CN111443738A - Disturbance suppression method based on combination of MEMS accelerometer and acceleration disturbance observer - Google Patents
Disturbance suppression method based on combination of MEMS accelerometer and acceleration disturbance observer Download PDFInfo
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- CN111443738A CN111443738A CN202010298347.4A CN202010298347A CN111443738A CN 111443738 A CN111443738 A CN 111443738A CN 202010298347 A CN202010298347 A CN 202010298347A CN 111443738 A CN111443738 A CN 111443738A
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- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
The invention discloses a disturbance suppression method based on the combination of an MEMS accelerometer and an acceleration disturbance observer, which aims at the problems of limited sensor installation and insufficient disturbance rejection capability of a small-size and space-limited motion platform photoelectric device.A disturbance observer is constructed in an acceleration ring and used for observing disturbance such as carrier and wind disturbance and feeding the disturbance to a system in a feedforward mode, the sensor adopts the MEMS accelerometer with small size and high bandwidth to replace a traditional fiber optic gyroscope, disturbance feedforward and system miniaturization are realized at the same time, and the disturbance rejection performance of the system within 100Hz is improved. The method improves a system from a control structure, combines the capabilities of different sensors and optimizes the capabilities, the sensors adopt MEMS accelerometers with high bandwidth and good intermediate frequency performance, simultaneously solves the problems of large size of the fiber-optic gyroscope and low bandwidth of the MEMS gyroscope and is not applicable, and combines a feedforward method on the basis of feedback control to reduce the system load and ensure the disturbance suppression capability of the system.
Description
Technical Field
The invention belongs to the field of photoelectric tracking stability control of a movable platform, and particularly relates to a disturbance suppression method of photoelectric equipment of the movable platform based on an MEMS accelerometer and disturbance feedforward, which is mainly used for improving the anti-disturbance performance of a system on the basis of light weight, so that the tracking accuracy of the system in a complex disturbance environment is improved.
Background
In the movable platform photoelectric tracking system, along with the expansion of the application field, the movable platform photoelectric tracking system develops towards miniaturization and flexibility. Because the carrier has strong mobility, the volume and the load of the carried photoelectric equipment are limited, meanwhile, the carrier disturbance is caused to the photoelectric equipment by the motion of the carrier, and the platform is subjected to external disturbance such as wind disturbance, the small moving platform photoelectric tracking system is required to realize target tracking under the condition of complex disturbance, and the disturbance transmitted by the carrier and other external disturbances are restrained in real time.
In the control mode, due to the fact that the CCD is large in delay and low in bandwidth, a speed inner ring based on a fiber-optic gyroscope is added in a position ring based on the CCD, the transfer characteristic of the system is optimized by means of a gyroscope with high precision and high frame frequency, and the anti-interference capacity of the system is improved. The high-precision fiber-optic gyroscope has large volume and weight, and can replace the fiber-optic gyroscope by the MEMS gyroscope when realizing miniaturization design, but the MEMS gyroscope has low bandwidth and does not meet the requirement of system bandwidth, and the MEMS accelerometer has small volume and weight, high bandwidth and low high-frequency noise, thereby being a better choice for lightweight design of a system.
Disclosure of Invention
Aiming at the problems that the size of the current movable platform photoelectric control system based on the fiber-optic gyroscope and the CCD is limited and the anti-interference performance is insufficient under miniaturization, the reconstruction of a control closed loop and the introduction of a feedforward structure are provided, so that the platform has the anti-interference capability while the size is miniaturized. The output signal of the CCD is differed with the acceleration loop signal and input into the acceleration loop controller, the information passes through an acceleration disturbance observer and an acceleration controlled object, and the difference value is the disturbance of the system. Because the CCD delay has little influence on the low-frequency signal, the disturbance obtained by observation can be directly fed forward to a closed-loop system, and the anti-disturbance performance of the system is improved.
In order to achieve the purpose of the invention, the invention provides a disturbance suppression method based on the combination of an MEMS accelerometer and an acceleration disturbance observer, which comprises the following specific implementation steps:
step (1): MEMS accelerometers are respectively arranged on two shafts of the movable platform photoelectric equipment and used for respectively measuring the acceleration of the two shafts of the platform relative to the movement of an inertial space;
step (2): acceleration object characteristic model of platform obtained through frequency response tester
As a real object Ga(s) a reference model;
and (3): obtaining the acceleration model of the controlled object
On the basis, an acceleration controller C is designeda(s) realizing closed-loop control of acceleration, and designing a position controller C on the CCD position ringp(s) realizing position closed loop, and finishing acceleration and position double closed loop control;
and (4): the output signal of CCD passes through the position loop controller, and the acceleration loop controller together with the signal measured by the accelerometer, and this data is used as the object model
Is designed as a feedforward controller CfAnd acceleration disturbance feedforward is realized.
Firstly, acquiring an acceleration object characteristic model of the platform in step (2)
Wherein, K1For model gain, T1、T2Measuring platform response curve by frequency response tester for electrical time constant, and adjusting
And the parameters enable the fitted curve to coincide with the bode response curve of the platform, so that the platform acceleration object model is obtained.
In the step (1), the detection range of the MEMS accelerometer is wide, the tracking capability of the system can be improved by utilizing the characteristics of the MEMS accelerometer, and the acceleration controller C in the step (3)a(s) model reference is as follows:
wherein K is a controller Ca1+ T of gain, differential element3s and 1+ T4And s is used for improving the phase angle margin, the quadratic integral in the denominator ensures the gain of the system in the control bandwidth, and the characteristics of the controlled object are improved after the acceleration is closed.
Wherein, the feedforward controller C in the step (4)fThe model references are as follows:
compared with the prior art, the invention has the following advantages:
(1) the method can be realized in a gyro-free environment, and the stability of the photoelectric platform can still be ensured.
(2) According to the method, feedforward control is added on the basis of a feedback closed loop, and the performance of the sensor is fully exerted under the condition that the stability of the system is not influenced.
(3) The method adopts the acceleration object model as the reference model, the acceleration closed-loop model is less influenced by the change of platform parameters, and the robustness of the system is improved.
(4) The invention has clear thought, light and simple structure and easy realization in engineering.
Drawings
FIG. 1 is a control block diagram of a disturbance suppression method based on a combination of a MEMS accelerometer and an acceleration disturbance observer.
FIG. 2 is a graph comparing the suppression capability of the present invention with respect to conventional speed position dual closed loop control at disturbance signal input.
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 disturbance suppression method based on the combination of a MEMS accelerometer and an acceleration disturbance observer, which includes an acceleration loop, a CCD position loop, and a disturbance observer feedforward structure formed by an acceleration object equivalent model; the disturbance observer is used for separating the disturbance quantity, and the disturbance quantity is fed forward to the system, so that the anti-disturbance performance of the system is improved. The method for realizing the feedforward control by adopting the device comprises the following specific steps:
step (1): MEMS accelerometers are respectively arranged on two shafts of the movable platform photoelectric equipment and used for respectively measuring the angular acceleration of the two shafts of the platform moving in an inertial space. The MEMS accelerometer has low high-frequency noise and the bandwidth can reach 1000 Hz;
step (2): the invention has small volume, light weight and light motor after the sensor is installed, can obtain a parameter model of the system according to the physical model modeling, determines an acceleration object characteristic model of the platform as a real object G by a frequency response test methoda(s)；
And (3): acceleration model of controlled object
On the basis, an acceleration controller C is designeda(s) realizing closed-loop control of acceleration, and designing a position controller C on the CCD position ringpAnd(s) realizing position closed loop and finishing acceleration and position double closed loop control. To ensure the tracking ability of the position loop, the platform model is designed as follows.
And (4): according to the attached figure 1 of the specification, the output signal of the CCD passes through a position loop controller, is subtracted from the signal measured by the accelerometer and then passes through an acceleration loop controller, and the obtained data is used as a feedforward controller CfInput of (C), design feedforward control CfAnd acceleration disturbance feedforward is realized. To overcome the disturbance, the following conditions should be satisfied:
at this time, 1-GaCf0, the disturbance is overcome.
Under the same conditions, fig. 2 is a comparison graph of the disturbance suppression capability of the present invention. Compared with the non-disturbance dynamic observation feedforward, the disturbance suppression capability is integrally enhanced after the feedforward is added.
Claims (4)
1. A disturbance suppression method based on combination of a MEMS accelerometer and an acceleration disturbance observer is characterized by comprising the following steps:
step (1): MEMS accelerometers are respectively arranged on two shafts of the movable platform photoelectric equipment and used for respectively measuring the acceleration of the two shafts of the platform relative to the movement of an inertial space;
step (2): acceleration object characteristic model of platform obtained through frequency response tester
As a real object Ga(s) a reference model;
and (3): obtaining the acceleration model of the controlled object
On the basis, an acceleration controller C is designeda(s) realizing closed-loop control of acceleration, and designing a position controller C on the CCD position ringp(s) realizing position closed loop, and finishing acceleration and position double closed loop control;
and (4): the output signal of CCD passes through the position loop controller, and the acceleration loop controller together with the signal measured by the accelerometer, and this data is used as the object model
Is designed as a feedforward controller CfAnd acceleration disturbance feedforward is realized.
2. The method of claim 1 for disturbance rejection based on a combination of a MEMS accelerometer and an acceleration disturbance observer, wherein: in step (2), the platform is firstly obtainedAcceleration object characteristic model
Wherein, K1For model gain, T1、T2Measuring platform response curve by frequency response tester for electrical time constant, and adjusting
And the parameters enable the fitted curve to coincide with the bode response curve of the platform, so that the platform acceleration object model is obtained.
3. The method of claim 1 for disturbance rejection based on a combination of a MEMS accelerometer and an acceleration disturbance observer, wherein: in the step (1), the detection range of the MEMS accelerometer is wide, the tracking capability of the system can be improved by utilizing the characteristics of the MEMS accelerometer, and the acceleration controller C in the step (3)a(s) model reference is as follows:
wherein K is a controller Ca1+ T of gain, differential element3s and 1+ T4And s is used for improving the phase angle margin, the quadratic integral in the denominator ensures the gain of the system in the control bandwidth, and the characteristics of the controlled object are improved after the acceleration is closed.
4. The method of claim 1 for disturbance rejection based on a combination of a MEMS accelerometer and an acceleration disturbance observer, wherein: in the step (4), the feedforward structure is disturbance feedforward, the disturbance acts on the system, and the output quantity and the system model
The output is subtracted, and the obtained difference can be seen as the set of the carrier, the system and the external wind disturbance through a feedforward controller CfFeed-forward to the system to cancel the disturbance.
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Cited By (3)
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| CN113485393A (en) * | 2021-06-22 | 2021-10-08 | 北京三快在线科技有限公司 | Control method and device of flight equipment, storage medium and flight equipment |
| CN113885332A (en) * | 2021-10-27 | 2022-01-04 | 中国科学院光电技术研究所 | Disturbance observer control method based on speed difference in timing belt servo system |
| CN114660601A (en) * | 2022-03-18 | 2022-06-24 | 中国科学院光电技术研究所 | Vibration suppression method and device applied to synthetic aperture imaging system |
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