CN111942302B - Stable platform follow-up control method based on double pitching axes - Google Patents
Stable platform follow-up control method based on double pitching axes Download PDFInfo
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- CN111942302B CN111942302B CN202010395291.4A CN202010395291A CN111942302B CN 111942302 B CN111942302 B CN 111942302B CN 202010395291 A CN202010395291 A CN 202010395291A CN 111942302 B CN111942302 B CN 111942302B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 6
- 230000003321 amplification Effects 0.000 claims description 4
- 238000011900 installation process Methods 0.000 claims description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims 4
- 230000003287 optical effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000000087 stabilizing effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910002056 binary alloy Inorganic materials 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/02—Arrangements for holding or mounting articles, not otherwise provided for for radio sets, television sets, telephones, or the like; Arrangement of controls thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0054—Rests or supports for movable ship-borne equipment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a stable table follow-up control method based on double pitching axes. According to the method, a set of control method is used for reading the values of the angle sensors and the speed measuring sensors on two sides of the double-pitching-axis stable platform, the driving voltage of the motors on two sides of the double-pitching-axis stable platform is calculated through a control algorithm, and the motors on two sides of the double-pitching-axis stable platform are driven through a power amplifier, so that the high-precision real-time synchronous follow-up of the loads on two sides of the double-pitching-axis stable platform is ensured. The control effect of the invention not only can carry out real-time follow-up control, but also can carry out position feedforward calibration, ensures that the optical axes of two photoelectric devices are parallel in the pitching direction, and has a stabilizing effect.
Description
Technical Field
The invention belongs to the field of automatic control of stable platforms, and particularly relates to a double-pitching-axis stable platform follow-up control method.
Background
Many patrol cars or ships are provided with photoelectric investigation equipment, and a stable platform is needed for facilitating observation and tracking of the targets in the dynamic process of the cars or ships. The stable platform can isolate the disturbance of the vehicle or the ship, so that the photoelectric equipment fully plays the due advantages. At present, a single pitching mechanism is mainly adopted for stabilizing a platform, but under certain conditions, due to various objective reasons such as overlarge photoelectric load, mechanism limitation and other factors, the photoelectric devices cannot be combined together, the photoelectric devices need to be split into two parts, and meanwhile, the optical axes of the two split photoelectric devices are ensured to be parallel. In order to ensure that the optical axes are parallel, the azimuth axis and the pitching axis are adjusted, so that the azimuth axis and the pitching axis of each photoelectric device are parallel, and the whole optical axis is parallel. The split two photoelectric devices share one azimuth transmission mechanism, so that the azimuth axes of the photoelectric devices can be ensured to be parallel through the structure, the pitching axes of the two photoelectric devices are respectively provided with independent transmission mechanisms, and follow-up control is needed, so that the invention aims to solve the problem. The following control method patent currently has 'cloud deck following control method and control equipment' of Shenzhen Xinjiang Innovative technology Co., ltd, and 'automobile headlight steering following control system and method based on high-precision map' of Dongfeng automobile group Co., ltd, and the like, and the following control is performed, but the effect to be achieved is different due to different hardware.
Disclosure of Invention
The invention aims to provide a stable platform follow-up control method based on double pitching shafts, which can effectively solve the problem of high-precision and real-time synchronous follow-up of pitching mechanisms on two sides of a stable platform with double pitching shafts.
The technical solution for realizing the purpose of the invention is as follows: a stable platform follow-up control method based on double pitching axes comprises the following steps:
(1) Acquiring rotation angle signals and rotation angular velocity signals of loads on two sides of the double-pitching-axis stable platform through an angle measurement sensor and a speed measurement sensor;
(2) Performing angle reference calibration on two sides of the double-pitching-axis stable platform by using a high-precision inclinometer, and performing compensation correction by using a least square method;
(3) The rotating part at one side of the double-pitching-axis stable platform is a main follow-up system, the rotating part at the other side of the double-pitching-axis stable platform is a secondary follow-up system, a speed set value r1 (k) is input to the main follow-up system, the main follow-up system controls the main follow-up system to rotate according to an input speed value through speed closed-loop feedback, meanwhile, the value of the angle measuring sensor is transmitted to the secondary follow-up system, and the secondary follow-up system controls the auxiliary follow-up system to synchronously follow with the main follow-up system through position closed-loop feedback and speed closed-loop feedback.
Compared with the prior art, the invention has the remarkable advantages that: the invention requires hardware to be based on a dual-pitching-axis stable platform, the control effect not only requires real-time follow-up control, but also requires position feedforward calibration, and ensures that optical axes of two photoelectric devices are parallel in pitching directions, and meanwhile, the invention has a stable effect.
Drawings
FIG. 1 is a follow-up velocity profile of the method of the present invention.
FIG. 2 is a graph of the follow-up angle of the method of the present invention.
FIG. 3 is a schematic diagram of the method of the present invention.
Fig. 4 is a control flow diagram of the method of the present invention.
Fig. 5 is a structured tri-bit map of the present invention.
Detailed Description
The invention discloses a stable table follow-up control method based on double pitching axes, which comprises the following steps:
(1) Acquiring rotation angle signals and rotation angular velocity signals of loads on two sides of the double-pitching-axis stable platform through an angle measurement sensor and a speed measurement sensor;
(2) Performing angle reference calibration on two sides of the double-pitching-axis stable platform by using a high-precision inclinometer, and performing compensation correction by using a least square method;
(3) The rotating part at one side of the double-pitching-axis stable platform is a main follow-up system, the rotating part at the other side of the double-pitching-axis stable platform is a secondary follow-up system, a speed set value r1 (k) is input to the main follow-up system, the main follow-up system controls the main follow-up system to rotate according to an input speed value through speed closed-loop feedback, meanwhile, the value of the angle measuring sensor is transmitted to the secondary follow-up system, and the secondary follow-up system controls the auxiliary follow-up system to synchronously follow with the main follow-up system through position closed-loop feedback and speed closed-loop feedback.
In the step, two angle measuring sensors are respectively arranged on two sides of the double-pitching-axis stable platform, the angle measuring sensors are arranged on one side far away from the motor, the rotating shafts of the angle measuring sensors are coaxial with the rotating shaft of the torque motor, and the sampling period of the angle measuring sensors is less than 10ms. Two speed measuring sensors are respectively arranged on two sides of the double pitching axis stable platform, the speed measuring sensors are arranged on one side close to the motor, the speed measuring sensors are fixed on the pitching rotating mechanism by screws and rubber pads, a sensitive rotating shaft of each speed measuring sensor is parallel to a rotating shaft of the motor, and the sampling period of each speed measuring sensor is less than 3ms.
The invention is further described below with reference to the accompanying drawings 1-5.
A. the rotation axis of the angle measuring sensor is required to be coaxial with the rotation axis of the motor in the installation process, as shown in figure 3, and the sampling period of the angle measuring sensor is less than 10ms;
B. The rotation axis of the speed measuring sensor is required to be parallel to the rotation axis of the motor in the installation process, as shown in figure 3, and the sampling period of the speed measuring sensor is less than 3ms;
C. fixing the double-pitching-axis stable platform on a horizontal plane;
D. the inclination sensors are respectively arranged on the reference surfaces at two sides of the double-pitching-axis stable table;
E. Adjusting two sides of the double-pitching-axis stable platform to enable the inclination sensors at the two sides to be equal, recording a value angle_right 0 of a right measured angle sensor of the double-pitching-axis stable platform, and recording a value angle_left 0 of a left measured angle sensor of the double-pitching-axis stable platform;
F. Repeating step C, N times to obtain two groups of angle_right [ N ] and angle_left [ N ];
G. In order to synchronize the angles of both sides, the fitting linear equation y=angle_left [ I ] =a×angle_right [ I ] +b is solved by the least square method, and the coefficients a and b are solved by the following step H, step I;
H. Summing the squares of the deviations:
I. considering M as a binary function of a and b, partial derivatives of this binary function are calculated as follows
Expanding the above formula to obtain the following formula:
the above formulas are combined and the unknowns a and b are separated to obtain the following formula
Since angle_right [0], angle_right [1], angle_right [2] … angle_right [ N ] are known, angle_left [0], angle_left [1], angle_left [2] … angle_left [ N ] are also known, so Can be calculated and then the above binary system of equations can be used to solve the unknowns a and b.
J. The fitting linear equation is obtained through the above, wherein y=a x+b, x is the rotation angle of the main follow-up system, y is the rotation angle of the auxiliary follow-up system, and the fitting linear equation is used as feedforward calibration of the auxiliary follow-up system;
K. The input rotating speed of the double-pitching-axis stable platform is r1 (k), and the rotating speed measured by the angle measuring sensor of the main follow-up system is speed 1_sensor (k), so that the rotating speed deviation e1 (k) =r1 (k) -speed 1_sensor (k) of the main follow-up system can be obtained;
L. bring e1 (k) into PID control algorithm
Wherein e1 (j) represents any deviation from 0 time to k time, the value range of j is an integer from 0 to k, so as to obtain a control quantity u1 (k), the rotation of the main follow-up system is controlled through power amplification, the steps A-B are repeated, the current control quantity u1 (k) is calculated in real time, the main follow-up system is controlled to rotate according to the input rotation speed in real time through u1 (k), and meanwhile the rotation angle angle1_senser (k) of the main follow-up system is measured through an angle measuring sensor;
M, taking the rotation angle angle1_senser (k) of the main follow-up system as the input quantity of the auxiliary follow-up system, and setting the input quantity of the auxiliary follow-up system as r2 (k), wherein r2 (k) =angle1_senser (k);
n, performing feedforward calibration on the input quantity r2 (k) of the auxiliary follow-up system to obtain an output quantity r3 (k) =r2 (k) ×a+b;
Measuring the rotation angle of the secondary follow-up system to be angle2_senser (k) through an angle measuring sensor, and performing subtraction operation on the angle sensor and r3 (k), so as to obtain the angle deviation e3 (k) =r3 (k) -angle2_senser (k) of the primary follow-up system and the secondary follow-up system;
p. bring the e3 (k) calculated above into PID control algorithm
Wherein e3 (j) represents any one deviation from 0 time to k time, and the value range of j is from 0 to k and is an integer, so as to obtain a control quantity u3 (k);
Q, taking the control quantity u3 (k) calculated in the previous step as the speed closed-loop feedback input quantity of the auxiliary follow-up system, and setting the speed closed-loop feedback input quantity of the auxiliary follow-up system as r4 (k), namely, r4 (k) =u3 (k);
r, measuring the rotating speed of the secondary servo system to be speed2_senser (k) through a speed measuring sensor, and performing subtraction operation on the rotating speed and the input quantity of the speed closed-loop feedback of the secondary servo system to be r4 (k), so as to obtain the speed deviation quantity e4 (k) of the speed closed-loop feedback of the secondary servo system;
s, bringing e4 (k) into PID control algorithm
Wherein e4 (j) represents any deviation from 0 time to k time, the value range of j is an integer from 0 to k, so as to obtain a control quantity u4 (k), and the control quantity u4 (k) rotates through a power amplification control pair servo system;
And T, repeating the steps K to T, so that the auxiliary follow-up system continuously follows the main follow-up system to perform high-precision and real-time synchronous movement;
The method of the invention has been applied to some stable products and achieves good results. As shown in fig. 1 and 2, the follow-up is a speed curve chart and a rotation angle curve chart, respectively, and it can be seen from the figure that when the double pitch axis follow-up is performed, the rotation speed and the rotation angle of the main follow-up system are basically coincident with those of the auxiliary follow-up system.
Claims (5)
1. A stable platform follow-up control method based on double pitching axes is characterized by comprising the following steps:
1) Acquiring rotation angle signals and rotation angular velocity signals of loads on two sides of the double-pitching-axis stable platform through an angle measurement sensor and a speed measurement sensor;
2) Performing angle reference calibration on two sides of the double-pitching-axis stable platform by using a high-precision inclinometer, and performing compensation correction by using a least square method; the flow is as follows:
A. fixing the double-pitching-axis stable platform on a horizontal plane;
B. the inclination sensors are respectively arranged on the reference surfaces at the two sides of the double-pitching-axis stable table;
C. adjusting two sides of the double pitching axis stable platform to make the values of the inclination sensors at two sides equal, recording the value angle_right [0] of the main follow-up system angle measurement sensor of the double pitching axis stable platform, and recording the value angle_left [0] of the auxiliary follow-up system angle measurement sensor of the double pitching axis stable platform;
D. repeating step C, N times to obtain two groups of angle_right [ N ] and angle_left [ N ], wherein N is more than or equal to 10;
E. Let the fitting straight line equation y=angle_left [ i ] =a×angle_right [ i ] +b, and utilize least square method to calculate the fitting straight line equation, and calculate the values of coefficient a and coefficient b;
F. Solving a fitting linear equation by the previous step, wherein x is the rotation angle of the main follow-up system, y is the rotation angle of the auxiliary follow-up system, and the fitting linear equation is used as feedforward correction of the auxiliary follow-up system;
3) The rotating part at one side of the double-pitching-axis stable platform is a main follow-up system, the rotating part at the other side of the double-pitching-axis stable platform is a secondary follow-up system, a speed set value r1 (k) is input to the main follow-up system, the main follow-up system controls the main follow-up system to rotate according to an input speed value through speed closed-loop feedback, meanwhile, the value of the angle measuring sensor is transmitted to the secondary follow-up system, and the secondary follow-up system controls the auxiliary follow-up system to synchronously follow with the main follow-up system through position closed-loop feedback and speed closed-loop feedback.
2. The dual pitch axis based roll-up servo control method of claim 1, wherein: in the step 1, the angular sensor requires that the rotation axis of the angular sensor is coaxial with the rotation axis of the motor during the installation process,
The sampling period of the goniometric sensor is less than 10ms.
3. The dual pitch axis based roll-up servo control method of claim 1, wherein: the rotation axis of the speed measuring sensor is required to be parallel to the rotation axis of the motor in the installation process, the rotation axis of the speed measuring sensor is coaxial with the rotation axis of the motor, and the sampling period of the speed measuring sensor is less than 3ms.
4. The dual pitch axis based roll-up servo control method of claim 1, wherein: the flow for realizing the step3 is as follows:
A. The input rotating speed of the double-pitching-axis stable platform is r1 (k), and the rotating speed measured by an angle measuring sensor of the main follow-up system is speed 1_sensor (k), so that the rotating speed deviation e1 (k) =r1 (k) -speed 1_sensor (k) of the main follow-up system is obtained;
B. bringing e1 (k) into PID control algorithm
Wherein the method comprises the steps of
E1 (j) represents any one of the deviation amounts from time 0 to time k, the value of j ranges from 0 to k,
To obtain control quantity u1 (k), controlling the rotation of the main follow-up system by power amplification, repeating the steps A-B, calculating the current control quantity u1 (k) in real time, and controlling the main follow-up system by u1 (k) in real time
The system rotates according to the input rotating speed, and simultaneously, the angle sensor is used for measuring the rotation angle angle1_senser (k) of the main follow-up system;
C. The rotation angle angle1_senser (k) of the main follow-up system is used as the input quantity of the auxiliary follow-up system,
Let the input quantity of the slave follower system be r2 (k), then r2 (k) =angle1_senser (k);
D. performing feedforward calibration on the input quantity r2 (k) of the auxiliary follow-up system, and obtaining an output quantity r3 (k) =r2 (k) x a+b by fitting a straight line equation y=a x+b;
E. The angle sensor is used for measuring the rotation angle of the secondary servo system to be angle2_sen (k), and the angle sensor is used for comparing the rotation angle with the angle sensor
R3 (k) is subtracted to obtain the angle deviation of the main follow-up system and the auxiliary follow-up system
e3(k)＝r3(k)-angle2_senser(k)；
F. Bringing the e3 (k) calculated above into PID control algorithm
Wherein the method comprises the steps of
E3 (j) represents any one of the deviation amounts from time 0 to time k, the value of j ranges from 0 to k,
Is an integer, thereby obtaining a control amount u3 (k);
G. the control quantity u3 (k) calculated in the last step is used as the speed closed loop feedback input of the auxiliary follow-up system
The amount, let the input amount of the speed closed loop feedback of the secondary servo system be r4 (k), namely r4 (k) =u3 (k);
H. the speed sensor is used for measuring the rotating speed of the secondary servo system to be speed 2_sensor (k), and the speed sensor is used for comparing the rotating speed with the secondary servo system
Subtracting the input quantity of the speed closed-loop feedback of the dynamic system from r4 (k) to obtain a speed deviation quantity e4 (k) of the speed closed-loop feedback of the secondary servo system;
I. bringing e4 (k) into PID control algorithm
Wherein the method comprises the steps of
E4 (j) represents any one of the deviation amounts from time 0 to time k, the value of j ranges from 0 to k,
Is an integer, so as to obtain a control quantity u4 (k), and the rotation of the auxiliary follow-up system is controlled through power amplification;
J. Repeating the steps A to I, so that the auxiliary follow-up system continuously follows the main follow-up system to perform high-precision and real-time synchronous movement;
5. The dual pitch axis based roll-up servo control method as claimed in claim 4, wherein: and the proportional term parameter kp, the integral term parameter ki and the differential term parameter kd in the PID algorithm are adjusted according to the proportion, the re-integral and the final re-differential sequence, and the stability of the system is ensured in the adjustment process without overshoot.
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