CN110879618B - Multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information - Google Patents
Multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information Download PDFInfo
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Abstract
The invention discloses a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information, which mainly solves the problem that the stability and tracking precision of a platform are influenced due to medium-frequency and low-frequency external disturbance in a stable control platform. The invention adds the acceleration disturbance observer and the position disturbance observer on the basis of the traditional three-closed-loop system, and effectively improves the disturbance suppression capability of the medium frequency and the low frequency of the system. Meanwhile, the invention provides the design scheme of the acceleration disturbance compensator and the position disturbance compensator, and the method can improve the anti-interference capability of the stable control platform on the basis of ensuring the stability of the system. The disturbance observation method does not need an additional sensor, does not increase the system cost, carries out feedforward compensation on the observed disturbance, and is easy to realize in engineering.
Description
Technical Field
The invention belongs to the field of stable control platforms, and particularly relates to a multi-disturbance observer three-closed-loop stable tracking platform based on acceleration and position disturbance information, which is mainly used for enhancing the anti-interference capability of a system and simultaneously improving the robustness and the tracking performance of the system.
Background
If vibration reduction measures are not adopted in the stable control platform, the problems of image dynamic deformation, uneven imaging quality, poor contrast, image blurring, reduced definition and the like can be caused by visual axis shake generated in a vibration environment. The degradation of imaging quality can result in degradation of the system closed loop bandwidth and tracking accuracy, resulting in loss of the tracked object. Therefore, the improvement of the disturbance suppression capability of the system is the key for enabling the airborne television image to have high-quality stable tracking capability, reducing image blurring caused by flutter and improving imaging quality. External vibration brought by system mechanical resonance, sensor noise drift and interference moments such as friction, wind resistance, unbalance and the like is a main factor for limiting the disturbance suppression capability of the stable control system, so that the disturbance source needs to be observed and compensated if the stable control platform wants to improve the self disturbance rejection capability. The traditional stable control platform adopts a multi-closed-loop control structure of an acceleration ring, a speed ring and a position ring to improve the anti-interference capability of the system. The document "MEMS interferometric Sensors-Based Multi-Loop Control Enhanced by Disturbance observer and Compensation for Fast Steering Mirror System" (Sensors, Vol (16), 2016) introduces the traditional Disturbance observer into the acceleration Loop, and further improves the Disturbance suppression capability of the System Based on the inertia Loop. However, the method cannot improve the low-frequency disturbance rejection capability of the stable control platform, and even compared with the traditional multi-closed-loop structure, the low-frequency anti-interference capability is worse. Therefore, in order to simultaneously improve the anti-interference capability of the intermediate frequency and the low frequency of the system, a more targeted anti-interference method needs to be provided.
Disclosure of Invention
Aiming at the problem that the anti-interference capability of a stable control platform at low frequency and medium frequency is insufficient, the invention provides a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information. The method is based on the traditional three-closed-loop structure, an acceleration disturbance observer and a position disturbance observer are added, and the purpose of resisting disturbance is achieved by performing feedforward compensation on the observed disturbance quantity. Constraint conditions of the disturbance compensator are given through mathematical analysis, and experiments prove that the method can effectively improve the anti-interference capability of low frequency and medium frequency of the system and enhance the robustness of the system. The method is easy to realize in engineering, does not need to add an additional sensor to observe disturbance, and is beneficial to reducing the system cost.
In order to realize the aim of the invention, the invention provides a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information, which comprises the following steps:
step (1): installing a micro-electromechanical accelerometer and a micro-electromechanical gyroscope on an X axis and a Y axis of the stable control platform, wherein the micro-electromechanical accelerometer and the micro-electromechanical gyroscope are used for measuring the angular acceleration and the angular velocity of the platform in an inertial space; the CCD camera acquires the optical signal received by the stable control platform so as to acquire the position information of the system;
Step (2): the frequency response tester is used for carrying out frequency response test on the accelerated speed controlled object of the stable control platform, the input is a voltage value, the output is a sampling value of the accelerometer, and the object identification is carried out on the input and output model to obtain a controlled model of the accelerated speed object
And (3): and (3) realizing three closed loops of a stable control platform: acceleration controlled object obtained according to fitting
Design of the acceleration controller C a (s); controlled model of speed object obtained by frequency response test of acceleration closed loop
Design speed controller C v (s); and obtaining a controlled model of the position object through frequency response tests of the acceleration closed loop and the speed closed loop
Design position controller C p (s) thus forming a three closed loop system of acceleration, velocity, position.
And (4): adding an acceleration disturbance observer and a disturbance compensator: adding mathematical model of controlled object in acceleration ring
Is obtained by frequency response test and is a model G of the actual acceleration of the system a (s) approximation; g a (s) the input is the control quantity u of the speed controller a The output includes external acceleration disturbance, and
does not contain external disturbances, by
And G a The output quantities of(s) are subtracted, and the external equivalent acceleration disturbance d can be observed a (s); the observed equivalent acceleration disturbance d a (s) input to an acceleration disturbance compensator C fa (s) feeding forward the output to the acceleration controller C a (s) in the input quantity.
Wherein the acceleration ring is a mathematical model of the controlled object
The pure differential links exist as follows:
wherein, K a Gain, ω, of the object to be accelerated n Is the turning frequency of the second-order link of the denominator of the acceleration controlled object, zeta is the parameter in the second-order link of the denominator of the acceleration controlled object, T a The four parameters are parameters in the first-order lag link of the denominator of the controlled object of the acceleration and can be obtained by object identification of the controlled object of the acceleration.
The design form of the acceleration disturbance compensator is as follows:
wherein, T a Is a parameter in the first-order lag link of the denominator of the accelerated speed controlled object, K fa ,ξ fa ,ω fa Are determined by the designer and are related to the mid-band frequencies (5-20Hz) at which the disturbance is concentrated.
And (5): adding a position disturbance observer: adding a mathematical model of the controlled object in a position ring in the same way as adding an acceleration disturbance observer
Is obtained by frequency response test and is a model G of the actual acceleration of the system p (s) approximation. G p (s) the input is the control quantity u of the position controller a The output contains external position disturbance, and 
Does not contain external disturbances, by
And G p The output quantities of(s) are subtracted, and the external equivalent position disturbance d can be observed p (s)；
Wherein the position controlled object model
Approximating an integration element, the form of which is:
and (6): designing a position disturbance compensator: carry out C fp (s) analysis of System stability, using the resulting constraints to perform C fp And(s) designing parameters, and adding the designed position compensator into a disturbance observation loop of the position ring. Observed equivalent position disturbance d p (s) input to a position disturbance compensator C fp (s) feeding forward the output to the position controller G p (s) in the input quantity.
The constraint conditions of the position disturbance observer are as follows:
wherein the content of the first and second substances,
an acceleration controlled object model identified for the object,
model of a position-controlled object obtained for object recognition, C p ,C v ,C a Respectively a position controller, a velocity controller and an acceleration controller.
The position disturbance observer is designed in the following form:
wherein the content of the first and second substances,
for the position-controlled object model, K fp ,T 1 ,T 2 Are determined by the designer to be related to the low band frequency (1-5Hz) at which the disturbance is concentrated.
Compared with the prior art, the invention has the following advantages:
(1) Compared with the traditional multi-closed-loop control method, the invention is based on the structure of the disturbance observer, the acceleration disturbance observer and the position disturbance observer are respectively added, and the purpose of improving the anti-interference capability of the medium frequency and the low frequency of the system is achieved through the feedforward control of the disturbance compensator.
(2) The invention provides a clear rule for the design forms of the acceleration disturbance compensator and the position disturbance compensator, and provides stability constraint for the parameter design of the position disturbance observer, thereby having good guiding significance for engineering implementation.
(3) The invention can be directly added into the traditional multi-closed-loop stable control system, and effectively improves the anti-interference capability of the system on the basis of not influencing the tracking capability of the original system.
(4) The invention has simple structure and easy realization, does not need to add an additional sensor in the original stable control platform to measure disturbance, and is beneficial to reducing the hardware cost of the system.
Drawings
FIG. 1 is a three closed loop stable tracking method of a multi-disturbance observer based on acceleration and position disturbance information according to the present invention;
FIG. 2 is a frequency domain comparison graph of disturbance rejection capability of the invention introduced into a conventional multi-closed loop;
fig. 3 is a graph of the time domain comparison of the stable precision of the invention after being introduced into the traditional multi-closed loop.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
FIG. 1 is a control block diagram of a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information, which includes a feedforward compensation loop of an acceleration disturbance observer, a feedforward compensation loop of a position disturbance observer, an acceleration loop, a speed loop, and a position loop; a disturbance observer structure based on acceleration disturbance information and position disturbance information is adopted, and the disturbance suppression capability of the medium frequency and low frequency of the system is improved in a targeted manner. The method comprises the following specific implementation steps:
step (1): installing a micro-electromechanical accelerometer and a micro-electromechanical gyroscope on an X axis and a Y axis of the stable control platform, wherein the micro-electromechanical accelerometer and the micro-electromechanical gyroscope are used for measuring the angular acceleration and the angular velocity of the platform in an inertial space; the CCD camera acquires the optical signal received by the stable control platform so as to acquire the position information of the system;
step (2): the frequency response tester is used for carrying out frequency response test on the accelerated speed controlled object of the stable control platform, the input is a voltage value, the output is a sampling value of the accelerometer, and the object identification is carried out on the input and output model to obtain a controlled model of the accelerated speed object 
And (3): and (3) realizing three closed loops of a stable control platform: acceleration controlled object obtained according to fitting
Designed accelerationController C a (s); controlled model of speed object obtained by frequency response test of acceleration closed loop
Design speed controller C v (s); and obtaining a controlled model of the position object through frequency response tests of the acceleration closed loop and the speed closed loop
Design position controller C p (s) thus forming a three closed loop system of acceleration, velocity, position.
And (4): adding an acceleration disturbance observer and a disturbance compensator: adding mathematical model of controlled object in acceleration ring
Is obtained by frequency response test and is a model G of the actual acceleration of the system a (s) approximation; g a (s) the input is the control quantity u of the speed controller a The output includes external acceleration disturbance, and
does not contain external disturbances, by
And G a The output quantities of(s) are subtracted, and the external equivalent acceleration disturbance d can be observed a (s); will observe the acceleration disturbance d a (s) input to an acceleration disturbance compensator C fa (s) feeding forward the output to the acceleration controller C a (s) in the input quantity.
Wherein the acceleration ring is a mathematical model of the controlled object 
The pure differential links exist as follows:
wherein, K a Gain, ω, of the object to be accelerated n Is the turning frequency of the second-order link of the denominator of the acceleration controlled object, zeta is the parameter in the second-order link of the denominator of the acceleration controlled object, T a The four parameters are parameters in the first-order lag link of the denominator of the controlled object of the acceleration and can be obtained by object identification of the controlled object of the acceleration.
The design form of the acceleration disturbance compensator is as follows:
wherein T is a Is a parameter in the first-order lag link of the denominator of the accelerated speed controlled object, K fa ,ξ fa ,ω fa Are determined by the designer and are related to the mid-band frequencies where the disturbance is concentrated.
And (5): adding a position disturbance observer: adding a mathematical model of the controlled object in a position ring in the same way as adding an acceleration disturbance observer
Is obtained by frequency response test and is a model G of the actual acceleration of the system p (s) approximation. G p (s) the input is the control quantity u of the position controller a The output contains external position disturbance, and
does not contain external disturbances, by
And G p The output quantities of(s) are subtracted, and the external equivalent acceleration disturbance d can be observed p (s)；
Wherein the position controlled object model
Approximating an integration element, the form of which is:
And (6): designing a position disturbance compensator: carry out C fp (s) analysis of System stability, using the resulting constraints to perform C fp And(s) designing parameters, and adding the designed position compensator into a disturbance observation loop of the position ring. Observed disturbance d p (s) input to a position disturbance compensator C fp (s) feeding forward the output to the position controller G p (s) in the input quantity.
The constraint conditions of the position disturbance observer are as follows:
wherein the content of the first and second substances,
an acceleration controlled object model identified for the object,
model of a position-controlled object obtained for object recognition, C p ,C v ,C a Respectively a position controller, a velocity controller and an acceleration controller.
The position disturbance observer is designed in the following form:
wherein the content of the first and second substances,
for the position-controlled object model, K fp ,T 1 ,T 2 Are determined by the designer to be related to the low band frequencies in which the disturbance is concentrated.
The following describes the design process and effect of the present invention in detail by taking a stable control platform experiment system as an example:
(1) the acceleration transfer function model of the system is measured by the frequency response tester, and G can be considered in the design process a (s) and
approximately equal:
(2) the acceleration, speed and position controller can be designed through an acceleration object model as follows, and the traditional multi-closed loop is realized:
(3) The system is subjected to frequency sweep test through a frequency response tester, and the transfer function of the position model obtained through identification is as follows:
(4) after the traditional multi-loop closed-loop control is realized, a feedforward compensation controller C of an acceleration loop disturbance observer is designed fa (s) is:
(5) after the disturbance observer of the acceleration loop is added, a feedforward compensation controller C of the disturbance observer of the position loop is designed fp (s) is:
(6) fig. 2 is a frequency domain comparison diagram of the stable precision of the invention after being introduced into the conventional triple closed loop. Compared with a pure three-closed-loop method, the method can find that the anti-interference capability of the medium frequency and the low frequency of the system is obviously enhanced after the acceleration disturbance observer and the position disturbance observer are introduced.
(7) Fig. 3 is a frequency domain comparison graph of disturbance suppression capability after the disturbance suppression capability is introduced into a conventional three-closed loop according to the present invention. Compared with the traditional three-closed-loop method, the method has the advantage that the stability and the precision of the system are obviously improved after the acceleration disturbance observer and the position disturbance observer are introduced.
Claims (3)
1. A multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information is characterized in that: the specific implementation steps are as follows:
step (1): installing a micro-electromechanical accelerometer and a micro-electromechanical gyroscope on an X axis and a Y axis of the stable control platform, wherein the micro-electromechanical accelerometer and the micro-electromechanical gyroscope are used for measuring the angular acceleration and the angular velocity of the platform in an inertial space; the CCD camera acquires the optical signal received by the stable control platform so as to acquire the position information of the system;
Step (2): the frequency response test is carried out on the accelerated speed controlled object of the stable control platform through the frequency response tester, the input is a voltage value, the output is a sampling value of the accelerometer, and the controlled model of the accelerated speed controlled object is obtained through object identification on the input and output model
And (3): and (3) realizing three closed loops of a stable control platform: acceleration from fittingDegree controlled object
Design of the acceleration controller C a (s); controlled model of speed object obtained by frequency response test of acceleration closed loop
Design speed controller C v (s); and obtaining a controlled model of the position object through frequency response tests of the acceleration closed loop and the speed closed loop
Design position controller C p (s) thus forming a three closed loop system of acceleration, velocity, position;
and (4): adding an acceleration disturbance observer and a disturbance compensator: adding mathematical model of controlled object in acceleration ring
Is obtained by frequency response test and is a model G of the actual acceleration of the system a (s) approximation; g a (s) the input is the control quantity u of the speed controller a ，G a The output of(s) contains external acceleration disturbances, and
does not contain external disturbances, by
And G a The output quantities of(s) are subtracted, and the external equivalent acceleration disturbance d can be observed a (s); will observe the acceleration disturbance d a (s) input to an acceleration disturbance compensator C fa (s) feeding forward the output to the acceleration controller C a (s) the output;
wherein, the design form of the acceleration disturbance compensator in the step (4) is as follows:
wherein, T a Is a parameter in the first-order lag link of the denominator of the accelerated speed controlled object, K fa ,ξ fa ,ω fa All determined by designers, and are related to the frequency of the middle frequency band with concentrated disturbance, namely 5-20 Hz;
and (5): adding a position disturbance observer: adding a mathematical model of the controlled object in a position ring in the same way as adding an acceleration disturbance observer
Is obtained by frequency response test and is a model G of the actual acceleration of the system p (s) approximation; g p (s) the input is the control quantity u of the position controller a The output contains external position disturbance, and
does not contain external disturbances, by
And G p The output quantities of(s) are subtracted, and the external equivalent position disturbance d can be observed p (s)；
And (6): designing a position disturbance compensator: carry out C fp (s) analysis of System stability, using the resulting constraints to perform C fp (s) designing parameters, namely adding the designed position compensator into a disturbance observation loop of the position ring; observed equivalent position disturbance d p (s) input to a position disturbance compensator C fp (s) feeding forward the output to the position controller G p (s) the output;
wherein, the stability constraint condition of the position disturbance observer in the step (6) is as follows:
wherein the content of the first and second substances,
an acceleration controlled object model identified for the object,
model of a position-controlled object obtained for object recognition, C p ,C v ,C a Respectively a position controller, a speed controller and an acceleration controller;
the design form of the position disturbance observer in the step (6) is as follows:
wherein the content of the first and second substances,
for the position-controlled object model, K fp ,T 1 ,T 2 Are determined by the designer to be related to the low band frequency 1-5Hz in which the disturbance is concentrated.
2. The multi-disturbance observer three-closed-loop stable tracking method based on the acceleration and position disturbance information as claimed in claim 1, wherein: step (2) of accelerating mathematical model of controlled object
The pure differential links exist as follows:
wherein, K a Gain, ω, of the object to be accelerated n Is the turning frequency of the second-order link of the denominator of the acceleration controlled object, zeta is the parameter in the second-order link of the denominator of the acceleration controlled object, T a The four parameters are parameters in the first-order lag link of the denominator of the controlled object of the acceleration and can be obtained by object identification of the controlled object of the acceleration.
3. The multi-disturbance observer three-closed-loop stable tracking method based on the acceleration and position disturbance information as claimed in claim 1, wherein: the position controlled object model in the step (5)
Approximating an integration element, the form of which is:
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| CN113867155B (en) * | 2021-11-10 | 2023-05-26 | 中国科学院光电技术研究所 | Disturbance identification and self-adaptive compensation method suitable for photoelectric tracking system |
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