CN111665720A - Satellite laser communication composite axis tracking decoupling control system and method - Google Patents
Satellite laser communication composite axis tracking decoupling control system and method Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
Abstract
The invention discloses a satellite laser communication composite axis tracking decoupling control system and a method, belongs to the field of communication, and aims to solve the problem that a single detector tracking system cannot meet the requirement of real-time stable tracking in an on-orbit state by adopting a conventional decoupling control mode. The invention comprises a capture detection unit: used for capturing the beacon light emitted by the other party; a coarse tracking unit: the compensation quantity used for receiving the capture detection unit drives the coarse aiming actuator to perform coarse tracking; the feedforward control quantity is further used for receiving the output of the neural network self-adaptive model to further track and adjust so as to realize stable tracking; a fine aiming tracking unit: the fine aiming actuator is used for driving the fine aiming actuator to perform fine tracking according to the compensation quantity of the capturing detection unit; a neural network adaptive model: and the position deviation and the speed information of the coarse aiming actuator and the position deviation and the deflection speed of the fine aiming actuator are used as model input quantities, and a feedforward control quantity is output to the coarse aiming tracking unit.
Description
Technical Field
The invention relates to a decoupling technology of laser communication, belonging to the field of communication.
Background
In recent years, China has been deeply explored in the aerospace field and has gained great results, and deep space exploration is regarded as one of the main tasks of five years in the future, and is particularly emphasized. The laser communication has the advantages of high communication speed, small volume, light weight, high security and the like, and provides a feasible scheme for communication between Mars and the earth in the moon and in the future. However, the requirement of laser communication on the tracking performance is high, the error rate of communication is increased and even communication is interrupted due to unstable tracking, and the control requirement of the conventional control system is difficult to meet. Most of the existing laser communication terminals adopt a composite shaft type structure, namely, a motor is used for driving a mechanical shaft to rotate to serve as a coarse tracking unit, the motor usually adopts a servo motor with small electromechanical time constant, good linearity and high control precision, and a reflector is driven to serve as a fine tracking unit by utilizing high-precision rapid deflection of piezoelectric ceramics to complete rapid and accurate adjustment of a receiving light path. The fine aiming control unit needs to be carried on the coarse tracking unit, so that the capturing and coarse tracking processes can be completed by fully utilizing the large visual field and the large dynamic range of the coarse tracking, and meanwhile, most of low-frequency interference can be absorbed through the coarse tracking unit. When the double detectors are adopted, the fine tracking unit only needs to compensate the residual error of the coarse aiming control unit and the high-frequency vibration of the satellite platform respectively.
Although the tracking precision of the double detectors is superior to that of the single detector, the single detector can reduce the visual axis deviation of the system, the difficulty in assembly is greatly reduced, and the single detector system is inevitably developed because one light path is reduced, so that the single detector system is convenient to realize lightness, miniaturization and portability. When the single detector is adopted for tracking, because the coarse unit and the fine unit both use the single detector as target error feedback, the serious coupling caused by the target error feedback easily breaks a stable tracking state, and the interruption of a communication link is caused. Therefore, the most difficult problem of the compound control is the decoupling problem, and the conventional decoupling mode is to provide an opposite control quantity for the motor according to the position feedback of the fine sight, so that the system tracking performance reduction caused by the insufficient deflection range of the fine sight is compensated. The conventional control mode needs an accurate system model and has strict matching requirements on control frequency, and in the actual working process, the model of the system is nonlinear and unpredictable disturbance exists at the same time, so that the real-time stable tracking of the on-orbit state cannot be met strictly according to the decoupling control mode of the system model.
Disclosure of Invention
The invention aims to solve the problem that a single detector tracking system cannot meet the real-time stable tracking in an on-orbit state by adopting a conventional decoupling control mode, and provides a satellite laser communication composite axis tracking decoupling control system and a method.
The invention relates to a satellite laser communication composite axis tracking decoupling control system, which comprises a capturing detection unit 1, a coarse aiming tracking unit 2, a fine aiming tracking unit 3, a neural network self-adaptive model 4, a coarse aiming actuator 5 and a fine aiming actuator 6;
the capture detection unit 1: the device is used for capturing beacon light emitted by the other party, switching to a large-view-field and low-frame-frequency state during rough tracking, outputting compensation quantity to the rough aiming tracking unit 2, and further controlling the rough aiming executing mechanism 5 to rotate along with a light spot; during fine tracking, the state is switched to a small view field and high frame frequency state, compensation quantity is output to the fine aiming tracking unit 3, and then the fine aiming executing mechanism 6 is controlled to rotate along with the light spots;
coarse tracking unit 2: the compensation quantity used for receiving the capture detection unit 1 drives the coarse aiming actuator 5 to perform coarse tracking; the feedforward control quantity is further used for receiving the feedforward control quantity output by the neural network adaptive model 4 to further track and adjust so as to realize stable tracking;
the fine-aiming tracking unit 3: the fine aiming actuator 6 is used for driving fine aiming to perform fine tracking according to the compensation quantity of the capturing and detecting unit 1;
neural network adaptive model 4: the position deviation and speed information of the coarse aiming actuator 5 and the position deviation and deflection speed of the fine aiming actuator 6 are used as model input quantities, and feed-forward control quantities are output to the coarse aiming tracking unit 2.
Preferably, the capture detection unit 1 employs a CCD as a detector.
Preferably, the coarse aiming tracking unit 2, the fine aiming tracking unit 3 and the neural network adaptive model 4 are built in a DSP controller.
Preferably, the coarse aiming actuator 5 adopts a servo motor, and the fine aiming actuator 6 adopts piezoelectric ceramics with a built-in strain gauge sensor.
The invention provides another scheme: the method for realizing the satellite laser communication composite axis tracking decoupling control system comprises the following steps of:
firstly, after a capture detection unit 1 of a satellite optical communication terminal detects that an opposite side emits beacon light, a coarse tracking unit 2 is started to perform coarse tracking;
when the fine aiming starting condition is met, starting a fine aiming tracking unit 3 for fine tracking, and simultaneously starting a neural network adaptive model 4 to output a feedforward control quantity;
and step three, the coarse aiming tracking unit 2 further tracks and adjusts according to the compensation quantity output by the capturing detection unit 1 and the feedforward control quantity output by the neural network adaptive model 4, and starts signal light after stable tracking is gradually realized, so that bidirectional laser communication is realized.
Preferably, the process of rough tracking in the step one is specifically: the capture detection unit 1 calculates the miss distance information as a compensation amount, the miss distance information is transmitted to the coarse aiming tracking unit 2, and the coarse aiming tracking unit 2 obtains the output amount of the coarse aiming execution mechanism 5 through the miss distance information so as to control the movement of the two-dimensional rotary table; after dragging the light spot to the vicinity of the calibrated communication central point, the coarse aiming tracking unit 2 adaptively adjusts the threshold, the exposure time and the sampling frame frequency of the CCD detector in the capturing and detecting unit 1 according to the position of the light spot, and completes the switching from the capturing visual field to the tracking visual field.
Preferably, the process of outputting the feedforward control quantity by the neural network adaptive model 4 in the step two is as follows:
the input of the neural network adaptive model 4 is a ═ x1x2x3x4]Wherein x is1The difference, x, between the expected position calculated by the coarse aiming tracking unit 2 according to the compensation quantity of the capturing detection unit 1 and the actual position of the coarse aiming actuator 52Is the rotational speed, x, of the coarse-aiming actuator 53Is the offset angle, x, of the strain gage sensor from the center position4Is the output value of the strain gauge sensor after low-pass filtering,
according to the input A, the neural network adaptive model 4 outputs torque information of the coarse aiming actuator 5 and loads the torque information as a feedforward control quantity to the input end of the coarse aiming tracking unit 2.
Preferably, the neural network adaptive model 4 sets 4 input layers, 4 hidden layers, and 1 output layer:
an input layer: the input matrix is A ═ x1x2x3x4]；
Hidden layer: hidden layer output matrix B ═ h1h2h3h4]Output matrix element of hidden layer
A (i) denotes an input matrix element, and an input layer index entry i is 1,2,3, 4; hidden layer index entry j ═ 1,2,3, 4; activating a function
Wherein e is a natural constant; omegaijThe weight coefficient from the input layer to the hidden layer; a isjA threshold value for the hidden layer;
an output layer: prediction output
Wherein ω isjA layer weight coefficient from a hidden layer to an output layer, and b is a threshold value of the output layer;
error of detector E ═ Y-OpreY is the compensation quantity of the coarse aiming actuator in an ideal state, the weight coefficient and the threshold are updated through E, and the updating formula is omegaij＝ωij+ηB(j)(1-B(j))A(i)ωijE，ωj＝ωj+ηB(j)E，aj＝aj+ η b (j) (1-b (j)) ω E, b + E, where η∈ (0, 1) is the learning rate。
The invention has the advantages that: the invention adopts a decoupling scheme based on the self-adaptive control of the neural network, utilizes feedback information such as the fine tracking position, the speed and the like as input signals of the coarse tracking unit, can effectively solve the coupling problem of the coarse and fine tracking unit in a self-adaptive adjusting mode, simultaneously improves the robustness of the system, improves the average tracking precision by more than 50 percent, and better ensures the stable transmission of laser communication.
Drawings
FIG. 1 is a schematic diagram of a satellite laser communication composite axis tracking decoupling control system according to the invention;
FIG. 2 is a flow chart of a satellite laser communication composite axis tracking decoupling control method according to the invention;
fig. 3 is a diagram of a neural network topology.
Detailed Description
The first embodiment is as follows: the present embodiment is described below with reference to fig. 1, and the satellite laser communication composite axis tracking and decoupling control system according to the present embodiment includes an acquisition detection unit 1, a coarse aiming tracking unit 2, a fine aiming tracking unit 3, a neural network adaptive model 4, a coarse aiming actuator 5, and a fine aiming actuator 6;
the capture detection unit 1: the device is used for capturing beacon light emitted by the other party, switching to a large-view-field and low-frame-frequency state during rough tracking, outputting compensation quantity to the rough aiming tracking unit 2, and further controlling the rough aiming executing mechanism 5 to rotate along with a light spot; during fine tracking, the state is switched to a small view field and high frame frequency state, compensation quantity is output to the fine aiming tracking unit 3, and then the fine aiming executing mechanism 6 is controlled to rotate along with the light spots;
coarse tracking unit 2: the compensation quantity used for receiving the capture detection unit 1 drives the coarse aiming actuator 5 to perform coarse tracking; the feedforward control quantity is further used for receiving the feedforward control quantity output by the neural network adaptive model 4 to further track and adjust so as to realize stable tracking;
the fine-aiming tracking unit 3: the fine aiming actuator 6 is used for driving fine aiming to perform fine tracking according to the compensation quantity of the capturing and detecting unit 1;
neural network adaptive model 4: the position deviation and speed information of the coarse aiming actuator 5 and the position deviation and deflection speed of the fine aiming actuator 6 are used as model input quantities, and feed-forward control quantities are output to the coarse aiming tracking unit 2.
The capturing detection unit 1 adopts a CCD as a detector, the detection field of view is 1.5 milliradian, the feedback rate is more than 1KHz, and the detection sensitivity is higher than-60 dBm.
The coarse aiming tracking unit 2, the fine aiming tracking unit 3 and the neural network adaptive model 4 are constructed in a DSP controller, for example, the DSP2812 is adopted as a control algorithm execution mechanism.
The coarse aiming actuator 5 adopts a servo motor, the azimuth axis deflection range is +/-180 degrees, and the pitch axis deflection range is 0-90 degrees; the fine aiming actuator 6 adopts piezoelectric ceramics with a built-in strain gauge sensor, the closed loop swing angle range is 2 milliradian, the closed loop angular resolution is 0.05 micro radian, the natural vibration frequency under a mirror is 1.8-2.0kHz, and the linearity is 0.25%.
The second embodiment is as follows: the present embodiment is described below with reference to fig. 2 and fig. 3, and the method for decoupling and controlling the tracking of the composite axis of satellite laser communication according to the present embodiment is implemented based on the system according to the first embodiment.
The method comprises the following steps:
firstly, after a capture detection unit 1 of a satellite optical communication terminal detects that an opposite side emits beacon light, a coarse tracking unit 2 is started to perform coarse tracking;
when the fine aiming starting condition is met, starting a fine aiming tracking unit 3 for fine tracking, and simultaneously starting a neural network adaptive model 4 to output a feedforward control quantity;
and step three, the coarse aiming tracking unit 2 further tracks and adjusts according to the compensation quantity output by the capturing detection unit 1 and the feedforward control quantity output by the neural network adaptive model 4, and starts signal light after stable tracking is gradually realized, so that bidirectional laser communication is realized.
With particular reference to fig. 2:
step A1, judging whether the capture detection unit 1 of the satellite optical communication terminal detects that the opposite side emits beacon light, if so, executing step A2, if not, returning to the step for continuous judgment;
step a2, starting the coarse aiming tracking unit 2 to perform coarse tracking, specifically:
the capture detection unit 1 calculates the miss distance information as a compensation amount, the miss distance information is transmitted to the coarse aiming tracking unit 2, and the coarse aiming tracking unit 2 obtains the output amount of the coarse aiming execution mechanism 5 through the miss distance information so as to control the movement of the two-dimensional rotary table; after dragging the light spot to the vicinity of the calibrated communication central point, the coarse aiming tracking unit 2 adaptively adjusts the threshold, the exposure time and the sampling frame frequency of the CCD detector in the capturing and detecting unit 1 according to the position of the light spot, and completes the switching from the capturing visual field to the tracking visual field.
Judging whether a fine aiming starting condition is met or not in the course of executing the coarse tracking of the step A2, if not, continuing the coarse tracking of the step A2, and if so, executing the step A3;
step A3, when the light spot position meets the judgment condition of the start of the fine aiming control unit 3, the capture detection unit 1 is switched to a small window to improve the feedback frame frequency, the fine aiming tracking unit 3 is started to perform fine tracking, the fine aiming tracking unit 3 drives the fine aiming execution mechanism 6 to perform fine tracking according to the compensation quantity of the capture detection unit 1, and drives the fine aiming execution mechanism 6 to output position information and rotating speed information, wherein the position information is the position offset angle information of the strain gauge sensor from the center, and the rotating speed information is the output value of the strain gauge sensor after the deflection speed is subjected to low-pass filtering;
step A4, when the fine tracking is started, the neural network self-adaptive model is started to work, the neural network self-adaptive model receives the position information and the rotating speed information output by the fine aiming executing mechanism 6 and the coarse aiming executing mechanism 5 as input values, after operation, a feedforward control quantity is output to the coarse aiming tracking unit 2, and the step A5 is executed;
referring to fig. 3, which is a topology structure of a neural network, the neural network adaptive model 4 is provided with 4 input layers, 4 hidden layers and 1 output layer:
an input layer: the input matrix is A ═ x1x2 x3x4]；
Hidden layer: hidden layer output matrix B ═ h1h2h3h4]Output matrix element of hidden layer
A (i) denotes an input matrix element, and an input layer index entry i is 1,2,3, 4; hidden layer index entry j ═ 1,2,3, 4; activating a function
Wherein e is a natural constant；ωijThe weight coefficient from the input layer to the hidden layer; a isjA threshold value for the hidden layer;
an output layer: prediction output
Wherein ω isjA layer weight coefficient from a hidden layer to an output layer, and b is a threshold value of the output layer;
error of detector E ═ Y-OpreY is the compensation quantity of the coarse aiming actuator in an ideal state, the weight coefficient and the threshold are updated through E, and the updating formula is omegaij＝ωij+ηB(j)(1-B(j))A(i)ωijE，ωj＝ωj+ηB(j)E，aj＝aj+ η b (j) (1-b (j)) ω E, b + E, where η∈ (0, 1) is the learning rate.
The input of the neural network adaptive model 4 is a ═ x1x2x3x4]Wherein x is1The difference, x, between the expected position calculated by the coarse aiming tracking unit 2 according to the compensation quantity of the capturing detection unit 1 and the actual position of the coarse aiming actuator 52Is the rotational speed, x, of the coarse-aiming actuator 53Is the offset angle, x, of the strain gage sensor from the center position4Is the output value of the strain gauge sensor after low-pass filtering,
according to the input A, the neural network adaptive model 4 outputs torque information of the coarse aiming actuator 5 and loads the torque information as a feedforward control quantity to the input end of the coarse aiming tracking unit 2.
Step A5, switching to coarse tracking again, further tracking and adjusting by the coarse aiming control unit according to the compensation quantity output by the capturing detection unit 1 and the feedforward control quantity output by the neural network self-adaptive model 4, and executing step A6 after gradually realizing stable tracking;
the neural network self-adaptive model 4 can automatically adjust the weight coefficients of all items according to the tracking state, and the optimal weight coefficient is obtained through multiple training, so that the tracking effect of the coarse sight is more stable, namely, the coupling between the coarse sight executing mechanism 5 and the fine sight executing mechanism 6 is reduced, and the communication tracking effect reaches the optimal state
Step A6, starting laser communication: and establishing a stable satellite laser communication link to complete laser communication.
Claims (8)
1. A satellite laser communication composite axis tracking decoupling control system is characterized by comprising a capturing detection unit (1), a coarse aiming tracking unit (2), a fine aiming tracking unit (3), a neural network self-adaptive model (4), a coarse aiming execution mechanism (5) and a fine aiming execution mechanism (6);
capture detection unit (1): the device is used for capturing beacon light emitted by the other party, switching to a large-view-field and low-frame-frequency state during rough tracking, and outputting compensation quantity to the rough aiming tracking unit (2) so as to control the rough aiming executing mechanism (5) to rotate along with a light spot; during fine tracking, the state is switched to a small view field and high frame frequency state, compensation quantity is output to the fine aiming tracking unit (3), and then the fine aiming executing mechanism (6) is controlled to rotate along with the light spot;
coarse tracking unit (2): the compensation quantity used for receiving the capture detection unit (1) drives the coarse aiming actuator (5) to perform coarse tracking; the feedforward control quantity is further used for receiving the output of the neural network adaptive model (4) to further track and adjust so as to realize stable tracking;
fine tracking unit (3): the fine tracking actuator is used for driving the fine aiming actuator (6) to perform fine tracking according to the compensation quantity of the capturing detection unit (1);
neural network adaptive model (4): the position deviation and the speed information of the coarse aiming actuator (5) and the position deviation and the deflection speed of the fine aiming actuator (6) are used as model input quantities, and feed-forward control quantities are output to a coarse aiming tracking unit (2).
2. The satellite laser communication composite axis tracking decoupling control system according to claim 1, wherein the capturing detection unit (1) adopts a CCD as a detector.
3. The satellite laser communication composite axis tracking decoupling control system according to claim 2, characterized in that the coarse aiming tracking unit (2), the fine aiming tracking unit (3) and the neural network adaptive model (4) are constructed in a DSP controller.
4. The satellite laser communication composite axis tracking and decoupling control system according to claim 3, characterized in that the coarse aiming actuator (5) adopts a servo motor, and the fine aiming actuator (6) adopts piezoelectric ceramics with a built-in strain gauge sensor.
5. A method is realized by the satellite laser communication composite axis tracking decoupling control system according to claim 4, and is characterized by comprising the following steps:
firstly, after a capturing detection unit (1) of a satellite optical communication terminal detects that an opposite side emits beacon light, a coarse aiming tracking unit (2) is started to perform coarse tracking;
when the fine aiming starting condition is met, starting a fine aiming tracking unit (3) for fine tracking, and simultaneously starting a neural network adaptive model (4) to output a feedforward control quantity;
and step three, the coarse aiming tracking unit (2) further tracks and adjusts according to the compensation quantity output by the capturing detection unit (1) and the feedforward control quantity output by the neural network adaptive model (4), and starts signal light after stable tracking is gradually realized, so that bidirectional laser communication is realized.
6. The method of claim 5, wherein the coarse tracking in step one is specifically: the method comprises the steps that miss distance information is calculated by a capturing detection unit (1) and is used as compensation quantity, the miss distance information is transmitted to a coarse aiming tracking unit (2), the coarse aiming tracking unit (2) obtains the output quantity of a coarse aiming execution mechanism (5) through the miss distance information, and therefore the two-dimensional rotary table is controlled to move; after the coarse aiming tracking unit (2) drags the light spot to be close to the calibrated communication central point, the threshold value, the exposure time and the sampling frame frequency of the CCD detector in the capturing detection unit (1) are adaptively adjusted according to the position of the light spot, and the switching from the capturing visual field to the tracking visual field is completed.
7. The method according to claim 5, wherein the process of the neural network adaptive model (4) outputting the feedforward control quantity in the second step is as follows:
the input of the neural network adaptive model (4) is A ═ x1x2x3x4]Wherein x is1The difference, x, between the expected position calculated by the coarse aiming tracking unit (2) according to the compensation quantity of the capturing detection unit (1) and the actual position of the coarse aiming actuator (5)2Is the rotational speed, x, of the coarse-aiming actuator (5)3Is the offset angle, x, of the strain gage sensor from the center position4Is the output value of the strain gauge sensor after low-pass filtering,
according to the input A, the neural network adaptive model (4) outputs torque information of the coarse aiming actuator (5) and loads the torque information as a feedforward control quantity to the input end of the coarse aiming tracking unit (2).
8. The method according to claim 7, characterized in that the neural network adaptation model (4) sets 4 input layers, 4 hidden layers and 1 output layer:
an input layer: the input matrix is A ═ x1x2x3x4]；
Hidden layer: hidden layer output matrix B ═ h1h2h3h4]Output matrix element of hidden layer
A (i) denotes an input matrix element, and an input layer index entry i is 1,2,3, 4; hidden layer index entry j ═ 1,2,3, 4; activating a function
Wherein e is a natural constant; omegaijThe weight coefficient from the input layer to the hidden layer; a isjA threshold value for the hidden layer;
an output layer: prediction output
Wherein ω isjA layer weight coefficient from a hidden layer to an output layer, and b is a threshold value of the output layer;
error of detector E ═ Y-OpreY is the compensation quantity of the coarse aiming actuator in an ideal state, the weight coefficient and the threshold are updated through E, and the updating formula is omegaij＝ωij+ηB(j)(1-B(j))A(i)ωijE，ωj＝ωj+ηB(j)E，aj＝aj+ η b (j) (1-b (j)) ω E, b + E, where η∈ (0, 1) is the learning rate.
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| CN114124217B (en) * | 2021-11-26 | 2023-01-10 | 东方红卫星移动通信有限公司 | Sensor data fusion method and system of space optical communication fine aiming unit |
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