CN112346358A - Semi-physical performance evaluation method and system of photoelectric search tracking system - Google Patents
Semi-physical performance evaluation method and system of photoelectric search tracking system Download PDFInfo
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Abstract
The invention discloses a semi-physical performance evaluation method and a semi-physical performance evaluation system of a photoelectric search tracking system, wherein the method comprises the following steps: 1) measuring the motion information of the controlled object in the motion state; 2) carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data and constructing a controlled object transfer model; 3) designing a multi-loop controller for a controlled object according to the motion information: 4) after the speed of the tracking unit is controlled by the PD, the speed of the tracking unit is sent to a speed loop input of the firepower unit to be used as feedforward control; 5) establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file into a controller; 6) testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data; 7) and performing performance evaluation of stable precision of the photoelectric search tracking system in a dynamic environment according to the tracking data. The method has the advantages of low cost, short period, small limitation of test environment, accurate evaluation and the like.
Description
Technical Field
The invention mainly relates to the technical field of photoelectric search tracking systems, in particular to a semi-physical performance evaluation method and system of a photoelectric search tracking system.
Background
The photoelectric searching and tracking system is a comprehensive measuring device integrating optics, precision mechanical technology, electronics, control theory and computer technology. The response speed and the tracking accuracy are main technical indexes for measuring the photoelectric tracking performance, the rapid high-accuracy tracking control is realized, and the method becomes the target of addition and solution of a plurality of high-accuracy photoelectric tracking devices. Due to the continuous development and fusion of new technologies, the photoelectric search and tracking system is widely used in various fields of national defense and national economy. For example, the photoelectric searching and tracking system used on the vehicle-mounted platform mainly captures and identifies the hit target, provides accurate spatial position information of the target, greatly improves the hit rate of the fire control system, and improves the battlefield viability of the military. The photoelectric searching and tracking system installed on the vehicle-mounted platform is influenced by jolting and wind resistance moment caused by carrier attitude change, vehicle body vibration and rugged road surface in the traveling process; the photoelectric searching and tracking system installed on the ship faces the challenge of difficulty compared with a base photoelectric tracking system, on one hand, the ship can be subjected to various complex interference effects when sailing in water, and the photoelectric tracking equipment installed on the deck of the ship is influenced by coupling interference of carriers, and the visual axis of the photoelectric tracking equipment can deviate from a target to be detected; on the other hand, the swinging generated by the disturbance of the ship can cause the photoelectric tracking system to generate the same motion, thereby increasing the difficulty of capturing the target.
In view of the important function and wide application prospect of the photoelectric searching and tracking system, a stable system must be established to ensure that the photoelectric searching and tracking system can stably and accurately track the target. The prior art has the following defects:
1. the traditional physical modeling method needs to establish a theoretical model first, then calculates, measures and estimates parameters of the theoretical model, and finally obtains a model of a control object, but in actual operation, the parameters of the control object are often complex and difficult to actually measure, and the interference of nonlinear factors such as structural resonance, attitude interference and shafting friction causes the difference between the established model and an actual system to be larger.
2. The single stable loop controller is difficult to realize the overall consideration of multiple complex error factors in the actual system, and a satisfactory result is difficult to obtain.
3. The photoelectric searching and tracking system lacks the real battlefield environment of marching battles in the indoor testing stage, the cost of the actual field test is high, the repeated test cannot be carried out, and the limit of manpower and material resources is greatly met.
4. Codes for realizing the traditional tracking control algorithm are manually written by programmers, and the realization process needs a large amount of code writing work and cannot conveniently change the relevant model of the algorithm, so that the development period is too long, and the cost is high.
5. The photoelectric searching and tracking system is loaded on a vehicle, a ship or an airplane, and the pointing of a visual axis is unstable due to a plurality of factors such as the attitude change, the vibration and the wind resistance of a carrier.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a semi-physical performance evaluation method and system of a photoelectric search tracking system, which are low in cost, short in period and high in evaluation precision.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a semi-physical performance evaluation method of a photoelectric search tracking system comprises the following steps:
1) measuring the motion information of the controlled object in the motion state;
2) carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
3) designing a multi-loop controller for a controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
4) after the speed of the tracking unit is subjected to PD control, the speed of the tracking unit is sent to a speed loop input of the firepower unit to be used as feedforward control, so that the following precision is improved;
5) establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file into a controller of the photoelectric searching and tracking system;
6) testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
7) and performing performance evaluation of stable precision of the photoelectric search tracking system in a dynamic environment according to the tracking data.
Preferably, in step 1), the motion information includes an angular position signal and an angular velocity signal.
Preferably, in step 2), a frequency response test is performed on the controlled system through dSPACE to obtain amplitude-frequency characteristic data of the system, and the measured frequency response data is put into an ident toolbox in MATLAB to construct an approximate and prior controlled object transfer model.
Preferably, the controlled object transfer model is a speed open loop transfer function:
preferably, in step 3), a speed open-loop transfer function is introduced into a sisotol tool box in MATLAB, and the speed loop lead-lag controller is designed according to the system as follows:
sweeping frequency of a position tracking loop of the follow-up unit, setting the frequency sweeping frequency to be 2KHz, setting the sampling period to be 0.0005s, and identifying that the speed open-loop transfer function is as follows:
considering the requirements of system stability conditions, control precision and the like, the position controller is designed as follows:
preferably, in step 5), a standard C language code file implementing the tracking control algorithm is generated by the code automatic generation environment RTW of MATLAB software.
Preferably, in step 6), the traveling rocking vehicle body simulated by the six-axis rocking stage simulates a carrier environment.
Preferably, the photoelectric search tracking system is subjected to dynamic environment test according to a designed speed ring and position ring controller, the six-axis swing table is lifted and swings according to the amplitudes of 1 degree of 1Hz, 2 degrees of 1Hz, 3 degrees of 1Hz and 3 degrees of 0.5Hz respectively, so that the vehicle body swinging under different road conditions is simulated, and the real outdoor environment is simulated.
Preferably, in step 7), the trace data is imported into a performance evaluation mechanism file written by MATLAB, and the performance evaluation of stable accuracy in a dynamic environment is performed on the photoelectric search and tracking system.
Preferably, the performance evaluation procedure is as follows:
the position and speed of the collected dataDegree tracking data averaging:
the tracking data is processed by removing trend items, the influence of offset generated when the sensor acquires the data on later-stage calculation is eliminated, and analysis can be concentrated on the fluctuation of the data trend by deleting the trend items from the data;
and calculating a 3 delta value for the tracking data to evaluate the tracking accuracy in a dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph so as to conveniently and visually see the stable condition of the photoelectric searching and tracking system.
The invention also discloses a semi-physical performance evaluation system of the photoelectric search tracking system, which comprises the following steps:
the first module is used for measuring the motion information of the controlled object in the motion state;
the second module is used for carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
the third module is used for designing a multi-loop controller for the controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
the fourth module is used for sending the speed of the tracking unit to the speed loop input of the firepower unit after being controlled by the PD to be used as feedforward control so as to improve the following precision;
the fifth module is used for establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file to a controller of the photoelectric searching and tracking system;
the sixth module is used for testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
and the seventh module is used for evaluating the performance of the photoelectric search tracking system in the stable precision under the dynamic environment according to the tracking data.
Compared with the prior art, the invention has the advantages that:
1. the dynamic characteristic of the control object is visually represented from the frequency domain through a frequency domain modeling technology, the transfer function of the object is indirectly obtained through the frequency response of the control object, the influence of a nonlinear link and the undetectable noise of a test system is small, the approximation degree of an identification result and the actual characteristic is high, and the frequency characteristic test and the model identification of the servo system can be completed.
2. The hydraulic swing platform consisting of six degrees of freedom is used for constructing a dynamic carrier environment, so that the real environment of the vehicle-mounted weapon station during the battle between marchs is simulated, the real battle condition is restored to the maximum extent by shaking the vehicle bodies at different levels, the outdoor debugging cost is reduced, and the testing cost is reduced.
3. By utilizing the method of combining the simulink tool box and the embedded system in MATLAB, the established tracking control algorithm model directly generates a standard C language code file, thereby reducing the complex process of programming a large number of codes by programmers and saving the development cost.
4. And (3) constructing a set of performance evaluation mechanism by using MATLAB, evaluating the performance of the tracking data of the photoelectric search tracking system, and rapidly calculating the 3 delta value of the photoelectric search tracking system in a dynamic environment to obtain the stable precision of the system.
Drawings
Fig. 1 is a control flow chart of the photoelectric search and tracking system in the invention.
Fig. 2 is a control block diagram of the electro-optical search and tracking system of the present invention.
FIG. 3 is a graph showing the evaluation of the performance of the rocking stage of the present invention at a 1 degree-1 Hz rocking motion.
FIG. 4 is a graph showing the evaluation of the performance of the rocking stage of the present invention at a 2-degree 1Hz rocking motion.
FIG. 5 is a graph showing the evaluation of the performance of the rocking stage of the present invention at a 3 degree 1Hz rocking motion.
FIG. 6 is a graph showing the evaluation of the performance of the rocking stage of the present invention at a 3 degree swing of 0.5 Hz.
FIG. 7 is a flow chart of a method of an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments of the description.
The invention develops research and design on the stability precision and the position precision of a vehicle-mounted photoelectric searching and tracking system, simulates the motion state of a vehicle during traveling, carries out model identification of multi-loop open-loop characteristics by using a dSPACE semi-physical simulation system and designs a controller by using a ssotool kit of MATLAB, introduces a corresponding speed feedforward compensation correction method for the problem of insufficient precision possibly encountered by a traditional controller, and further perfects the performance evaluation mechanism of the photoelectric searching and tracking system on the basis.
As shown in fig. 7, the method for evaluating the semi-physical performance of the photoelectric search and tracking system of the embodiment includes the steps of:
1) measuring the motion information of the controlled object in the motion state;
2) carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
3) designing a multi-loop controller for a controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
4) after the speed of the tracking unit is subjected to PD control, the speed of the tracking unit is sent to a speed loop input of the firepower unit to be used as feedforward control, so that the following precision is improved;
5) establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file into a controller of the photoelectric searching and tracking system;
6) testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
7) and performing performance evaluation of stable precision of the photoelectric search tracking system in a dynamic environment according to the tracking data.
In this embodiment, in step 1), the motion information includes an angular position signal and an angular velocity signal.
In the embodiment, in step 2), a frequency response test is performed on the controlled system through dSPACE to obtain amplitude-frequency characteristic data of the system, and the measured frequency response data is put into an ident toolbox in MATLAB to construct an approximate and prior controlled object transfer model.
In this embodiment, the controlled object transfer model is a speed open-loop transfer function:
in this embodiment, in step 3), a speed open-loop transfer function is introduced into a sisotol toolbox in the MATLAB, and a speed loop lead-lag controller is designed according to the system as follows:
sweeping frequency of a position tracking loop of the follow-up unit, setting the frequency sweeping frequency to be 2KHz, setting the sampling period to be 0.0005s, and identifying that the speed open-loop transfer function is as follows:
considering the requirements of system stability conditions, control precision and the like, the position controller is designed as follows:
in this embodiment, in step 5), a standard C language code file for implementing a tracking control algorithm is generated by using an automatic code generation environment RTW of MATLAB software.
In this embodiment, in step 6), the traveling and shaking vehicle body simulated by the six-axis rocking stage simulates a carrier environment. Specifically, a dynamic environment test is carried out on the photoelectric search tracking system according to a designed speed ring and position ring controller, the six-axis swing table is lifted and swings according to the amplitude of 1 degree of 1Hz, 2 degrees of 1Hz, 3 degrees of 1Hz and 3 degrees of 0.5Hz respectively, so that the vehicle body swing under different road conditions is simulated, and the real outdoor environment is simulated.
In this embodiment, in step 7), the trace data is imported into a performance evaluation mechanism file written by MATLAB, and performance evaluation of stable accuracy in a dynamic environment is performed on the photoelectric search and tracking system. Specifically, the performance evaluation procedure is as follows:
averaging the collected position and velocity tracking data:
the tracking data is processed by removing trend items, the influence of offset generated when the sensor acquires the data on later-stage calculation is eliminated, and analysis can be concentrated on the fluctuation of the data trend by deleting the trend items from the data;
and calculating a 3 delta value for the tracking data to evaluate the tracking accuracy in a dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph so as to conveniently and visually see the stable condition of the photoelectric searching and tracking system.
The above contents are fully described in a specific embodiment as follows:
step 1: installing a fiber optic gyro sensor and an encoder in a controlled photoelectric searching and tracking system, wherein the fiber optic gyro sensor and the encoder are used for measuring an angular position signal and an angular rate signal of a system motion state;
step 2: carrying out frequency response test on the controlled system through dSPACE to obtain amplitude-frequency characteristic data of the system, and putting the measured frequency response data into an ident toolbox in MATLAB to construct an approximate and prior controlled object transfer model;
and step 3: designing a multi-loop controller for a controlled object according to the obtained position and speed data, wherein a gyro speed closed-loop mode is adopted by a photoelectric searching and tracking system, a position closed-loop mode is adopted by a following firepower unit, and a current loop and a speed loop are completed in a driver of the system; the position of the photoelectric encoder is sent to a following firepower unit as the input of a position loop, so that the firepower unit can stably track along with photoelectricity;
and 4, step 4: after the speed calculated by the photoelectric encoder is subjected to PD control, the speed is sent to a speed loop input of a fire unit to be used as feedforward control, so that the following precision is improved;
and 5: establishing a simulink model for the tracking control algorithm, automatically generating an environment RTW through a code of MATLAB software to generate a standard C language code file for realizing the tracking control algorithm, and downloading the code file to a controller of the photoelectric searching and tracking system;
step 6: testing the tracking process of the photoelectric search tracking system in a simulated carrier environment, namely under the condition that a travelling vehicle body simulated by a six-axis swing table shakes, and obtaining tracking data of a simulated tracking process;
and 7: and importing the measured tracking data into a performance evaluation mechanism file written by MATLAB, and performing performance evaluation on the photoelectric search tracking system with stable precision in a dynamic environment.
Through the design, the invention has the following advantages:
1. the dynamic characteristic of the control object is visually represented from the frequency domain through a frequency domain modeling technology, the transfer function of the object is indirectly obtained through the frequency response of the control object, the influence of a nonlinear link and the undetectable noise of a test system is small, the approximation degree of an identification result and the actual characteristic is high, and the frequency characteristic test and the model identification of the servo system can be completed.
2. The hydraulic swing platform consisting of six degrees of freedom is used for constructing a dynamic carrier environment, so that the real environment of the vehicle-mounted weapon station during the battle between marchs is simulated, the real battle condition is restored to the maximum extent by shaking the vehicle bodies at different levels, the outdoor debugging cost is reduced, and the testing cost is reduced.
3. By utilizing the method of combining the simulink tool box and the embedded system in MATLAB, the established tracking control algorithm model directly generates a standard C language code file, thereby reducing the complex process of programming a large number of codes by programmers and saving the development cost.
4. And (3) constructing a set of performance evaluation mechanism by using MATLAB, evaluating the performance of the tracking data of the photoelectric search tracking system, and rapidly calculating the 3 delta value of the photoelectric search tracking system in a dynamic environment to obtain the stable precision of the system.
The invention also discloses a semi-physical performance evaluation system of the photoelectric search tracking system, which comprises the following steps:
the first module is used for measuring the motion information of the controlled object in the motion state;
the second module is used for carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
the third module is used for designing a multi-loop controller for the controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
the fourth module is used for sending the speed of the tracking unit to the speed loop input of the firepower unit after being controlled by the PD to be used as feedforward control so as to improve the following precision;
the fifth module is used for establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file to a controller of the photoelectric searching and tracking system;
the sixth module is used for testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
and the seventh module is used for evaluating the performance of the photoelectric search tracking system in the stable precision under the dynamic environment according to the tracking data.
The process of the invention is further illustrated below with reference to a complete embodiment:
the photoelectric searching and tracking system is a multi-loop position tracking system, the control flow refers to fig. 1, the inner loop of the photoelectric axis system is a current loop closed loop, a moment mode is adopted, the control of the loop is completed by a driver in the photoelectric system, and the outer loop adopts a double-axis fiber-optic gyroscope speed closed loop. The following weapon fire unit adopts a three-loop controller method, a current loop and a speed loop are completed in a driver, and an outer loop adopts a position closed loop. By sending the position of the encoder on the photoelectric shaft to the fire unit, the fire unit follows the photoelectric for stable tracking. Meanwhile, the speed calculated by the photoelectric encoder is sent to a speed loop of a firepower unit (such as a bolt shaft) for input after being controlled by the PD, and is used as feedforward control, so that the tracking precision is improved. The establishment of a gyro stable loop model is realized on a dSPACE semi-physical simulation platform, a controller is designed based on the model, and the simulation result is close to the experimental result of the semi-physical platform. The identification data are obtained by frequency sweeping in the actual working condition of the stabilized sighting system, and include nonlinear factors such as friction and line interference, and the modeling method is closer to the reality. The finally obtained stable loop model can be directly used as a control object of the position loop, and a design basis is provided for the position follow-up controller. The controller designed by the invention can be directly transplanted to the embedded processor for real-time control without manually compiling a large number of codes, thereby greatly improving the development efficiency and saving the development cost.
FIG. 2 is a block diagram of the control structure of the present invention, where U(s) is the boresight command signal input, w(s) and θ(s) are the output angular velocity and angular displacement, respectively, wb(s) is attitude disturbance, Fp(s) is a feedforward corrector, Gp(s) is a position loop controller, Hp(s) denotes position loop feedback, Gv(s) is the velocityRing controller Hv(s) represents velocity loop feedback, Go(s) represents the motor speed open loop transfer function. The controller process is designed according to the control block diagram of fig. 2 as follows:
and (3) carrying out frequency test on the photoelectric search tracking system by applying dSPACE to obtain open-loop frequency characteristic data of the system, wherein the set sweep frequency is 2KHz, and the sampling period is 0.0005s to obtain the open-loop frequency characteristic data of the system.
Test data are imported into an ident toolbox of MATLAB, and a model of the photoelectric search tracking system is identified, namely a speed open-loop transfer function is as follows:
importing an open-loop transfer function into a sisotool tool box in an MATLAB, and designing a speed loop lead-lag controller according to a system as follows:
sweeping frequency of a position tracking loop of the follow-up unit, setting the frequency sweeping frequency to be 2KHz, setting the sampling period to be 0.0005s, and identifying that the speed open-loop transfer function is as follows:
considering the requirements of system stability conditions, control precision and the like, the position controller is designed as follows:
and carrying out dynamic environment test on the photoelectric search tracking system according to the designed speed ring and position ring controller, lifting the swing platform, and swinging according to the amplitudes of 1 degree 1Hz, 2 degrees 1Hz, 3 degrees 1Hz and 3 degrees 0.5Hz respectively so as to simulate the vehicle body swinging under different road conditions and simulate the real outdoor environment.
Importing tracking data under the shaking condition of the swing table into a compiled MATLAB file for performance evaluation, wherein the evaluation process is as follows:
averaging the collected position and velocity tracking data:
and the tracking data is subjected to detrending item processing, the influence of the offset generated when the sensor acquires the data on later-stage calculation is eliminated, and the trend item is deleted from the data, so that the analysis can be concentrated on the fluctuation of the data trend.
And calculating a 3 delta value for the tracking data to evaluate the tracking accuracy in a dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph, and conveniently and visually seeing the stable condition of the photoelectric searching and tracking system. The stability test results at different wobble amplitudes are shown in fig. 3 to 6; the density value is calculated according to the 3 delta value, and the corresponding relation is 0.06 degrees at 1 mrad. The evaluation results of the stability precision performance of the photoelectric search tracking device are shown in the following table:
the above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (10)
1. A semi-physical performance evaluation method of a photoelectric search tracking system is characterized by comprising the following steps:
1) measuring the motion information of the controlled object in the motion state;
2) carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
3) designing a multi-loop controller for a controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
4) sending the speed of the tracking unit to the speed loop input of the firepower unit as feedforward control;
5) establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file into a controller of the photoelectric searching and tracking system;
6) testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
7) and performing performance evaluation of stable precision of the photoelectric search tracking system in a dynamic environment according to the tracking data.
2. The method for evaluating the semi-physical performance of the optoelectronic search and tracking system according to claim 1, wherein in step 1), the motion information comprises an angular position signal and an angular velocity signal.
3. The semi-physical performance evaluation method of the photoelectric search and tracking system according to claim 1, wherein in step 2), the frequency response test is performed on the controlled system through dSPACE to obtain amplitude-frequency characteristic data of the system, and the measured frequency response data is put into an ident toolbox in MATLAB to construct an approximate and prior controlled object transfer model.
4. The semi-physical performance evaluation method of the photoelectric search and tracking system according to claim 3, wherein the controlled object transfer model is a velocity open-loop transfer function:
5. the semi-physical performance evaluation method of the photoelectric search and tracking system according to claim 4, wherein in step 3), a speed open-loop transfer function is introduced into a ssotool box in MATLAB, and the speed loop lead-lag controller is designed according to the system as follows:
sweeping frequency of a position tracking loop of the follow-up unit, setting the frequency sweeping frequency to be 2KHz, setting the sampling period to be 0.0005s, and identifying that the speed open-loop transfer function is as follows:
considering the requirements of system stability conditions, control precision and the like, the position controller is designed as follows:
6. the semi-physical performance evaluation method of the photoelectric search and tracking system according to any one of claims 1 to 5, wherein in step 5), a standard C language code file for realizing a tracking control algorithm is generated through a code automatic generation environment RTW of MATLAB software.
7. The semi-physical performance evaluation method of the photoelectric search and tracking system according to any one of claims 1 to 5, wherein in step 6), the vehicle body is simulated by the six-axis rocking platform during moving and rocking, and the photoelectric search and tracking system is subjected to dynamic environmental test according to the designed speed ring and position ring controller, and the six-axis rocking platform is lifted and rocked according to the amplitudes of 1 degree 1Hz, 2 degrees 1Hz, 3 degrees 1Hz and 3 degrees 0.5Hz respectively, so as to simulate the vehicle body rocking under different road conditions and simulate the real outdoor environment.
8. The semi-physical performance evaluation method of the photoelectric search and tracking system according to claim 7, wherein in step 7), the tracking data is imported into a performance evaluation mechanism file written by MATLAB, and the photoelectric search and tracking system is subjected to performance evaluation of stable accuracy in a dynamic environment.
9. The semi-physical performance evaluation method of the photoelectric search and tracking system according to claim 8, wherein the performance evaluation process is as follows:
averaging the collected position and velocity tracking data:
the tracking data is processed by removing trend items, the influence of offset generated when the sensor acquires the data on later-stage calculation is eliminated, and analysis can be concentrated on the fluctuation of the data trend by deleting the trend items from the data;
and calculating a 3 delta value for the tracking data to evaluate the tracking accuracy in a dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph so as to conveniently and visually see the stable condition of the photoelectric searching and tracking system.
10. A semi-physical performance evaluation system of a photoelectric search tracking system is characterized by comprising:
the first module is used for measuring the motion information of the controlled object in the motion state;
the second module is used for carrying out frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system and construct a controlled object transfer model;
the third module is used for designing a multi-loop controller for the controlled object according to the motion information: the tracking unit adopts a gyro speed closed-loop mode, the following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a driver of the tracking unit; the position of the tracking unit is sent to the following firepower unit as the input of the position loop, and the firepower unit is made to follow the photoelectricity to perform stable tracking;
a fourth module for sending the tracking unit speed to the speed loop input of the firing unit as a feed forward control;
the fifth module is used for establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file to a controller of the photoelectric searching and tracking system;
the sixth module is used for testing the tracking process of the photoelectric search tracking system in a simulated carrier environment to obtain tracking data;
and the seventh module is used for evaluating the performance of the photoelectric search tracking system in the stable precision under the dynamic environment according to the tracking data.
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