CN112346358B - 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 motion information of a controlled object in a motion state; 2) Performing 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 is sent to the speed loop input of the fire 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) In the simulated carrier environment, testing the tracking process of the photoelectric searching and tracking system to obtain tracking data; 7) And evaluating the performance of the photoelectric searching and tracking system under the stable precision in the dynamic environment according to the tracking data. The invention 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 optical, precision mechanical technology, electronics, control theory and computer technology. The response speed and the tracking precision are main technical indexes for measuring the photoelectric tracking performance, so that the rapid high-precision tracking control is realized, and the method becomes a target for the tracking and solving of a plurality of high-precision photoelectric tracking devices. Due to the continuous development and integration of new technologies, the photoelectric search tracking system is widely used in various fields of national defense and national economy. The photoelectric searching and tracking system is mainly used for capturing and identifying the hit targets, providing accurate space position information of the targets, greatly improving the hit rate of the fire control system and improving the battlefield survivability of the army. The photoelectric searching and tracking system arranged on the vehicle-mounted platform can be influenced by the fluctuation of the carrier posture, the vibration of the vehicle body and the bump and wind resistance moment caused by a rugged road surface in the running process; the photoelectric search tracking system installed on the ship faces the challenge of being more difficult than the photoelectric tracking system of the base, on one hand, the ship sails in water and can be subjected to various complex interference effects, 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 deviates from a measured target; on the other hand, the swing generated by the ship interference can enable the photoelectric tracking system to move in the same way, so that the difficulty of capturing the target is increased.
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 build a theoretical model firstly, then calculate, measure and estimate parameters in the theoretical model to finally obtain a model of a control object, but in actual operation, parameters of the control object are complex and difficult to actually measure, and interference of nonlinear factors such as structural body resonance, attitude interference, shafting friction and the like often exists, so that the built model and an actual system have larger difference.
2. The single stable ring controller is difficult to achieve overall consideration of multiple complex error factors in an actual system, and satisfactory results are difficult to obtain.
3. The photoelectric searching and tracking system lacks a real battlefield environment of the running battlefield in an indoor test stage, the actual external field test is high in cost and cannot perform repeated tests, and the photoelectric searching and tracking system is greatly limited by manpower and material resources.
4. The traditional codes for realizing the tracking control algorithm are manually written by programmers, and a large amount of codes are required to be written in the implementation process, and the related model of the algorithm cannot be changed conveniently, so that the development period is overlong and the cost is high.
5. The photoelectric searching and tracking system is loaded on a vehicle, a ship or an airplane, and the visual axis is unstable in pointing due to the factors such as the change of the posture of a carrier, vibration, wind resistance and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides a semi-physical performance evaluation method and system of a photoelectric search tracking system, which have low cost, short period and high 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 an optoelectronic search tracking system comprises the following steps:
1) Measuring motion information of a controlled object in a motion state;
2) Performing frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system, and constructing 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 the current loop and the speed loop are completed in a self-contained driver; the position of the tracking unit is sent to the following fire unit to be used as the input of a position ring of the following fire unit, so that the fire unit follows photoelectricity to carry out stable tracking;
4) After the speed of the tracking unit is controlled by the PD, the speed is sent to the speed loop input of the fire unit and 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 a photoelectric searching and tracking system;
6) In the simulated carrier environment, testing the tracking process of the photoelectric searching and tracking system to obtain tracking data;
7) And evaluating the performance of the photoelectric searching and tracking system under the stable precision in the dynamic environment according to the tracking data.
Preferably, in step 1), the motion information includes an angular position signal and an angular rate signal.
Preferably, in step 2), a frequency response test is performed on the controlled system through dsace to obtain amplitude-frequency characteristic data of the system, and the measured frequency response data is put into an ident tool box in MATLAB to construct an approximate, priori controlled object transfer model.
Preferably, the controlled object transfer model is a speed open loop transfer function:
preferably, in step 3), the speed open loop transfer function is imported into the sisotol toolbox in MATLAB, and the speed loop lead-lag controller is:
the position tracking loop of the follow-up unit is swept, the sweep frequency is set to be 2KHz, the sampling period is 0.0005s, and the identified 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 to be:
preferably, in step 5), a standard C language code file implementing a tracking control algorithm is generated by means of a code auto-generation environment RTW of MATLAB software.
Preferably, in step 6), the traveling sloshing car body simulated by the six-axis rocking platform simulates a carrier environment.
Preferably, the photoelectric search tracking system is dynamically tested according to the designed speed ring and position ring controllers, the six-axis swinging platform is lifted, and swings according to the amplitude of 1 degree 1Hz, 2 degrees 1HZ, 3 degrees 1Hz and 3 degrees 0.5Hz respectively, so that the vehicle body shaking under different road conditions is simulated, and the real outdoor environment is simulated.
Preferably, in step 7), the tracking data is imported into a performance evaluation mechanism file written by MATLAB, and stable precision performance evaluation is performed on the photoelectric search tracking system in a dynamic environment.
Preferably, the performance evaluation procedure is as follows:
and (3) averaging the collected position and speed tracking data:
removing trend items from the tracking data, eliminating the influence of offset generated when a sensor acquires the data on later calculation, and deleting the trend items from the data so as to concentrate analysis on fluctuation of the data trend;
calculating a 3 delta value for the tracking data, so as to evaluate the tracking precision under the dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph so as to conveniently and intuitively see the stability 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 first module is used for measuring 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 constructing a controlled object transfer model;
a third module, configured to design 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 the current loop and the speed loop are completed in a self-contained driver; the position of the tracking unit is sent to the following fire unit to be used as the input of a position ring of the following fire unit, so that the fire unit follows photoelectricity to carry out stable tracking;
the fourth module is used for controlling the speed of the tracking unit through the PD and then sending the speed to the speed loop input of the fire unit to be used as feedforward control so as to improve the following precision;
a fifth module, configured to establish a simulink model, generate a standard code file for implementing tracking control, and download the code file to a controller of the photoelectric search tracking system;
a sixth module, configured to test a 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 searching and tracking system under the stable precision in the dynamic environment according to the tracking data.
Compared with the prior art, the invention has the advantages that:
1. the dynamic characteristics of the control object are visually represented from the frequency domain through the frequency domain modeling technology, the transfer function of the object is indirectly obtained through the frequency response of the control object, the influence of non-linear links and the undetectable noise of the test system is small, the approximation degree of the identification result and the actual characteristics is high, and the frequency characteristic test and the model identification of the servo system can be completed.
2. The hydraulic swing platform formed by six degrees of freedom is utilized to construct a dynamic carrier environment, the real environment of the vehicle-mounted weapon station in the course of inter-working combat is simulated, the vehicle body at different levels swings, the real combat condition is restored to the greatest extent, the outdoor debugging cost is reduced, and the testing cost is reduced.
3. By utilizing a method of combining a simulink tool box and an embedded type in MATLAB, a standard C language code file is directly generated by an established tracking control algorithm model, so that the complicated process of programming a large number of codes by programmers is reduced, and the development cost is saved.
4. And constructing a set of performance evaluation mechanism by utilizing MATLAB, performing performance evaluation on tracking data of the photoelectric search tracking system, and rapidly calculating a 3 delta value of the photoelectric search tracking system in a dynamic environment to obtain the stability and the precision of the system.
Drawings
Fig. 1 is a control flow diagram of the photoelectric search tracking system in the present invention.
Fig. 2 is a control block diagram of the photoelectric search tracking system in the present invention.
FIG. 3 is a graph showing the evaluation of the performance of the wobble table of the present invention at 1 degree and 1 Hz.
FIG. 4 is a graph showing the evaluation of the performance of the wobble table of the present invention under a 2-degree 1Hz wobble.
FIG. 5 is a graph showing the evaluation of the performance of the wobble table of the present invention at a wobble angle of 3 degrees and 1 Hz.
FIG. 6 is a graph showing the evaluation of the performance of the wobble table of the present invention at 3 degrees and 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 drawings and specific examples.
The invention develops, researches and designs the stability precision and the position precision of the vehicle-mounted photoelectric search tracking system, simulates the motion state of the vehicle during running, uses the dSPACE semi-physical simulation system to perform model identification of multi-loop open-loop characteristics, uses a sisotol toolbox of MATLAB to perform controller design, introduces a corresponding speed feedforward compensation correction method for the problem of insufficient precision possibly encountered by the traditional controller, and improves the performance evaluation mechanism of the photoelectric search tracking system on the basis.
As shown in fig. 7, the semi-physical performance evaluation method of the photoelectric search tracking system of the present embodiment includes the steps of:
1) Measuring motion information of a controlled object in a motion state;
2) Performing frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system, and constructing 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 the current loop and the speed loop are completed in a self-contained driver; the position of the tracking unit is sent to the following fire unit to be used as the input of a position ring of the following fire unit, so that the fire unit follows photoelectricity to carry out stable tracking;
4) After the speed of the tracking unit is controlled by the PD, the speed is sent to the speed loop input of the fire unit and 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 a photoelectric searching and tracking system;
6) In the simulated carrier environment, testing the tracking process of the photoelectric searching and tracking system to obtain tracking data;
7) And evaluating the performance of the photoelectric searching and tracking system under the stable precision in the dynamic environment according to the tracking data.
In this embodiment, in step 1), the motion information includes an angular position signal and an angular rate signal.
In the embodiment, in step 2), a frequency response test is performed on the controlled system through dsace to obtain amplitude-frequency characteristic data of the system, and the measured frequency response data is put into an ident tool box in MATLAB to construct an approximate, priori 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), the speed open loop transfer function is imported into the sisotol toolbox in MATLAB, and the speed loop lead-lag controller is designed according to the system:
the position tracking loop of the follow-up unit is swept, the sweep frequency is set to be 2KHz, the sampling period is 0.0005s, and the identified 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 to be:
in this embodiment, in step 5), a standard C language code file implementing a tracking control algorithm is generated by the code auto-generation environment RTW of MATLAB software.
In this embodiment, in step 6), the traveling sway car body simulated by the six-axis sway table simulates a carrier environment. Specifically, according to the designed speed ring and position ring controller, dynamic environment test is carried out on the photoelectric search tracking system, the six-axis swinging platform is lifted, and swings according to the amplitude of 1 degree 1Hz, 2 degrees 1Hz, 3 degrees 1Hz and 3 degrees 0.5Hz respectively, so that the vehicle body swinging under different road conditions is simulated, and the real outdoor environment is simulated.
In the embodiment, in step 7), the tracking data is imported into a performance evaluation mechanism file written by MATLAB, and stable precision performance evaluation is performed on the photoelectric search tracking system in a dynamic environment. Specifically, the performance evaluation procedure was as follows:
and (3) averaging the collected position and speed tracking data:
removing trend items from the tracking data, eliminating the influence of offset generated when a sensor acquires the data on later calculation, and deleting the trend items from the data so as to concentrate analysis on fluctuation of the data trend;
calculating a 3 delta value for the tracking data, so as to evaluate the tracking precision under the dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph so as to conveniently and intuitively see the stability of the photoelectric searching and tracking system.
The foregoing will be described more fully hereinafter with reference to the accompanying drawings in which:
step 1: the optical fiber gyro sensor and the encoder are arranged in the controlled photoelectric search tracking system and are used for measuring an angular position signal and an angular rate signal of the motion state of the system;
step 2: performing frequency response test on the controlled system through dSPACE to obtain amplitude-frequency characteristic data of the system, and placing the measured frequency response data into an ident tool box in MATLAB to construct an approximate prior controlled object transfer model;
step 3: designing a multi-loop controller for a controlled object according to the obtained position and speed data, wherein a photoelectric searching and tracking system adopts a gyro speed closed-loop mode, a following firepower unit adopts a position closed-loop mode, and a current loop and a speed loop are completed in a self-contained driver; the position of the photoelectric encoder is sent to a following fire power unit to be used as the input of a position ring, so that the fire power unit can stably track following photoelectricity;
step 4: after PD control, the speed calculated by the photoelectric encoder is sent to the speed loop input of the fire unit to be used as feedforward control, so that the following precision is improved;
step 5: establishing a simulink model by the tracking control algorithm, automatically generating an environment RTW through codes of MATLAB software to generate a standard C language code file for realizing the tracking control algorithm, and downloading the code file into a controller of a photoelectric searching and tracking system;
step 6: in a simulated carrier environment, namely under the condition that a travelling car body simulated by a six-axis swinging table swings, testing the tracking process of a photoelectric searching and tracking system to obtain tracking data of a simulation tracking process;
step 7: and importing the measured tracking data into a performance evaluation mechanism file written by MATLAB, and performing stable precision performance evaluation on the photoelectric search tracking system in a dynamic environment.
Through the design, the invention has the following advantages:
1. the dynamic characteristics of the control object are visually represented from the frequency domain through the frequency domain modeling technology, the transfer function of the object is indirectly obtained through the frequency response of the control object, the influence of non-linear links and the undetectable noise of the test system is small, the approximation degree of the identification result and the actual characteristics is high, and the frequency characteristic test and the model identification of the servo system can be completed.
2. The hydraulic swing platform formed by six degrees of freedom is utilized to construct a dynamic carrier environment, the real environment of the vehicle-mounted weapon station in the course of inter-working combat is simulated, the vehicle body at different levels swings, the real combat condition is restored to the greatest extent, the outdoor debugging cost is reduced, and the testing cost is reduced.
3. By utilizing a method of combining a simulink tool box and an embedded type in MATLAB, a standard C language code file is directly generated by an established tracking control algorithm model, so that the complicated process of programming a large number of codes by programmers is reduced, and the development cost is saved.
4. And constructing a set of performance evaluation mechanism by utilizing MATLAB, performing performance evaluation on tracking data of the photoelectric search tracking system, and rapidly calculating a 3 delta value of the photoelectric search tracking system in a dynamic environment to obtain the stability and the precision of the system.
The invention also discloses a semi-physical performance evaluation system of the photoelectric search tracking system, which comprises:
the first module is used for measuring 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 constructing a controlled object transfer model;
a third module, configured to design 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 the current loop and the speed loop are completed in a self-contained driver; the position of the tracking unit is sent to the following fire unit to be used as the input of a position ring of the following fire unit, so that the fire unit follows photoelectricity to carry out stable tracking;
the fourth module is used for controlling the speed of the tracking unit through the PD and then sending the speed to the speed loop input of the fire unit to be used as feedforward control so as to improve the following precision;
a fifth module, configured to establish a simulink model, generate a standard code file for implementing tracking control, and download the code file to a controller of the photoelectric search tracking system;
a sixth module, configured to test a 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 searching and tracking system under the stable precision in the dynamic environment according to the tracking data.
The method of the present invention is further described in connection with a complete embodiment:
the photoelectric searching and tracking system is a multi-loop position tracking system, the control flow of the photoelectric searching and tracking system is shown in fig. 1, the inner loop of the photoelectric shaft system is a current loop closed loop, a moment mode is adopted, a driver in the photoelectric is used for controlling the loop, and the outer loop is a double-shaft fiber-optic gyroscope speed closed loop. The following weapon fire unit adopts a three-ring controller method, a current ring and a speed ring are completed in the driver, and an outer ring adopts a position closed ring. By sending the position of the encoder on the photoelectric axis to the fire unit, the fire unit follows the photoelectric to perform stable tracking. Meanwhile, the speed calculated by the photoelectric encoder is sent to the speed loop input of a fire unit (such as a machine gun shaft) after PD control and is used as feedforward control, so that tracking accuracy is improved. The establishment of a gyro stable loop model is realized on a dSPACE semi-physical simulation platform, and a controller is designed based on the model, wherein the simulation result is close to the experimental result of the semi-physical platform. The identification data are obtained by scanning frequency in the actual working condition of the stabilized sighting system, nonlinear factors such as friction and line disturbance are included, and the modeling method is closer to reality. The finally obtained stable loop model can be directly used as a control object of a position loop, and a design basis is provided for a position follow-up controller. The controller designed by the invention can be directly transplanted to the embedded processor for real-time control without manually writing a large amount of codes, thereby greatly improving the development efficiency and saving the development cost.
As shown in FIG. 2, a control structure of the present invention is shown, wherein U(s) is a line-of-sight command signal input, w(s) and θ(s) are output angular velocity and angular displacement, respectively, w b (s) is attitude disturbance, F p (s) is a feedforward corrector, G p (s) is a position loop controller, H p (s) represents position loop feedback, G v (s) is a speed loop controller, H v (s) represents speed loop feedback, G o (s) represents an open loop transfer function of motor speed. The controller process is designed according to the control block diagram of fig. 2 as follows:
and performing frequency test on the photoelectric search tracking system by using 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.
The test data is imported into an ident tool box of MATLAB, and a model of the photoelectric search tracking system is identified, namely, a speed open loop transfer function is as follows:
the open loop transfer function is imported into a sisotol toolbox in MATLAB, and the speed loop lead-lag controller is designed according to the system:
the position tracking loop of the follow-up unit is swept, the sweep frequency is set to be 2KHz, the sampling period is 0.0005s, and the identified 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 to be:
and (3) carrying out dynamic environment test on the photoelectric searching and tracking system according to the designed speed ring and position ring controller, lifting the swinging platform, and swinging according to the amplitude of 1 degree, 1Hz, 2 degrees, 1Hz and 3 degrees, 0.5Hz respectively, so as to simulate vehicle body swinging under different road conditions and simulate a real outdoor environment.
The tracking data under the condition of swinging of the swinging table is imported into a compiled MATLAB file, and performance evaluation is carried out, wherein the evaluation process is as follows:
and (3) averaging the collected position and speed tracking data:
the trend item of the tracking data is processed, the influence of offset generated when the sensor acquires the data on later calculation is eliminated, and analysis can be concentrated on fluctuation of the data trend by deleting the trend item from the data.
Calculating a 3 delta value for the tracking data, so as to evaluate the tracking precision under the dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph, so that the stable condition of the photoelectric searching and tracking system can be conveniently and intuitively seen. The stability test results under different shaking amplitudes are shown in fig. 3 to 6; the density value is calculated from the 3 delta value, and the corresponding relation is 1 mrad=0.06°. The evaluation results of the stability and precision performance of the photoelectric searching and 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 examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.
Claims (6)
1. A semi-physical performance evaluation method of a photoelectric search tracking system is characterized by comprising the following steps:
1) Measuring motion information of a controlled object in a motion state;
2) Performing frequency response test on the controlled object to obtain amplitude-frequency characteristic data of the system, and constructing 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, the current loop and the speed loop are completed in the self-contained driver, the outer ring adopts a position closed-loop, and the firepower unit is stably tracked by following photoelectricity by sending the position of the tracking unit to the following firepower unit as the input of the position loop;
4) Transmitting the speed of the tracking unit to a speed loop input of the fire unit as a feed forward control;
5) Establishing a simulink model, generating a standard code file for realizing tracking control, and downloading the code file into a controller of a photoelectric searching and tracking system;
6) In the simulated carrier environment, testing the tracking process of the photoelectric searching and tracking system to obtain tracking data;
7) Performing performance evaluation of stable precision under a dynamic environment on the photoelectric searching and tracking system according to the tracking data;
in the step 2), frequency response test is carried out on the controlled system through dSPACE, amplitude-frequency characteristic data of the system are obtained, the measured frequency response data are put into an ident tool box in MATLAB, and an approximate prior controlled object transfer model is constructed;
the identification data are obtained by scanning frequency in the actual working condition of the stabilized sighting system, and comprise friction and linear disturbance nonlinear factors, and a finally obtained stabilized loop model is directly used as a control object of a position loop to provide design basis for a position follow-up controller;
in the step 6), the vehicle body is rocked by the marching simulated by the six-axis rocking platform to simulate the carrier environment, and the six-axis rocking platform is lifted to swing according to the amplitude of 1 degree 1Hz, 2 degrees 1HZ, 3 degrees 1Hz and 3 degrees 0.5Hz respectively according to the dynamic environment test of the photoelectric searching and tracking system by the designed speed ring and position ring controller, so that the vehicle body rocked under different road conditions is simulated, and the real outdoor environment is simulated;
in the step 7), the tracking data is imported into a performance evaluation mechanism file written by MATLAB, and stable and accurate performance evaluation is carried out on the photoelectric search tracking system under a dynamic environment; the performance evaluation process is as follows:
and (3) averaging the collected position and speed tracking data:
removing trend items from the tracking data, eliminating the influence of offset generated by a sensor when acquiring the data on post calculation, and deleting the trend items from the data so as to concentrate analysis on fluctuation of the data trend;
calculating a 3 delta value for the tracking data, so as to evaluate the tracking precision under the dynamic environment:
and drawing a stable precision curve graph and a residual speed curve graph to intuitively see the stability of the photoelectric searching and tracking system.
2. The method for evaluating the performance of a semi-physical object of an optoelectronic search tracking system according to claim 1, wherein in step 1), the motion information includes an angular position signal and an angular velocity signal.
3. The method for evaluating the performance of a semi-physical object of a photoelectric search tracking system according to claim 2, wherein the controlled object transfer model is a speed open loop transfer function:
4. the method for evaluating the performance of a semi-physical object of an optoelectronic search tracking system according to claim 3, wherein in step 3), a speed open loop transfer function is imported into a sisotol toolbox in MATLAB, and a speed loop lead-lag controller is designed according to a system:
the position tracking loop of the follow-up unit is swept, the sweep frequency is set to be 2KHz, the sampling period is 0.0005s, and the identified 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 to be:
5. the method for evaluating the performance of a semi-physical object of a photoelectric search tracking system according to any one of claims 1 to 4, wherein in step 5), a standard C language code file for realizing a tracking control algorithm is generated by an automatic code generation environment RTW of MATLAB software.
6. A semi-physical property evaluation system of an optoelectronic search tracking system for performing a semi-physical property evaluation method of an optoelectronic search tracking system as set forth in any one of claims 1 to 5, comprising:
the first module is used for measuring 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 constructing a controlled object transfer model;
a third module, configured to design 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 the current loop and the speed loop are completed in a self-contained driver; the position of the tracking unit is sent to the following fire unit to be used as the input of a position ring of the following fire unit, so that the fire unit follows photoelectricity to carry out stable tracking;
a fourth module for sending the speed of the tracking unit to the speed loop input of the fire unit as a feed forward control;
a fifth module, configured to establish a simulink model, generate a standard code file for implementing tracking control, and download the code file to a controller of the photoelectric search tracking system;
a sixth module, configured to test a 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 searching and tracking system under the stable precision in the dynamic environment according to the tracking data.
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