CN112414402B - High-precision stable platform system, control method, device, medium and terminal - Google Patents
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Abstract
The invention belongs to the technical fields of inertial navigation, gravity measurement, control strategies, signal processing and the like, and discloses a high-precision stable platform system, a control method, equipment, a medium and a terminal. The invention realizes the quick response capability, reliability and control precision of the platform for tracking the horizontal plane. Meanwhile, the invention detects the linear motion of the carrier in real time and can be used for compensating the vertical measured value of the gravity meter.
Description
Technical Field
The invention belongs to the technical fields of inertial navigation, gravity measurement, control strategies, signal processing and the like, and particularly relates to a high-precision stable platform system, a control method, equipment, media and a terminal.
Background
At present, gravity measurement is an important research direction of geodetic measurement, and complete and accurate gravitational field information of the earth surface can provide important data support for underwater navigation, resource exploitation, geological exploration and the like. Gravity exploration in ocean or hilly areas is also an important working content, and the gravity measurement is carried out by arranging a gravity meter in an airplane or a ship, so that the problem that the movement of a carrier brings interference to high-precision measurement of gravity is faced. Based on the above, in 2011, the department of Chinese science and navigation engineering system cooperates to successfully apply for the special term "marine/aviation gravimeter" of national major scientific instruments, and the gravity meter with the measurement accuracy of 0.1 milligamma holding capacity of 10 days can be developed and applied to the aviation and navigation fields. In order to realize the measurement precision of the gravity meter, a stable platform with the attitude precision kept at 1 angle within 10 days is needed to be provided, and the stable platform with high precision and long endurance is not reported in China at present. In order to improve the measuring precision of the gravity meter on the local gravity under the movable base, the invention designs a high-precision stable platform system for the gravity meter, so that the gravity meter can isolate the movement of the carrier under the environments of the plane, the carrier and the boat, and always works in a stable vertical direction, thereby improving the measuring precision of the gravity meter.
The stable platform system is an important device in aviation, aerospace, naval vessel and missile system engineering, can isolate carrier disturbance, and is a precision electromechanical device for stabilizing the platform body posture in a reference coordinate system by utilizing the gyro characteristic. There are different divisions according to differences in composition and function. The stable platform can be divided into single-axis, double-axis, three-axis and full-attitude (four-axis) stable platforms according to the number of the stabilized axes of the gyro stable platform; according to the types of gyroscopes, there are commonly known mechanical gyro stabilizing platforms, optical fiber gyro stabilizing platforms, microelectromechanical gyro stabilizing platforms, and the like. The early-stage stabilizing platform adopts a flexible gyroscope, and the currently mainstream fiber optic gyroscope stabilizing platform has higher precision; according to the different working principles and system components, the gyro stabilizing platform can be divided into an active stabilizing platform and a passive stabilizing platform.
In recent years, gyro stabilized platforms have been rapidly developed, and in foreign countries, gyro stabilized platforms have been widely used in vehicle-mounted, ship-mounted, airborne, missile-borne and other devices, and research on stabilized platforms was originally traced to the end of the 40 th century in order to reduce the shock of car bodies to travelling shootingThe effect is that the single-item stabilizer of the artillery is arranged on the tank, and the stabilizer can stabilize the artillery and the parallel machine gun at a required firing angle under the condition that the vehicle body continuously vibrates. After 60 years, in order to further improve the shooting precision of the tank cannon, the bidirectional stabilizer comprising the high direction, the low direction and the azimuth direction starts to enter the field of vision of people, and at the end of 80 years, along with the development of an inertial sensor, a new leap is generated by an inertial technology. In advanced weapon systems in the countries such as Yingmei, stable tracking platforms based on micro inertial sensors are widely used, such as M1 tanks in the United states, lecler tanks in France, javelin missile launching platforms in the United states, and the like, and different types of stable tracking platforms are adopted. The American Honeywell company develops an inertial attitude control device based on a GG1320 ring laser gyro by taking an infrared sensor platform as an application background, better meets the requirement of a stable aiming tracking system, adopts a gyro stable tracking platform in the imaging guidance heads of Russian X-29T, american ' young stock ' AGM-65, israel's ' eye burst ' and the like in missile guidance, the stable platform is widely applied to airborne equipment such as an airborne photo-electric fire control system, an airborne photoelectric detection platform and the like, and an ESP-600C unmanned airborne photoelectric detection platform developed by the company of Israel and CONTROL precision technology adopts a double-shaft platform, wherein the azimuth rotation range of the stable platform is 360 degrees multiplied by N, the pitching range is-10 degrees to +10 degrees, the maximum angular velocity is 50 degrees/s, and the maximum angular acceleration is 60 degrees/s 2 The stable precision reaches 35 mu rad; the MSSP-3 marine observation platform is mainly used for marine patrol planes and patrol ships, adopts a four-frame gyro stabilizing system, and is provided with a high-resolution forward-looking infrared camera, a high-performance CCD (Charge Coupled Device ) camera and a laser range finder. As another example, MOSP (Multi-mission Optronic Stabilized Payload) series multipurpose photoelectric stabilized platform developed by Israel IAI can be used in the situations of unmanned plane investigation, helicopter or fixed wing plane day and night observation, laser ranging, maritime investigation and the like. The platform adopts a four-frame two-axis stable structure, the azimuth rotation range is 360 degrees multiplied by N, the pitching is plus 15 degrees to minus 110 degrees, the maximum angular velocity is 30 degrees/s, and the visual axis stability precision is 25 mu rad (0.6 angle). This isThe two stabilizing platforms represent the international level of advancement for two-frame and four-frame two-axis form stabilizing platforms.
The research on the stable platform in China starts later, the aiming line stable system is developed at the beginning of the 80 s of the 20 th century, and the airborne stable servo platform is developed at the beginning of the 90 s. After twenty years of accumulation, the stable servo platform products in China gradually go to an independent research and development stage from initial introduction imitation. The stability precision of the photoelectric stabilizing device developed by Beijing 618 factory can reach 100 mu rad (2.16 angle), the stability precision of the four-frame two-axis gyro stabilizing device developed by vinca ray machine for civil 737 aircraft can reach 80 mu rad (1.7 angle), besides the research institutions, the institute of photoelectric technology, the institute of Kunming physics, the university of Qinghua, the university of Beijing aviation aerospace, the university of national defense science and technology, the university of Harbin industry, the university of Nanjing theory and other units develop the research work of stabilizing and tracking platform, the infrared imaging guidance device, the antenna stabilizing device and other aspects, and a series of achievements are obtained. The prior art provides a Sea lion (Sea Vision) 3R type ship-borne infrared and visible light gyro stabilizing platform, which is a recently developed sky-eye/Sea lion series airborne photoelectric observation nacelle system. The nacelle built-in gyro system and the infrared thermal imager/visible light camera can be installed on different aerial platforms such as fixed wing airplanes, helicopters or unmanned aerial vehicles and are used for various purposes such as aerial photography, land monitoring, air patrol, disaster assessment, personnel search and rescue, low-intensity air combat and the like.
From the above, compared with the foreign, the stabilizing precision of the stabilizing platform system in the prior art has a certain gap, and the stabilizing precision is controlled within 1 minute, which is not reported in China. Therefore, in the aspect of research on a stable platform, a mechanical structure and a control method for enabling the platform to have high precision and good dynamic performance are required to be designed.
Through the above analysis, the problems and defects existing in the prior art are as follows: the stability precision of the stabilized platform system in the prior art is different from that of the stabilized platform system in foreign countries.
The stable accuracy control within 10 days is not reported in China within 1 minute.
The prior art only makes experiments for less than 9 hours.
According to the invention, a damping system is added on the basis of the prior art, a fiber-optic gyroscope strapdown inertial navigation system with drift precision superior to 0.01 degrees/h is used as a platform attitude sensor, and an excellent FPGA controller with higher performance in high-speed signal processing is used, so that a better experimental effect is obtained compared with the prior art.
The difficulty of solving the problems and the defects is as follows:
a high precision stable platform system requires precise platform design, reasonable control strategies, high precision gyroscopes, and signal processing.
The meaning of solving the problems and the defects is as follows:
the high-precision stable platform system improves the domestic prior art level, and can support the long-time high-precision gravity measurement requirements in the fields of aviation, navigation and the like.
In the prior art, experiments are carried out for less than 9 hours, and the experiment time for maintaining stable precision is approximately 10 days.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a high-precision stable platform system, a control method, equipment, a medium and a terminal, and particularly relates to a high-precision stable platform system based on a gyro angular rate and gesture position double-closed-loop structure and a control method thereof.
The invention is realized in such a way that the high-precision stable platform system consists of an inertial measurement system, a control system, a power supply system and a damping system;
inertial measurement system: the inertial measurement system carries out real-time high-precision measurement on the posture of the gravity meter through the optical fiber gyroscope, and simultaneously collects the output of the gyroscope and the angular motion information of the sensitive gravity meter relative to an inertial space.
And (3) a control system: the control system receives the motion characteristics of the gravity meter obtained by the fiber-optic gyroscope attitude measurement system, and controls the moment motor through the FPGA controller, so that attitude control is performed, and the platform always tracks the local geographic horizontal plane.
And (3) a power supply system: the system uses AC220V power supply, and voltage requirements of different modules are met through transformer adjustment.
Damping system: the shock absorption system can isolate harmful disturbance caused by high-frequency vibration of the base by installing a shock absorber below the stable platform.
The high precision stabilized platform system includes: the system comprises a gravity meter, a fiber-optic gyroscope strapdown attitude measurement system, a moment motor, a multipole rotary transformer and a shock absorber;
the high-precision stable platform system is characterized in that a lower gravity meter is arranged above a platform body of the platform, an optical fiber gyro strapdown attitude measurement system is fixedly arranged below the platform, moment motors are arranged on pitching and rolling horizontal ring frames, and multipole rotary transformers for measuring attitude angles of the platform body of the platform are arranged on each horizontal shaft of the platform; a shock absorber is arranged below the high-precision stable platform system and used for isolating harmful disturbance caused by high-frequency vibration of the base;
the gravity instrument is fixedly connected with the fiber optic gyroscope strapdown attitude measurement system, the fiber optic gyroscope inertia attitude determination system is used for measuring the attitude of the gravity instrument in real time with high precision, meanwhile, the output of the gyroscope is collected, the angular motion information of the sensitive gravity instrument relative to the inertia space is adopted, and the attitude control is carried out by adopting an angular position-angular speed double-loop PID control strategy, so that the platform always tracks the local geographic horizontal plane.
Further, the double-ring PID refers to a gesture position ring and an angular velocity ring, and the rapidity and the accuracy are improved through the position ring PID; the double-loop PID control can monitor the angular position, the angular speed and the angular acceleration of the platform at the same time and master the motion characteristics of the platform.
Further, the parameters of the position loop PID adopt a switching control mode, the position loop PID is divided into a large parameter control stage and a small parameter adjustment stage, reasonable switching points are set, the large parameter position loop stabilizes the stable control platform at a preset angular position, and then the stability precision of the platform is improved through the small parameter position loop.
Further, the speed loop PID is used for improving the stable rigidity of the platform, so that the stable control platform has enough rigidity after being stabilized to isolate the abrupt speed change motion of the carrier.
Further, the fiber strapdown attitude measurement system further comprises a core sensor inertial measurement unit IMU for realizing a control FPGA of a stable control strategy.
Another object of the present invention is to provide a control method of a high precision stabilized platform system to which the high precision stabilized platform system is applied, the control method of the high precision stabilized platform system comprising the steps of:
step one: fixedly connecting a gravity meter and a fiber-optic gyroscope strapdown attitude measurement system on a stable platform, electrifying to enable the platform to generate determined attitude change, measuring the attitude of the gravity meter in real time and high precision through the fiber-optic gyroscope inertial attitude measurement system, and simultaneously collecting the output of the gyroscope and the angular motion information of the sensitive gravity meter relative to an inertial space;
step two: the fiber-optic gyroscope strapdown attitude measurement system uploads the motion characteristics of the gravity meter to an upper computer FPGA controller through a 422 port; wherein the motion characteristics include attitude information, angular velocity and linear motion information;
step three: the FPGA controller receives the motion characteristics of the gravity meter obtained by the strapdown attitude measurement system, performs attitude control by using an angular position-angular speed double-loop PID control strategy, directly outputs analog voltage DAC, amplifies the output control voltage by an amplifier, converts the amplified control voltage into PWM current signals to drive moment motors on a pitching axis and a transverse rolling axis, and further controls a platform to track a local geographic horizontal plane; meanwhile, the damping system arranged below the stable platform can isolate harmful disturbance caused by high-frequency vibration of the base, so that the control platform can track the local geographic horizontal plane more quickly and stably.
Further, the control method of the high-precision stable platform system further comprises modeling a control system, and the method comprises the following steps:
the torque motor outputs a rotating torque under the action of the input control voltage, the rotating body starts to rotate against the friction torque under the action of the torque, and the rotating angular speed and the angular acceleration accord with a dynamics model. Meanwhile, the IMU feeds back the angle and the angular speed of the platform in real time, and the control computer calculates the control error in real time to change the control voltage.
Neglecting the effect of the motor counter-potential voltage, the transfer function of a DC torque motor can be expressed as:
wherein M is d Output torque of DC torque motor, C m Is the moment constant of the moment motor, L a For motor armature inductance, R a For motor armature resistance, U c Is the voltage applied across the armature.
Armature inductance L in the system a Far smaller than the armature resistance R a . Thus, the torque motor model can be simplified as:
the torque balance equation on the motor shaft can be expressed as:
wherein M is the input torque on the motor shaft, M f J is the moment of friction on the motor shaft, J is the moment of inertia of the rotating body, ω is the rotational angular rate of the rotating body.
The above formula can be similarly expressed as:
where f is the viscous drag coefficient on the motor shaft.
Thus, the transfer function of the rotator can be expressed as:
further, the single axis control loop consists of a speed loop (inner loop) and a position loop (outer loop). Both the position loop controller and the speed loop controller adopt PID algorithm, and the control system needs to realize high-speed data communication and high-frequency servo update.
The parameters of the torque motor and the rotating body of the known system are as follows:
motor torque constant: c (C) m ＝3.292N·m/A；
Armature resistance: r is R a ＝2.65Ω；
Rotational inertia of the rotating body: j=1.185 kg·m 2 ；
Viscous drag coefficient: f=0.00004.
The transfer function of the dc torque motor and the transfer function of the rotating body are then respectively:
further, in the mathematical model of the control system, a platform is stabilized to be at a reference theta d The difference with the IMU output angle theta is used for obtaining the control error e of the control position loop 1 (t) position loop controller output u 1 (t) and the speed loop output v (t) are differenced to obtain a control error e of speed change 2 (t) speed loop controller output u 2 And (t) controlling the controlled object, and obtaining the output theta of the position loop by the output v (t) of the speed loop through an integral link.
The mathematical model of the control system can obtain that the transfer function of the controlled object is as follows:
wherein K is U-I Is the amplification factor of the amplifier.
In addition, because the gravity sensor and the optical fiber IMU on the platform body are precise instruments, in order to ensure long-time normal operation of the precise instruments, excessive impact of the gravity sensor and the IMU in the instrument control process must be avoided. It is desirable to avoid jerking and sudden stopping of the platform during control, while avoiding excessive impact during control, which is beneficial to extending the service life of the torque motor.
Judging: if when theta is d The PID in the control system selects small parameters, namely leveling parameters, so that the system slowly tracks the local horizontal plane from a large non-horizontal angle; when the error angle theta d PID in the control system is switched into stable parameter control, so that the system has satisfactory control precision and control rigidity.
Limited voltage: 5V;
voltage-current conversion U-I;
assuming that the voltage-current conversion is linear, and the peak locked-rotor current of the motor is known to be 12A, the voltage-current conversion coefficient KU-i=2.4a/V.
From i a The generated motor output torque is:
M m (s)＝k m i a (s)；
wherein k is m Is the torque coefficient of the motor, i.e. the current-torque coefficient of the motor. According to given parameters, get:
k m ＝39.5N·m/12A＝3.292N·m/A；
the torque balance equation on the motor shaft is:
M m (s)＝J 1 sω+f 1 ω；
wherein J is 1 Is the moment of inertia of the motor and the load folded onto the motor shaft, f 1 Is the coefficient of viscosity of the motor and the load to the motor shaft.
The open loop transfer function of the single axis control system is:
if I 1 =0, then the system is type I; if I 1 Not equal to 0, the system is type II.
Further, the main parameter indexes of the control system are as follows:
(1) The output frequency of the inertial navigation solution data is required to be 1KHz, and the highest output baud rate is 1843200bit/s.
(2) The FPGA servo control frequency is 1KHz.
(3) The FPGA implements the control algorithm. The attitude angle and the angular rate of the IMU are used as input signals of a control loop, and control voltage is output through operation of the control loop, wherein an AD chip adopts 16-bit AD5752.
(4) The power amplifier functions to amplify the control voltage and convert it into a PWM signal. The PWM signals obtained through conversion directly control the torque motor.
Another object of the present invention is to provide a vehicle-mounted, ship-mounted, airborne, and missile-borne device on which the high-precision stable platform system is mounted.
It is a further object of the present invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to execute the method of controlling a high precision stabilized platform system.
Another object of the present invention is to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the control method of the high-precision stabilized platform system.
Another object of the present invention is to provide an information data processing terminal for implementing the control method of the high-precision stabilized platform system of any one of the above.
By combining all the technical schemes, the invention has the advantages and positive effects that: the high-precision stable platform system provided by the invention is based on the working characteristics of an aircraft, a ship and a submarine carried by the gravity meter, in order to improve the measurement precision of the gravity meter, all possible interferences are isolated, and the platform can maintain a relatively stable state when encountering large impact conditions such as sharp rotation, sudden stop and the like through the medium-frequency vibration and the high-frequency vibration of the shock absorber isolation; the attitude control of the stable platform is realized through the angular position-angular speed double-loop PID, so that the stable platform always tracks the local geographic horizontal plane; the dual closed loop structure adopting the angular rate and the inertial navigation attitude of the fiber-optic gyroscope has the advantages of maintaining high precision and good dynamic performance for a long time.
According to the invention, the gravity instrument and the fiber-optic gyroscope strapdown attitude measurement system are fixedly connected, the attitude of the gravity instrument is measured in real time and with high precision through the fiber-optic gyroscope inertial attitude measurement system, meanwhile, the output of the gyroscope is collected, the angular motion information of the sensitive gravity instrument relative to the inertial space is adopted, and the angular position-angular velocity double-loop PID strategy is adopted to perform the stable control of high speed, high precision and high rigidity, so that the platform always tracks the local geographic horizontal plane. The double-loop PID control enables a control strategy to be more reasonable, the angular position, the angular speed and the angular acceleration of the platform can be monitored simultaneously, the motion characteristics of the platform can be comprehensively mastered, and the quick response capability, the reliability and the control precision of the platform for tracking the horizontal plane are realized.
The invention provides a stable platform, which relates to an initial alignment, navigation resolving, error compensating, locking of the stable platform and a rapid and effective control strategy for tracking a ground plane of an optical fiber inertial navigation system. The angular motion of the carrier can be effectively isolated, and a necessary and relatively stable working environment is provided for certain high-precision measuring equipment with poor measuring effect in a dynamic environment. The angular position-angular speed double-ring PID is characterized in that the motion characteristics of the gravity meter can be comprehensively mastered and utilized, the precision can be ensured, the inner ring of the platform has necessary rigidity, and meanwhile, the damping base is arranged, so that the influence of high-frequency disturbance, impact disturbance and large maneuvering disturbance can be well isolated, and the gravity meter is always stable in vertical high precision; and meanwhile, the linear motion of the carrier is detected in real time, and the method can be used for compensating the vertical measured value of the gravity meter.
The invention can comprehensively master the motion characteristics of the gravity meter: attitude information, angular velocity information, angular acceleration information, linear acceleration information, high-frequency vibration frequency and isolation effect, impact isolation effect, and large maneuvering isolation effect; the rapidity and the accuracy are improved through the position loop PID. The PID parameters of the position loop adopt a switching control mode, and are divided into a large-parameter control stage and a small-parameter adjustment stage, reasonable switching points are set, the large-parameter position loop enables the stable control platform to be quickly stabilized at a preset angular position, and then the stability precision of the platform is improved through the small-parameter position loop; the function of the speed loop PID improves the stable rigidity of the platform, so that the stable control platform has enough rigidity after being stabilized to isolate the abrupt variable speed movement of the carrier.
The technical effect or experimental effect of comparison. Comprising the following steps:
the experimental results are shown in fig. 5 and 6, and the stable platform can keep the attitude accuracy within 1 angle within 10 days.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of a control scheme provided by an embodiment of the present invention.
Fig. 2 is a schematic diagram of a uniaxial control loop according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a mathematical model of a control system according to an embodiment of the present invention.
Fig. 4 is an equivalent circuit diagram of a dc torque motor according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of the inertial navigation pitch angle position output during stable control provided by an embodiment of the present invention.
FIG. 6 is a schematic diagram of inertial navigation roll angle position output during stability control provided by an embodiment of the present invention.
Fig. 7 is a flowchart of a control method of the high-precision stable platform system provided by the embodiment of the invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In view of the problems existing in the prior art, the present invention provides a high-precision stabilized platform system and a control method thereof, and the present invention is described in detail below with reference to the accompanying drawings.
The high-precision stable platform system provided by the embodiment of the invention consists of an inertial measurement system, a control system and a power supply system; the high precision stabilized platform system includes: the system comprises a gravity meter, a fiber-optic gyroscope strapdown attitude measurement system, a torque motor, a multipole rotary transformer and a shock absorber.
The high-precision stable platform system provided by the embodiment of the invention is characterized in that a lower gravity meter is arranged above a platform body of the platform, an optical fiber gyro strapdown attitude measurement system is fixedly arranged below the platform, moment motors are arranged on pitching and rolling horizontal ring frames, and multipole rotary transformers for measuring attitude angles of the platform body of the platform are arranged on each horizontal shaft of the platform; and a shock absorber is arranged below the high-precision stable platform system and used for isolating harmful disturbance caused by high-frequency vibration of the base.
The gravity meter and the fiber-optic gyroscope strapdown attitude measurement system are fixedly connected, the fiber-optic gyroscope inertial attitude measurement system is used for measuring the attitude of the gravity meter in real time with high precision, meanwhile, the output of the gyroscope is collected, the angular motion information of the sensitive gravity meter relative to the inertial space is adopted, and the attitude control is carried out by adopting an angular position-angular speed double-loop PID control strategy, so that the platform always tracks the local geographic horizontal plane.
The control method (as shown in fig. 7) of the high-precision stable platform system provided by the embodiment of the invention comprises the following steps:
s101, fixedly connecting a gravity meter with a fiber-optic gyroscope strapdown attitude measurement system, carrying out real-time high-precision measurement on the attitude of the gravity meter through a fiber-optic gyroscope inertia attitude determination system, and simultaneously collecting the output of the gyroscope and the angular motion information of the sensitive gravity meter relative to an inertia space;
s102, performing attitude control by adopting an angular position-angular speed double-loop PID control strategy, so that a platform always tracks a local geographic horizontal plane; the shock absorber arranged below the high-precision stable platform system is used for isolating harmful disturbance caused by high-frequency vibration of the base;
s103, data communication: the fiber-optic gyroscope strapdown attitude measurement system uploads the motion characteristics of the gravity meter to an upper computer FPGA controller through a 422 port; wherein the motion characteristics include attitude information, angular velocity and linear motion information;
s104, control strategy: the FPGA controller directly outputs analog voltage DAC through a double-loop PID control strategy, the output control voltage is amplified by an amplifier and converted into PWM current signals to drive moment motors on a pitching axis and a rolling axis, and then the control platform tracks the local geographic horizontal plane.
The invention is further described below with reference to examples.
Example 1
The aim of the invention is realized by the following technical scheme:
according to the scheme, the gravity instrument and the fiber-optic gyroscope strapdown attitude measurement system are fixedly connected, the attitude of the gravity instrument is measured in real time and high precision through the fiber-optic gyroscope inertial attitude measurement system, meanwhile, the output of the gyroscope is collected, the angular motion information of the sensitive gravity instrument relative to the inertial space is adopted, and the attitude control is carried out by adopting an angular position-angular speed double-loop PID control strategy, so that the platform always tracks the local geographic horizontal plane.
The double-ring PID refers to a gesture position ring and an angular velocity ring, and the rapidity and the accuracy are improved through the position ring PID.
The PID parameters of the position loop adopt a switching control mode, and are divided into a large-parameter control stage and a small-parameter adjustment stage, reasonable switching points are set, the large-parameter position loop enables the stable control platform to be quickly stabilized at a preset angular position, and then the stability precision of the platform is improved through the small-parameter position loop.
The function of the speed loop PID improves the stable rigidity of the platform, so that the stable control platform has enough rigidity after being stabilized to isolate the abrupt variable speed movement of the carrier.
The double-loop PID control enables the control strategy to be more reasonable, the angular position, the angular speed and the angular acceleration of the platform can be monitored simultaneously, the motion characteristics of the platform can be comprehensively mastered, and the quick response capability, the reliability and the control precision of the platform for tracking the horizontal plane are realized.
The whole block diagram of the scheme is shown in fig. 1, wherein the whole block diagram comprises a core sensor Inertial Measurement Unit (IMU) of the fiber optic strapdown attitude measurement system; and realizing a control FPGA of a stable control strategy.
Example 2
The system adopts a two-shaft two-frame structure, and the inner frame and the outer frame are respectively controlled by independent control loops, so that the two frames are not mutually influenced and are not mutually interfered. The control loops of the two frames are basically the same, and comprise a motion controller, a power amplifier, a direct current torque motor, a load and the like.
The invention provides a means for isolating carrier movement and providing stable vertical measurement environment for a gravity meter, which comprises the following steps:
the first step: the system comprises a platform body, a gyro stabilizing platform system, a fiber strapdown attitude determination system, a moment motor, a multipole rotary transformer and the like, wherein the gyro stabilizing platform system is arranged above the platform body, the fiber strapdown attitude determination system is fixedly arranged below the platform, the moment motor is arranged on a pitching horizontal ring frame and a rolling horizontal ring frame, and the multipole rotary transformer for measuring the attitude angle of the platform body is arranged on each horizontal shaft of the platform. The whole system mainly comprises an inertial measurement system, a control system, a power supply system and the like.
And a second step of: the shock absorber is arranged below the stable platform and is mainly used for isolating harmful disturbance caused by high-frequency vibration of the base.
And a third step of: because the gravity meter is fixedly connected with the optical fiber strapdown attitude measurement system, the optical fiber strapdown attitude measurement system gives out the motion characteristics of the gravity meter in real time and mainly comprises attitude information, angular velocity and linear motion information.
And a third step of: data communication
The fiber strapdown attitude measurement system uploads the motion characteristics (attitude information, angular speed and linear motion information) of the gravity meter to the upper computer FPGA controller through a 422 port.
Fourth step: control strategy
The FPGA controller directly outputs analog voltage DAC through a double-loop PID control strategy, the output control voltage is amplified by an amplifier and converted into PWM current signals to drive moment motors on a pitching axis and a rolling axis, and then the control platform tracks the local geographic horizontal plane.
And modeling the control system according to the working principle of the control system. The torque motor outputs a rotating torque under the action of the input control voltage, the rotating body starts to rotate against the friction torque under the action of the torque, and the rotating angular speed and the angular acceleration accord with a dynamics model. Meanwhile, the IMU feeds back the angle and the angular speed of the platform in real time, and the control computer calculates the control error in real time to change the control voltage.
Neglecting the effect of the motor counter-potential voltage, the transfer function of a DC torque motor can be expressed as:
wherein M is d Output torque of DC torque motor, C m Is the moment constant of the moment motor, L a For motor armature inductance, R a For motor armature resistance, U c Is the voltage applied across the armature.
Armature inductance L in the system a Far smaller than the armature resistance R a . Thus, the torque motor model can be simplified as:
the torque balance equation on the motor shaft can be expressed as:
wherein M is the input torque on the motor shaft, M f J is the moment of friction on the motor shaft, J is the moment of inertia of the rotating body, ω is the rotational angular rate of the rotating body.
The above formula can be similarly expressed as:
where f is the viscous drag coefficient on the motor shaft.
Thus, the transfer function of the rotator can be expressed as:
in order to ensure control accuracy and stable rigidity, a position-speed double-loop control is considered, and a single-axis stabilizing system is taken as an example, and the structure of a control loop is shown in fig. 3.
As shown in fig. 2, the single axis control loop consists of a speed loop (inner loop) and a position loop (outer loop). Both the position loop controller and the speed loop controller employ PID algorithms. In order to keep the platform at the height level, the IMU output angular velocity information is converted into angle information theta through one integral imu The angular position information omega is fed back to the angular position outer ring controller, on the one hand, the angular speed information omega is fed back to the angular speed inner ring controller, and meanwhile, the control system is required to realize high-speed data communication and high-frequency servo updating.
The parameters of the torque motor and the rotating body of the known system are as follows:
motor torque constant: c (C) m ＝3.292N·m/A；
Armature resistance: r is R a ＝2.65Ω；
Rotational inertia of the rotating body: j=1.185 kg·m 2 ；
Viscous drag coefficient: f=0.00004.
The transfer function of the dc torque motor and the transfer function of the rotating body are then respectively:
therefore, the control precision and the rigidity are two important indexes of the system, and double-ring control of a position ring and a speed ring is adopted. Taking pitch channel as an example, the mathematical model of the control system is shown in fig. 4.
As shown in fig. 3, the platform stabilization reference θ d The difference between the velocity loop output v (t) and the angle theta obtained by once integration is used for obtaining the control error e of the control position loop 1 (t) position loop controller output u 1 (t) and the speed loop output v (t) are differenced to obtain a control error e of the speed loop 2 (t) speed loop controller output u 2 And (t) controlling the controlled object, and obtaining the output theta of the position loop by the output v (t) of the speed loop through an integral link.
The mathematical model of the control system can obtain that the transfer function of the controlled object is as follows:
wherein K is U-I Is the amplification factor of the amplifier.
In addition, because the gravity sensor and the optical fiber IMU on the platform body are precise instruments, in order to ensure long-time normal operation of the precise instruments, excessive impact of the gravity sensor and the IMU in the instrument control process must be avoided. It is desirable to avoid jerking and sudden stopping of the platform during control, while avoiding excessive impact during control, which is beneficial to extending the service life of the torque motor. In the system, setting a leveling process, wherein a control model of the leveling process is consistent with a working state control model.
Judging: if when theta is d The PID in the control system selects small parameters, namely leveling parameters, so that the system slowly tracks the local horizontal plane from a large non-horizontal angle; when the error angle theta d PID in the control system is switched into stable parameter control, so that the system has satisfactory control precision and control rigidity.
Limited voltage: 5V
Voltage-to-current conversion U-I
Assuming that the voltage-current conversion is linear, and the peak locked-rotor current of the motor is known to be 12A, the voltage-current conversion coefficient KU-i=2.4a/V.
The equivalent circuit diagram of the DC torque motor is shown in fig. 4.
From i a The generated motor output torque is:
M m (s)＝k m i a (s) (9)
wherein k is m Is the torque coefficient of the motor, i.e. the current-torque coefficient of the motor. According to given parameters, get:
k m ＝39.5N·m/12A＝3.292N·m/A (10)
the torque balance equation on the motor shaft is:
M m (s)＝J 1 sω+f 1 ω (11)
wherein J is 1 Is the moment of inertia of the motor and the load folded onto the motor shaft, f 1 Is the coefficient of viscosity of the motor and the load to the motor shaft.
The open loop transfer function of the single axis control system is:
if I 1 =0, then the system is type I; if I 1 Not equal to 0, the system is type II.
At present, a system debugging stage is entered, a stable platform object is placed on a swinging table, and the accuracy of gesture control is checked when dynamic swinging is performed. Fig. 5 and 6 are graphs of control effects of stabilizing the pitch direction and roll direction of the platform, respectively.
The main parameter indexes of the control system are as follows:
(1) The output frequency of the inertial navigation solution data is required to be 1KHz, and the highest output baud rate is 1843200bit/s.
(2) The FPGA servo control frequency is 1KHz.
(3) The FPGA implements the control algorithm. The attitude angle and the angular rate of the IMU are used as input signals of a control loop, and control voltage is output through operation of the control loop, wherein an AD chip adopts 16-bit AD5752.
(4) The power amplifier functions to amplify the control voltage and convert it into a PWM signal. The PWM signals obtained through conversion directly control the torque motor. The power amplifier used in the system is an amplifying module taking MSK4205H as a core, and is independently developed by related personnel and is not described in detail herein.
The invention is further described below in connection with the working principle.
When the invention works, the control FPGA receives comprehensive control port data of the IMU, judges deviation from zero position, outputs analog control voltage according to angular position-angular speed double-loop PID control, controls the platform through a moment motor corresponding to amplifier control by the analog voltage, is fixedly connected on the platform, senses real posture of the platform in real time, and then transmits posture information to the control FPGA to form closed-loop control so as to ensure that the platform always keeps level; in addition, a monitoring FPGA receives the carrier gesture (comprehensive control port data) provided by the IMU at the same time to detect the reliability of the stable platform, when the system is in a stable control mode, the gesture angle output exceeds 1 degree, the monitoring FPGA cuts off the power amplifier enabling control to the power amplifier board, in addition, the monitoring FPGA acquires rotation information, and when the rotation angle position exceeds 20 degrees, the enabling control of the power amplifier board is cut off to improve the safety and the reliability of the stable platform.
Based on the design of the scheme, the invention develops a test experiment of the stable platform in a laboratory, the experimental results are shown in fig. 5 and 6, and the stable platform can keep the gesture precision within 1 angle within 10 days.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (9)
1. The control method of the high-precision stable platform system is characterized by comprising the following steps of:
fixedly connecting a gravity meter and a fiber-optic gyroscope strapdown attitude measurement system on a stable platform, electrifying to enable the platform to generate determined attitude change, measuring the attitude of the gravity meter in real time and high precision through the fiber-optic gyroscope inertial attitude measurement system, and simultaneously collecting the output of the gyroscope and the angular motion information of the sensitive gravity meter relative to an inertial space;
the fiber-optic gyroscope strapdown attitude measurement system uploads the motion characteristics of the gravity meter to an upper computer FPGA controller through an interface; wherein the motion characteristics include attitude information, angular velocity and linear motion information;
the FPGA controller receives the motion characteristics of the gravity meter obtained by the strapdown attitude measurement system, performs attitude control by using an angular position-angular speed double-loop PID control strategy, directly outputs analog voltage DAC, amplifies the output control voltage by an amplifier, converts the amplified control voltage into PWM current signals to drive moment motors on a pitching axis and a transverse rolling axis, and further controls a platform to track a local geographic horizontal plane; meanwhile, the damping system arranged below the stable platform can isolate harmful disturbance caused by high-frequency vibration of the base, so that the control platform can track the local geographic horizontal plane more quickly and stably;
the control method of the high-precision stable platform system further comprises the following steps:
the torque motor outputs a rotating torque under the action of an input control voltage, the rotating body starts to rotate against the friction torque under the action of the torque, and the rotating angular speed and the angular acceleration accord with a dynamics model; simultaneously, the IMU feeds back the angle and the angular speed of the platform in real time, and the control computer calculates the control error in real time to change the control voltage;
neglecting the effect of the back-emf voltage of the motor, the transfer function of the dc torque motor is expressed as:
wherein M is d Output torque of DC torque motor, C m Is the moment constant of the moment motor, L a For motor armature inductance, R a For motor armature resistance, U c Is the voltage applied across the armature;
armature inductance L a Far smaller than the armature resistance R a The method comprises the steps of carrying out a first treatment on the surface of the The torque motor model is simplified as:
the torque balance equation on the motor shaft is expressed as:
wherein M is the input torque on the motor shaft, M f The torque is the friction torque on a motor shaft, J is the rotational inertia of the rotating body, and omega is the rotation angular rate of the rotating body;
the above formula is also expressed as:
wherein f is the viscous drag coefficient on the motor shaft;
the transfer function of the rotator is expressed as:
2. the method of controlling a high precision stabilized platform system according to claim 1, wherein the FPGA controller includes a single axis control loop consisting of a speed loop and a position loop; the position loop controller and the speed loop controller both adopt PID algorithm; the IMU output angular velocity information is converted into angle information theta through one integration imu The angular velocity information omega is fed back to the angular position outer ring controller, and on the other hand, the angular velocity information omega is fed back to the angular velocity inner ring controller, and meanwhile, the control system realizes high-speed numbersAccording to communication and high frequency servo updating;
the parameters of the torque motor and the rotating body of the known system are as follows:
motor torque constant: c (C) m ＝3.292N·mA；
Armature resistance: r is R a ＝2.65Ω；
Rotational inertia of the rotating body: j=1.185 kg·m 2 ；
Viscous drag coefficient: f=0.00004;
then, the transfer function of the direct current torque motor and the transfer function of the rotating body are obtained as follows:
3. the control method of the high-precision stabilized platform system according to claim 2, wherein in the FPGA controller, a platform stabilization reference θ d The difference with the IMU output angle theta is used for obtaining the control error e of the control position loop 1 (t) position loop controller output u 1 (t) and the speed loop output v (t) are differenced to obtain a control error e of speed change 2 (t) speed loop controller output u 2 (t) controlling a controlled object, and obtaining the output theta of a position loop by the output v (t) of a speed loop through an integral link;
the transfer function of the controlled object is obtained by a mathematical model of the FPGA controller system:
wherein K is U-I Is the amplification factor of the amplifier;
in addition, because the gravity sensor and the optical fiber IMU on the platform body are precise instruments, the overlarge impact of the gravity sensor and the IMU in the instrument control process is avoided, and the sudden rotation and the sudden stop in the platform control process are avoided;
judging: if when theta is d The PID in the control system selects small parameters, namely leveling parameters, so that the system slowly tracks the local horizontal plane from a large non-horizontal angle; when the error angle theta d PID in the control system is switched into stable parameter control, so that the system has satisfactory control precision and control rigidity;
limited voltage: 5V;
voltage-current conversion U-I;
assuming that the voltage-current conversion is linear, and the peak locked-rotor current of the motor is 12A, the voltage-current conversion coefficient KU-I=2.4A/V;
from i a The generated motor output torque is:
M m (s)＝k m i a (s)；
wherein k is m The torque coefficient of the motor, namely the current-torque coefficient of the motor; according to given parameters, get:
k m ＝39.5N·m/12A＝3.292N·m/A；
the torque balance equation on the motor shaft is:
M m (s)＝J 1 sω+f 1 ω；
wherein J is 1 Is the moment of inertia of the motor and the load folded onto the motor shaft, f 1 Is the coefficient of viscosity of the motor and the load to the motor shaft;
the open loop transfer function of the FPGA controller is as follows:
if I 1 =0, then the system is type I; if I 1 Not equal to 0, the system is type II;
the parameter indexes of the FPGA controller are as follows:
(1) The output frequency of the inertial navigation solution data is required to be 1KHz, and the highest output baud rate is 1843200bit/s;
(2) The FPGA servo control frequency is 1KHz;
(3) The FPGA realizes a control algorithm; the attitude angle and the angular rate of the IMU are used as input signals of a control loop, and control voltage is output through operation of the control loop, wherein an AD chip adopts 16-bit AD5752;
(4) The power amplifier amplifies the control voltage and converts the control voltage into a PWM signal; the PWM signals obtained through conversion directly control the torque motor.
4. A high precision stabilized platform system, the high precision stabilized platform system comprising:
inertial measurement system: the inertial measurement system carries out real-time high-precision measurement on the posture of the gravity meter through the optical fiber gyroscope, and simultaneously collects the output of the gyroscope, and the angular motion information of the sensitive gravity meter relative to the inertial space;
and (3) a control system: the control system receives the motion characteristics of the gravity meter obtained by the fiber-optic gyroscope attitude measurement system, and controls the moment motor through the FPGA controller so as to control the attitude, so that the platform always tracks the local geographic horizontal plane;
and (3) a power supply system: the AC220V power supply is used, and voltage requirements of different modules are met through transformer adjustment;
damping system: the damping system is used for isolating harmful disturbance caused by high-frequency vibration of the base by installing a damper below the stable platform.
5. The high precision stabilized platform system of claim 4, wherein the high precision stabilized platform system further comprises: the system comprises a gravity meter, a fiber-optic gyroscope strapdown attitude measurement system, a moment motor, a multipole rotary transformer and a shock absorber;
a gravity meter is arranged above the platform body, a fiber-optic gyroscope strapdown attitude measurement system is fixedly arranged below the platform, a moment motor is arranged on a pitching horizontal ring frame and a rolling horizontal ring frame, and multipole rotary transformers for measuring the attitude angles of the platform body are arranged on each horizontal shaft of the platform; a shock absorber is arranged below the high-precision stable platform system and used for isolating harmful disturbance caused by high-frequency vibration of the base;
the gravity meter is fixedly connected with the fiber-optic gyroscope strapdown attitude measurement system, the fiber-optic gyroscope inertial attitude determination system is used for measuring the attitude of the gravity meter in real time with high precision, meanwhile, the output of the gyroscope is collected, the angular motion information of the sensitive gravity meter relative to the inertial space is adopted, and the attitude control is carried out by adopting an angular position-angular velocity double-loop PID control strategy, so that the platform always tracks the local geographic horizontal plane;
the double-ring PID refers to a gesture position ring and an angular velocity ring, and the rapidity and the accuracy are improved through the position ring PID; the double-loop PID control can monitor the angular position, the angular speed and the angular acceleration of the platform at the same time and master the motion characteristics of the platform;
the PID parameter of the position loop adopts a switching control mode, and is divided into a large parameter control stage and a small parameter adjustment stage, reasonable switching points are set, the large parameter position loop enables the stable control platform to be stable at a preset angular position, and then the stability precision of the platform is improved through the small parameter position loop;
the speed loop PID is used for improving the stable rigidity of the platform, so that the stable control platform has enough rigidity after being stabilized to isolate the abrupt variable speed movement of the carrier;
the fiber-optic gyroscope strapdown attitude measurement system further comprises a core sensor inertial measurement unit IMU, and the core sensor inertial measurement unit IMU is used for realizing a control FPGA of a stable control strategy.
6. A vehicle-mounted, carrier-borne, airborne, or airborne device carrying the high precision stabilized platform system of any one of claims 4-5.
7. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the method of controlling a high precision stabilized platform system as claimed in any one of claims 1 to 3.
8. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the control method of the high-precision stabilized platform system according to any one of claims 1 to 3.
9. An information data processing terminal, characterized in that the information data processing terminal is configured to implement the control method of the high-precision stabilized platform system according to any one of claims 1 to 3.
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| CN114137627B (en) * | 2021-11-25 | 2023-09-22 | 九江中船仪表有限责任公司（四四一厂） | Control method for isolating biaxial angular motion of gravity meter |
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