CN111796509A - Gyro self-stabilization control method - Google Patents
Gyro self-stabilization control method Download PDFInfo
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- CN111796509A CN111796509A CN202010598437.5A CN202010598437A CN111796509A CN 111796509 A CN111796509 A CN 111796509A CN 202010598437 A CN202010598437 A CN 202010598437A CN 111796509 A CN111796509 A CN 111796509A
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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
- G05B11/00—Automatic controllers
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- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a self-stabilization control method of a gyroscope, which comprises the following steps: the structure and the working principle of the stable platform are determined and analyzed; constructing an MEMS (micro-electromechanical system) micromechanical gyroscope model and calculating a transfer function of the MEMS micromechanical gyroscope model; constructing a direct current torque motor model and calculating a transfer function of the direct current torque motor model; constructing a PWM power amplifier link model and calculating a transfer function of the PWM power amplifier link model; comprehensively sorting the transfer functions of all links, and calculating to obtain an open-loop transfer function and a closed-loop transfer function of the whole stable loop; analyzing the time domain performance of a stable loop of an original system; and (3) building a simulation model of a stable loop of the double-shaft stable platform, adjusting PID parameters, and finally performing correction control on the controlled object through proportional, integral and differential settings. The gyro self-stabilization control method improves the dynamic and static performances and the anti-interference capability of the stabilization platform.
Description
Technical Field
The invention discloses a self-stabilization control method for a gyroscope, relates to the field of stable platform control, and particularly relates to a self-stabilization control method for a gyroscope.
Background
In the working process of the vehicle-mounted or airborne searching and tracking device, errors are easily caused by the influence of the motion of a carrier and other disturbances on the device, so that a stable platform must be established to isolate the visual axis of a tracking sensor from the motion, the vibration and the like of a base, so that loads such as photoelectric devices and the like are stabilized in a fixed inertial space direction, the system is ensured not to be interfered by various kinds during motion, and high-performance indexes are obtained. Aiming at a stable platform, the advantages and disadvantages of the gyro self-stabilization control method can directly influence the response frequency and the control precision of self-stabilization, and the gyro self-stabilization control method is an indispensable loop in the whole self-stabilization control process.
Disclosure of Invention
In order to solve the above problems in the prior art, the invention provides a gyro self-stabilization control method for improving the dynamic and static performances and the anti-interference capability of a stabilization platform.
In order to achieve the purpose, the technical scheme adopted by the invention comprises the following steps:
s1 analyzing the structure and working principle of the stable platform;
s2, constructing an MEMS micro-mechanical gyroscope model to obtain a transfer function GMEMS(s)；
S3 constructing a direct current torque motor model to obtain a transfer function GS(s)s；
S4, constructing a PWM power amplifier link model to obtain a transfer function GPWM(s)；
S5 comprehensively sorting the transfer functions of the above links to obtain an open-loop transfer function G of the stable loopp(s), closed loop transfer function phib(s)；
S6, analyzing the time domain performance of the original system;
s7 building a model, adjusting parameters and correcting and controlling.
Further, the step S1 is specifically: the structure and the working principle of the stable platform are determined and analyzed, and good conditions are laid for modeling of research objects such as an MEMS gyroscope, a direct-current torque motor frame and a power amplifier.
Further, the step S2 is specifically: constructing MEMS micromechanical gyroscope model, and calculating to obtain transfer function G thereofMEMS(s)；
The MEMS micromechanical gyroscope outputs corresponding angular velocity data when disturbed, and an amplification link is not performed in the process from measurement to data output, so that the transfer function of the MEMS gyroscope can be equivalent to a proportional link, namely:
GMEMS(s)＝Kg(1)
further, the step S3 is specifically: specifically, a transfer function model of the direct current torque motor is calculated according to a formula (2):
in the formula (2), TeIs the electromagnetic time constant of the direct current torque motor, and the expression is as follows: t ise＝La/Ra；
TmIs the electromechanical time constant T of the DC torque motorm＝RaJ/CmCeWherein:
further, the step S4 is specifically: constructing a PWM power amplifier link model, and calculating to obtain a transfer function G of the PWM power amplifier link modelPWM(s); according to the working mode of the PWM power amplifier circuit, the following can be obtained:
where τ is ncgTclk＝nc/fclk
Where τ is the pulse width of the PWM pulse width signal, TpwmIs the period of the PWM pulse width signal; vpIs the voltage of the power amplifier link.
TclkIs the period of the timer input, ncIs the value fed into the counter.
Synthesizing a transfer function of the obtained power amplifier link:
further, the step S5 is specifically: comprehensively arranging the transfer functions of all links of the whole stable loop, and calculating to obtain the open-loop transfer function G of the whole stable loopp(s), closed loop transfer function phib(s)；
The open loop transfer function G of the stable loop can be obtained according to the formula (4)p(s), equation (5) yields the closed loop transfer function Φ of the stable loopb(s)。
Further, the step S6 is specifically: analyzing the time domain performance of the original system stable loop, and further obtaining parameters such as system bandwidth, phase margin, steady-state error, rise time, overshoot and the like of the original system stable loop mathematical model according to an Bod diagram and a unit step response curve of the system;
further, the step S7 is specifically: and (4) building a simulation model of the stable loop of the biaxial stable platform through a Simulink tool box according to the results obtained in the steps S1 to S6, then adjusting PID parameters of the stable platform by utilizing a PID Tuner Controller tool box, and performing correction control on the controlled object through proportional, integral and differential settings.
The invention has the beneficial effects that: the invention discloses a stable loop gyro self-stabilization control method based on an MEMS gyro, which is characterized in that the system internal structure and the working principle of a stable platform are firstly determined, the structure and the working principle of a selected stable platform research object are analyzed, further, the theory and the mathematical model of each link of the research object are obtained, then, the open-loop and closed-loop transfer functions of the system theory are deduced according to a control loop, the integral model of the research object is constructed, PID parameters are regulated, and the controlled object is corrected and controlled through proportion, integral and differential settings. In conclusion, the invention designs a self-stabilization control stable loop PID algorithm with good output dynamic and static performance, high response frequency, small overshoot and strong anti-interference capability based on the MEMS gyroscope, thereby realizing the simulation and verification of a speed loop and a position loop of a stable platform model and improving the self-stabilization performance of the platform.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of the present invention.
FIG. 2 is a block diagram of a mathematical model of a single-axis stabilization loop of the present invention.
FIG. 3 is a diagram of a velocity ring model framework of the present invention.
FIG. 4 is a frame diagram of a position ring model of the present invention.
FIG. 5 is a graph of the input and tracking curves of the system speed loop for three disturbance scenarios in accordance with the present invention.
In this figure, a 1: inputting speed tracking curves with different frequency and amplitude with disturbance; a 2: inputting tracking error curves with the same frequency and different amplitudes of disturbance; b 1: inputting speed tracking curves with different frequencies and amplitudes with disturbance; b 2: inputting a speed tracking error curve with different frequencies and amplitudes and different disturbances; c 1: inputting speed tracking curves with the same amplitude and different frequencies as disturbance; c 2: and inputting a speed tracking error curve with the same amplitude and different frequency with the disturbance.
FIG. 6 is a graph of the input and tracking curves of the system position loop for three disturbance scenarios in accordance with the present invention.
In this figure, d 1: inputting position tracking curves with different frequency and amplitude with disturbance; d 2: inputting position tracking error curves with different frequency and amplitude with disturbance; e 1: inputting a position tracking curve with different frequencies and different phases of disturbance; e 2: inputting a position tracking error amplification curve with different frequencies and different phases of disturbance; f 1: inputting position tracking curves with the same amplitude and different frequencies as disturbance; f 2: and inputting position tracking error curves with the same amplitude and different frequencies as the disturbance.
FIG. 7 is a graph of error curves for the input and tracking curves of the system position loop under three types of disturbances when gyroscopic drift is added in the present invention.
In this figure, g 1: inputting position tracking curves with different frequency and amplitude with disturbance; g 2: inputting position tracking error curves with different frequency and amplitude with disturbance; h 1: inputting position tracking curves with different frequencies and amplitudes with disturbance; h 2: inputting position tracking error curves with different frequencies and amplitudes with disturbance; i 1: inputting position tracking curves with different frequencies and amplitudes with disturbance; i 2: and inputting position tracking error curves with different frequencies and amplitudes and different disturbances.
FIG. 8 is a graph of error curves for the system position loop input and tracking curves for three disturbance situations when Gaussian noise is added in the present invention.
In the figure, j 1: inputting position tracking curves with different frequency and amplitude with disturbance; j 2: inputting position tracking error curves with different frequency and amplitude with disturbance; k 1: inputting position tracking curves with different frequencies and amplitudes with disturbance; k 2: inputting position tracking error curves with different frequencies and amplitudes with disturbance; l1: inputting position tracking curves with different frequencies and amplitudes with disturbance; l2 position tracking error curves of different amplitudes at different frequencies from the disturbance are input.
Detailed Description
For the purpose of better explaining the present invention to facilitate understanding, the present invention will be described in further detail by way of embodiments with reference to the accompanying drawings.
Referring to fig. 1-8, the present invention provides a method for controlling self-stabilization of a stabilizing loop gyroscope based on an MEMS gyroscope, as shown in fig. 1, which can be detailed as follows:
step S1: the method comprises the steps of firstly determining the internal structure and the working principle of a system of a stable platform, analyzing the structure and the working principle of a selected stable platform research object to further obtain the theory and the mathematical model of each link of the research object, and then deducing the open-loop and closed-loop transfer functions of the system theory according to a control loop to construct an integral model of the research object.
Step S2: the MEMS gyroscope is used as a device for sensing disturbance angular rate in a stable platform system, the device has no moment action, the effect of canceling disturbance moment when the stable platform system works is completely realized by depending on a direct current motor, and an output signal obtained by the MEMS sensor is finally converted into an output signal through the analog-to-digital conversion action in the IMUThe corresponding numerical value is transmitted to the DSP, and then the measured value of the input angular velocity can be obtained by combining the data obtained by the calibration experiment. Mathematical model K of MEMS gyroscopegIs equivalent to a constant 1, i.e. Gmems(s)＝Kg＝1.
Step S3: the DC torque motor is used as an actuating element, the rotating speed of the DC torque motor is a continuous function only related to current, the DC torque motor basically acts as output torque, and the output torque and the input current are in a linear relation in a locked-rotor state. For a torque motor balance horizontal equation:
direct current moment electromagnetic equation: m (t) ═ CmIa(t) a direct current torque motor back electromotive force equation:
the torque balance equation of the direct-current torque motor is as follows: vm (t) M (t) -Md(t) an equation of the moment of inertia of the direct-current torque motor:
performing pull-type transformation to obtain an equation under a complex frequency domain as follows:
U(s)＝e(s)+RaIa(s)+LasIa(s)
M(s)＝CmIa(s)
Ea(s)＝Cew(s)
assuming that the motor shaft is rigidly connected to the load, the moment MdAt 0, the transfer function is:
in the formula, TeIs the electromagnetic time constant of the direct current torque motor, and the expression is as follows: t ise＝La/Ra，TmIs the electromechanical time constant of the direct current torque motor, and the expression is as follows: t ism＝RaJ/CmCe. The transfer function model of the actuating element torque motor used by the biaxial stable platform is a standard second-order link.
In order to obtain a mathematical model of the torque motor of the actuating element, according to the related parameters of the J160LYX01A motor of a Chengdu precision motor factory, the transfer function of the rotating speed of the direct current torque motor to the armature voltage can be obtained as follows:
step S4: the motor control signal current output by the speed loop controller on the stable loop is small and is not enough to drive the motor to output enough large control torque, so that a power amplification link is arranged in the stable loop and is responsible for amplifying the power of the motor control signal before the motor control signal is sent to the direct current torque motor of the executive element. The circuit part of the power amplifier link specifically adopts an H-bridge bipolar full-bridge circuit.
Considering that the frequency of the PWM pulse width circuit is far greater than the cut-off frequency of the dc motor of the actuator, the model of the power amplification stage can be regarded as a pure proportional part: gpwm(s)＝Kpwm. The maximum voltage provided by the actual power amplifier link to the torque motor is 2 times of the power supply voltage, and then the maximum voltage is obtained by combining a theoretical model of the power amplifier link according to actual relevant parameters: gpwm(s)＝Kpwm＝2。
Step S5: in summary, the mathematical model structure diagram of the single-axis stable loop shown in fig. 2 can be obtained by sorting the transfer functions of the various links of the stable loop, and the closed-loop transfer function of the whole stable loop can be obtained.
In FIG. 2, MdIs a disturbing moment from the outside; w is aiIs the input command angular velocity; w is a0Is the angular velocity acquired by the MEMS sensor; w is adIs the perturbing angular velocity of the carrier.
When the platform is disturbed by a moment MdWhen(s) is 0 and the disturbance velocity is also 0, the disturbance velocity will be
Substitution according to the back of FIG. 2And (3) deducing a block diagram, wherein the open-loop transfer function of the stable loop is as follows:
from fig. 2, the closed loop transfer function of the velocity inner loop stability loop is further derived as follows:
step S6: in order to facilitate the design of a subsequent control algorithm, a mathematical model of an original stable loop is also used for carrying out a control system performance test to obtain the frequency bandwidth of 51.8842Hz, the phase margin of 60.2deg, the steady-state error of 0.495 and the rise time of step response of 0.353s overshoot of 6.34% of the system.
Step S7: and finally, carrying out correction control, namely firstly building a simulation model of a stable loop of the double-shaft stable platform azimuth frame through a Simulink tool box, then adjusting PID parameters of the stable platform azimuth frame by utilizing a PID Tuner Controller tool box, and carrying out correction control on the controlled object through proportional, integral and differential settings.
1) Speed ring simulation, the speed ring model frame diagram is shown in fig. 3.
When the input signal is a step signal in the speed loop, the system Response state is adjusted by dragging a Response Time (Response Time) scroll bar. Finally, the obtained PID parameters P-184.11, I-368.056, D-7.8618 and filter coefficients 63179.4 are adjusted. According to the debugging interface, the rising time t of the current step response curverTo 0.00355s, adjust time ts0.0317s, overshoot 3.24%, peak 1.03, and final steady state error essAt 0, the system eventually reaches steady state.
2) And (4) simulating a position ring, wherein the position ring model frame diagram is shown in FIG. 4.
The angular velocity of carrier interference is set to 15 DEG and 0When the input signal in the position loop is a step signal, the system response state is adjusted through a drag response time scroll bar, and finally the obtained PID parameters P and I are 1033, I and 9439, D are 1.6948, and the filter coefficients are 2867. According to the debugging interface, the rising time t of the current step response curverIs 0.00135s, and the time t is adjusteds0.0021s, overshoot σ% 1.05%, final steady state error essAt 0, the system eventually enters a steady state.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. A gyro self-stabilization control method is characterized by comprising the following steps:
s1 analyzing the structure and working principle of the stable platform;
s2, constructing an MEMS micro-mechanical gyroscope model to obtain a transfer function GMEMS(s)；
S3 constructing a direct current torque motor model to obtain a transfer function GS(s)；
S4, constructing a PWM power amplifier link model to obtain a transfer function GPWM(s)；
S5 comprehensively sorting the transfer functions of the above links to obtain an open-loop transfer function G of the stable loopp(s), closed loop transfer function phib(s)；
S6, analyzing the time domain performance of the original system;
s7 building a model, adjusting parameters and correcting and controlling.
2. The method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S1 specifically includes: the structure and the working principle of the stable platform are determined and analyzed, and good conditions are laid for modeling of research objects such as an MEMS gyroscope, a direct-current torque motor frame and a power amplifier.
3. The method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S2 specifically includes: constructing MEMS micromechanical gyroscope model, and calculating to obtain transfer function G thereofMEMS(s)；
The MEMS micromechanical gyroscope outputs corresponding angular velocity data when disturbed, and an amplification link is not performed in the process from measurement to data output, so that the transfer function of the MEMS gyroscope can be equivalent to a proportional link, namely:
GMEMS(s)＝Kg(1)
4. the method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S3 specifically includes: constructing a direct current torque motor model, and calculating to obtain a transfer function G of the direct current torque motor modelS(s)；
Specifically, a transfer function model of the direct current torque motor is calculated according to a formula (2):
in the formula (2), TeIs the electromagnetic time constant of the direct current torque motor, and the expression is as follows: t ise＝La/Ra；
TmIs the electromechanical time constant T of the DC torque motorm＝RaJ/CmCeWherein:
5. the method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S4 specifically includes: constructing a PWM power amplifier link model, and calculating to obtain a transfer function G of the PWM power amplifier link modelPWM(s)；
According to the working mode of the PWM power amplifier circuit, the following can be obtained:
where τ is ncgTclk＝nc/fclk
Where τ is the pulse width of the PWM pulse width signal, TpwmIs the period of the PWM pulse width signal; vpIs the voltage of the power amplifier link.
TclkIs the period of the timer input, ncIs the value fed into the counter.
Synthesizing a transfer function of the obtained power amplifier link:
6. the method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S5 specifically includes: comprehensively arranging the transfer functions of all links of the whole stable loop, and calculating to obtain the open-loop transfer function G of the whole stable loopp(s), closed loop transfer function phib(s)；
The open loop transfer function G of the stable loop can be obtained according to the formula (4)p(s), equation (5) yields the closed loop transfer function Φ of the stable loopb(s)。
7. The method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S6 specifically includes: and analyzing the time domain performance of the original system stable loop, and further obtaining parameters such as system bandwidth, phase margin, steady-state error, rise time, overshoot and the like of the original system stable loop mathematical model according to an Bod diagram and a unit step response curve of the system.
8. The method for controlling self-stabilization of a spinning top according to claim 1, wherein the step S7 specifically includes: and (4) building a simulation model of the stable loop of the biaxial stable platform through a Simulink tool box according to the results obtained in the steps S1 to S6, then adjusting PID parameters of the stable platform by utilizing a PID Tuner Controller tool box, and performing correction control on the controlled object through proportional, integral and differential settings.
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