calculating the corresponding angle of each corresponding kinematic pair in the simulation platform;
s35: sending control parameters of each kinematic pair of the simulation platform to a cascade control input end point by point according to set interval duration, and controlling the corresponding kinematic pair to rotate by combining angle information fed back by a servo motor;
s36: acquiring optical images of the detection equipment point by point according to set interval duration, and performing image compensation processing;
s37: and processing the simulation data, calibrating the quantification to obtain target optical characteristic information, and evaluating the simulation effect.
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