CN111443636A - Unmanned aerial vehicle carries photoelectricity nacelle stable control system based on two DSP - Google Patents
Unmanned aerial vehicle carries photoelectricity nacelle stable control system based on two DSP Download PDFInfo
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- CN111443636A CN111443636A CN202010289325.1A CN202010289325A CN111443636A CN 111443636 A CN111443636 A CN 111443636A CN 202010289325 A CN202010289325 A CN 202010289325A CN 111443636 A CN111443636 A CN 111443636A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/21—Pc I-O input output
- G05B2219/21137—Analog to digital conversion, ADC, DAC
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2231—Master slave
Abstract
A stability control system of an unmanned aerial vehicle-mounted photoelectric pod based on double DSPs, a signal conditioning module conditions gyro signals for an A/D acquisition module to acquire; the A/D acquisition module converts the analog gyro signal into a digital signal and sends the result to the main DSP speed closed-loop control module for speed closed-loop control; the angle resolving module resolves the signal of the photoelectric code disc to obtain the azimuth and the pitch angle of the photoelectric pod, and sends the result to the auxiliary DSP position closed-loop control module for position closed-loop control; the auxiliary DSP position closed-loop control module carries out information interaction with an upper computer through an SCI bus, a control instruction of the upper computer is sent to the main DSP speed closed-loop control module through an McBSP bus, and the motor driving control module carries out power amplification on an output signal of the main DSP speed closed-loop control module through a power amplification chip, so that the motor is driven to be stable in the direction and the pitching direction.
Description
Technical Field
The invention relates to a dual-DSP control-based unmanned aerial vehicle-mounted photoelectric pod stability control system, and belongs to the field of servo control.
Background
The unmanned aerial vehicle carries the photoelectricity nacelle is a device that can effectively isolate the carrier disturbance, keeps the visual axis stable, also is called the photoelectricity stabilized platform. The photoelectric pod stability control means that the axial direction of the line of sight of a photoelectric sensor in a stable platform is kept through an active anti-interference means, so that the photoelectric sensor can keep space stability within a certain precision range. The system mainly comprises an imaging system and a servo mechanism, and is widely applied to carriers such as airplanes, ships and warships and the like to detect targets and obtain stable images.
The existing stability control of the unmanned aerial vehicle-mounted photoelectric pod usually adopts a management and servo integrated control framework based on POWERPC, and because of the limitations of multiple POWERPC processing tasks, busy management and scheduling and slow operation speed, the operation cycle of a servo control algorithm is often 1ms, and the requirement of servo stability control with stronger and stronger real-time performance (the operation cycle is 0.25ms) cannot be met.
Disclosure of Invention
The invention provides a system and a method for stably controlling an unmanned aerial vehicle-mounted photoelectric pod based on double-DSP control, aiming at the defects in the prior art.
In order to solve the technical problems, the invention adopts the technical scheme that:
an unmanned aerial vehicle-mounted photoelectric pod stability control system based on double DSPs comprises a signal conditioning module, an A/D acquisition module, an angle resolving module, a servo algorithm module and a motor drive control module, wherein the input end and the output end of the signal conditioning module are respectively connected with the signal output end of a gyroscope and the input end of the A/D acquisition module; the input end of the angle resolving module is connected with the signal output end of the photoelectric code disc; the output ends of the A/D acquisition module and the angle resolving module are respectively connected with different input ends of the servo algorithm module; the output end of the servo algorithm module is connected with a pitching motor of the photoelectric pod through a motor drive control module; the servo algorithm module is in communication connection with an upper computer and is characterized in that the servo algorithm module comprises a main DSP speed closed-loop control module and an auxiliary DSP position closed-loop control module, the main DSP speed closed-loop control module and the auxiliary DSP position closed-loop control module are connected with each other through a multi-channel buffer serial bus McBSP, and the output end of the A/D acquisition module is connected with the main DSP speed closed-loop control module; the auxiliary DSP position closed-loop control module is respectively connected with the output end of the angle resolving module and the upper computer; the output end of the main DSP speed closed-loop control module is connected with the input end of the motor drive control module.
Furthermore, the signal conditioning module is composed of an AD524 chip and peripheral circuits thereof, and an OP400 chip and peripheral circuits thereof.
Furthermore, the A/D acquisition module consists of a standard A/D acquisition chip with the model number of AD7656 and a peripheral circuit thereof.
Furthermore, the angle calculating module is composed of 2 bus driving chips and peripheral circuits thereof, and the bus driving chip is a universal serial port chip MAX 3490.
Furthermore, the hardware of the main DSP speed closed-loop control module consists of a TMS320F28335 chip and a conventional peripheral circuit; the hardware of the auxiliary DSP position closed loop control module consists of a TMS320F2812 chip and conventional peripheral circuits.
Further, the motor drive control module is composed of a power HPA2810 drive chip and a peripheral circuit thereof.
The stability control process of the unmanned aerial vehicle-mounted photoelectric pod based on the double DSPs comprises the following steps:
the first step is as follows: after the photoelectric pod is powered on, checking whether the signal conditioning module, the A/D acquisition module, the angle resolving module and the motor drive control module are normal or not; if the checking result is normal, the next step is carried out;
the second step is that: the main DSP speed closed-loop control module and the auxiliary DSP position closed-loop control module respectively complete the initialization of closed-loop control parameters;
the third step: after the initialization is finished, the auxiliary DSP position closed-loop control module performs information interaction with the upper computer through an SCI bus, and sends a control instruction of the upper computer to the main DSP speed closed-loop control module through an McBSP bus;
the fourth step: the auxiliary DSP position closed-loop control module completes a position closed-loop algorithm, and the position closed-loop algorithm comprises the following steps: resolving the photoelectric code disc signal, engineering unit conversion operation, PID algorithm and filtering algorithm in sequence; and sending the calculation result to a main DSP speed closed-loop control module through McBSP; meanwhile, the main DSP speed closed-loop control module completes a speed closed-loop algorithm, and the speed closed-loop algorithm comprises the following steps: sequentially carrying out acquisition operation, engineering unit conversion operation, PID algorithm, filtering algorithm and trapping algorithm on the gyro speed signal; converting the calculation result into a PWM wave with adjustable duty ratio and outputting the PWM wave to a motor drive control module;
the fifth step: and the motor driving control module receives an output result of the main DSP speed closed-loop control module and outputs the amplified PWM wave to an azimuth motor and a pitching motor of the photoelectric pod, so that the azimuth motor and the pitching motor are driven to move, and the stable control of the photoelectric pod is realized.
The beneficial effects of the invention are shown in the following aspects:
the invention adopts a hardware control scheme of a high-performance digital signal processor TMS320F28335 supporting floating point operation and a digital power chip HPA2810 by adopting high-speed A/D acquisition chips AD7656 and 150M dominant frequencies output by 16-bit 6 channels in parallel, and has the characteristics of simple interface, high acquisition speed and high acquisition precision.
The invention adopts double DSPs to stably control the photoelectric pod, the main DSP speed closed-loop control module performs speed closed-loop control, the auxiliary DSP position closed-loop control module performs position closed-loop control, and the two can be performed simultaneously, so that the servo control period reaches 0.25ms, and the real-time performance of servo control and the stability of the photoelectric pod are greatly improved.
And thirdly, the auxiliary DSP position closed-loop control module does not occupy the resources and the expense of the main DSP speed closed-loop control module when the azimuth and the pitch angle of the photoelectric pod are calculated, so that the auxiliary DSP position closed-loop control module can flexibly meet the requirements of photoelectric encoders of various interfaces, and the interface can be I2C. SPI, SCI, SSI, or other non-standard interface.
Drawings
FIG. 1 is a schematic block diagram of the present invention;
FIG. 2 is a schematic block diagram of the circuit of the present invention;
FIG. 3 is a flow chart of a speed closed-loop control algorithm implemented by the main DSP speed closed-loop control module of the present invention;
FIG. 4 is a flow chart of a position closed-loop control algorithm implemented by the auxiliary DSP position closed-loop control module of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
As shown in fig. 1, an embodiment of the basic structure of an unmanned aerial vehicle-mounted optoelectronic pod stability control system based on dual DSP control according to the present invention includes: the system comprises a gyroscope, a signal conditioning module, an A/D acquisition module, a photoelectric code disc, an angle resolving module, a main DSP speed closed-loop control module, an auxiliary DSP position closed-loop control module, a motor drive control module and an azimuth and pitching motor. The signal conditioning module comprises an instrument amplifier AD524 and an operational amplifier circuit OP400, the output end of the instrument amplifier circuit is connected with the input end of the operational amplifier circuit, and the output end of the operational amplifier circuit is connected with the A/D acquisition module; the A/D acquisition module comprises an AD7656 and a peripheral circuit thereof, receives the gyro angular velocity signal generated by the signal conditioning module and transmits the acquisition result to the main DSP velocity closed-loop control module; the angle resolving module comprises a MAX3490 and a peripheral circuit thereof, receives an output signal of the photoelectric code disc and transmits a resolving result to the auxiliary DSP position closed-loop control module. The auxiliary DSP position closed-loop control module completes position closed-loop calculation of the angle calculation result, the calculation result is sent to the main DSP speed closed-loop control module through the McBSP, the main DSP speed closed-loop control module completes speed closed-loop control, PWM waves with adjustable duty ratios are finally output to the motor drive control module, and the motor drive control module receives an enabling command of the main DSP speed closed-loop control module and then outputs the amplified PWM waves to the azimuth motor and the pitch motor, so that the azimuth motor and the pitch motor are driven to rotate, and stable control of the photoelectric pod is achieved.
Referring to fig. 2, an embodiment of the circuit principle of the dual-DSP-control-based unmanned aerial vehicle-mounted optoelectronic pod stability control system of the present invention includes: the differential signal output by the gyroscope is changed into a single-side signal through an instrumentation amplifier AD524, the single-side signal is conditioned into an analog voltage signal of-10V to +10V through an operational amplifier OP400, the analog voltage signal is subjected to high-speed parallel acquisition through an AD7656, and the processed signal is output to a main DSP speed closed-loop control module; the auxiliary DSP position closed-loop control module completes signal decoding of the photoelectric code disc through MAX3490 (and a conventional peripheral circuit thereof) to obtain an azimuth angle and a pitch angle, the result is sent to the main DSP speed closed-loop control module through McBSP, finally, the control quantity of the azimuth and the pitch direction of the photoelectric pod is obtained through the main DSP speed closed-loop control module, the control quantity is changed into a PWM signal and sent to the power driving chip HPA2810, and the +5V PWM wave is changed into a +28V PWM wave through an isolation circuit arranged in the auxiliary DSP position closed-loop control module, so that the azimuth and pitch motor are driven to move, and stable control of the photoelectric pod is realized.
Referring to fig. 3 and 4, the operation of the above control system of the present invention is as follows:
the first step is as follows: after the photoelectric pod is powered on, checking whether the signal conditioning module, the A/D acquisition module, the angle resolving module and the motor drive control module are normal or not; if the checking result is normal, the next step is carried out.
The second step is that: the main DSP speed closed-loop control module and the auxiliary DSP position closed-loop control module respectively complete the initialization of closed-loop control parameters.
The third step: after the initialization is completed, the auxiliary DSP position closed-loop control module performs information interaction with the upper computer through an SCI bus, and sends a control instruction of the upper computer to the main DSP speed closed-loop control module through an McBSP bus.
The fourth step: the auxiliary DSP position closed-loop control module completes a position closed-loop algorithm, and the position closed-loop algorithm comprises the following steps: resolving the photoelectric code disc signal, engineering unit conversion operation, PID algorithm and filtering algorithm in sequence; and sending the calculation result to a main DSP speed closed-loop control module through McBSP; meanwhile, the main DSP speed closed-loop control module completes a speed closed-loop algorithm, and the speed closed-loop algorithm comprises the following steps: sequentially carrying out acquisition operation, engineering unit conversion operation, PID algorithm, filtering algorithm and trapping algorithm on the gyro speed signal; and converting the calculation result into a PWM wave with adjustable duty ratio and outputting the PWM wave to the motor drive control module.
The fifth step: and the motor driving control module receives an output result of the main DSP speed closed-loop control module and outputs the amplified PWM wave to an azimuth motor and a pitching motor of the photoelectric pod, so that the azimuth motor and the pitching motor are driven to move, and the stable control of the photoelectric pod is realized.
The specific calculation method and the operation method involved in each step of the method are conventional algorithms of the control system in the field.
Claims (7)
1. An unmanned aerial vehicle-mounted photoelectric pod stability control system based on double DSPs comprises a signal conditioning module, an A/D acquisition module, an angle resolving module, a servo algorithm module and a motor drive control module, wherein the input end and the output end of the signal conditioning module are respectively connected with the signal output end of a gyroscope and the input end of the A/D acquisition module; the input end of the angle resolving module is connected with the signal output end of the photoelectric code disc; the output ends of the A/D acquisition module and the angle resolving module are respectively connected with different input ends of the servo algorithm module; the output end of the servo algorithm module is connected with a pitching motor of the photoelectric pod through a motor drive control module; the servo algorithm module is in communication connection with an upper computer and is characterized in that the servo algorithm module comprises a main DSP speed closed-loop control module and an auxiliary DSP position closed-loop control module, the main DSP speed closed-loop control module and the auxiliary DSP position closed-loop control module are connected with each other through a multi-channel buffer serial bus McBSP, and the output end of the A/D acquisition module is connected with the main DSP speed closed-loop control module; the auxiliary DSP position closed-loop control module is respectively connected with the output end of the angle resolving module and the upper computer; the output end of the main DSP speed closed-loop control module is connected with the input end of the motor drive control module.
2. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the signal conditioning module consists of an AD524 chip and a peripheral circuit thereof, and an OP400 chip and a peripheral circuit thereof.
3. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the A/D acquisition module consists of a standard A/D acquisition chip with the model number of AD7656 and a peripheral circuit thereof.
4. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the angle resolving module consists of 2 bus driving chips and peripheral circuits thereof, and the bus driving chips adopt a universal serial port chip MAX 3490.
5. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the hardware of the main DSP speed closed-loop control module consists of a TMS320F28335 chip and a conventional peripheral circuit, and the hardware of the auxiliary DSP position closed-loop control module consists of a TMS320F2812 chip and a conventional peripheral circuit.
6. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the motor drive control module consists of a power HPA2810 drive chip and a peripheral circuit thereof.
7. The dual-DSP based stability control system for the unmanned airborne optoelectronic pod according to claim 1, wherein: the stabilization control process of the system comprises the following steps:
the first step is as follows: after the photoelectric pod is powered on, checking whether the signal conditioning module, the A/D acquisition module, the angle resolving module and the motor drive control module are normal or not; if the checking result is normal, the next step is carried out;
the second step is that: the main DSP speed closed-loop control module and the auxiliary DSP position closed-loop control module respectively complete the initialization of closed-loop control parameters;
the third step: after the initialization is finished, the auxiliary DSP position closed-loop control module performs information interaction with the upper computer through an SCI bus, and sends a control instruction of the upper computer to the main DSP speed closed-loop control module through an McBSP bus;
the fourth step: the auxiliary DSP position closed-loop control module completes a position closed-loop algorithm, and the position closed-loop algorithm comprises the following steps: resolving the photoelectric code disc signal, engineering unit conversion operation, PID algorithm and filtering algorithm in sequence; and sending the calculation result to a main DSP speed closed-loop control module through McBSP; meanwhile, the main DSP speed closed-loop control module completes a speed closed-loop algorithm, and the speed closed-loop algorithm comprises the following steps: sequentially carrying out acquisition operation, engineering unit conversion operation, PID algorithm, filtering algorithm and trapping algorithm on the gyro speed signal; converting the calculation result into a PWM wave with adjustable duty ratio and outputting the PWM wave to a motor drive control module;
the fifth step: and the motor driving control module receives an output result of the main DSP speed closed-loop control module and outputs the amplified PWM wave to an azimuth motor and a pitching motor of the photoelectric pod, so that the azimuth motor and the pitching motor are driven to move, and the stable control of the photoelectric pod is realized.
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