CN112462610A - Multistage multi-order hysteresis correction network control method for photoelectric tracking system - Google Patents
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Abstract
The invention discloses a multistage and multistage lag correction network control method of a photoelectric tracking system, which adopts a multistage and multistage lag correction network arranged according to a specific rule to realize high-precision tracking and automatic setting of control parameters in a working frequency band of the photoelectric tracking system under the conditions of not changing the frame of the existing control system and not influencing the relative stability of the system. Compared with the existing photoelectric tracking control system, the invention improves the tracking precision, simultaneously weakens the contradiction between the tracking precision and the stability in the current photoelectric tracking system, and solves the problems of unclear design basis and parameter setting of designers in the design.
Description
Technical Field
The invention relates to the field of control of photoelectric tracking systems, in particular to a multistage and multistage hysteresis correction network control method for a photoelectric tracking system, which is suitable for a high-precision photoelectric tracking system which has higher requirements on tracking precision and stability margin and can be quickly realized without design personnel having rich control system design experience.
Background
In the fields of photoelectric measurement, laser communication, astronomical observation and the like, a photoelectric system plays an important role as an execution mechanism for quickly and accurately finding and tracking a target. In recent years, with the increase of detection distance and the enhancement of rapidity and maneuverability of tracking targets, higher requirements are put on the tracking accuracy of a photoelectric tracking system, and challenges are brought to corresponding photoelectric tracking control technologies. In order to achieve the above object, the photoelectric tracking control system needs to have a stronger tracking error suppression capability.
From the perspective of control system design, the most effective method for improving the error suppression capability of the photoelectric tracking system is to improve the control bandwidth of the system or increase the gain within the bandwidth. The bandwidth increase range is limited by the factors of the mechanical characteristics of the system, the data transmission delay and the like, and the cost increase caused by the bandwidth increase is high. Increasing the gain within the system bandwidth is a design idea preferred by the designers of general control systems, and the most direct method is to increase the number of system integrators. On the premise of unchanged bandwidth, the more the number of integrators is, the larger the low-frequency gain of the system is, and the stronger the suppression capability of the tracking error is. For example, a PID-I type controller proposed in "PID-I controller of charged coupled device-based tracking loop for fast-steering mixer" by down et al 2011 improves the error suppression capability in the low-and-medium frequency band of the photovoltaic system by adding two integrators; the application of dynamic high-type control of a Changchun optical machine in an electro-optic theodolite servo system is also realized by adding a plurality of integrators to realize the high tracking precision of an electro-optic system. However, these methods are not widely used in engineering, and the most important reason is that the phase loss caused by the integrator is inevitable, and the phase loss causes the stability margin of the system to be greatly reduced and even causes instability in some cases, so that the engineering application of these methods is limited. The lead-lag calibration method, for example, published in 2009 in Automatica under the heading "Synthesis of phase-lead/lag modulators with complete information on gain and phase indexes", can simulate an integral operator in a certain frequency band to improve the gain of the system, but also brings about phase loss in a certain frequency band. When the effective gain is reduced due to nonlinear phenomena such as system drive protection and integral saturation, the controller not only reduces the tracking precision, but also risks phase margin reduction and even system instability. Because the inherent contradiction relationship exists between the system gain represented by the integral operator and the stability margin represented by the system phase, the design of the controller with high tracking accuracy and high stability margin in the traditional feedback closed loop structure becomes a difficult point.
The fractional order correction method is a novel control strategy for making a compromise between the number of integrators and phase loss, gain increase in the whole bandwidth range is obtained by losing a small part of phases in a full frequency band in a balanced manner, and the control effect similar to that of a half integrator is realized. Although the number of effective integrators is reduced, the tracking accuracy is slightly reduced compared with a multi-integrator system, the phase loss is small, the system is balanced, and the stability of the system is not reduced due to the change of the effective gain. For example, in the article "a comprehensive performance improvement control method by fractional order control", a control method of fractional order correction is adopted in the middle and low frequency band of the fast-reflection mirror operation, which proves the feasibility of the fractional order correction for improving the tracking accuracy without changing the stability margin of the system. Although there are many conclusions theoretically, some application achievements are obtained under certain limiting conditions, however, as the development of fractional order element devices with the characteristic of 'half integrator' has not been a major breakthrough so far, the corrector with the characteristic of fractional order correction cannot be directly obtained on a digital computer, and the wide implementation of the theoretical method becomes a bottleneck in engineering application. However, if the frequency response characteristic of the theoretical fractional order corrector is regarded as the additive effect of a plurality of "one integrator" and "zero integrator", the effect of the fractional order correction can be approximated to some extent. One simple way to achieve the additive effect is to cascade a plurality of lead-lag correctors under a certain law, but this law has not been clear until now nor has it been able to directly guide engineering implementation.
By combining the analysis, the feasibility of simulating fractional order correction characteristics of a plurality of lag correctors is fully utilized, and the calibration network configuration method, parameter setting and the like in the lag correctors are designed by determining the cascade rules of the lag correctors and the relation between the cascade rules and the tracking accuracy and stability of the system, so that a simple multistage and multistage lag correction network control strategy is realized, and the tracking accuracy of the photoelectric tracking system is improved. The invention is an effective means for solving the contradiction between tracking precision and stability in the current photoelectric tracking system, and has good application prospect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the photoelectric tracking system needs to meet the requirements of tracking precision and stability margin of a full working frequency band at the same time. However, there is an inherent contradiction between tracking accuracy and stability margin, and the existing feedback control method does not have the capability of adjusting the contradiction.
The technical scheme adopted by the invention is as follows: a multistage and multistage hysteresis correction network control method for a photoelectric tracking system comprises the following two parts: the device comprises a performance setting module 1 and a parameter setting module 2.
The transfer function characteristic of the controlled photoelectric tracking system is obtained by means of system identification and the like, and is an input condition of the performance setting module 1. The maximum bandwidth and the transmission time delay condition of the system are determined according to the transfer function identification result of the photoelectric tracking system, and appropriate performance parameters can be designed on the basis. In the performance setting module 1, a set of feasible tracking performance parameters including the relative order of the controller, the working frequency range, the order and the number of stages of the hysteresis correction network are automatically set according to the transfer function characteristics and the mechanical characteristics of the controlled object.
The designer can set three performance parameters of the phase margin of the photoelectric tracking system, the correction frequency band of the multistage multi-order lag correction network and the fitting precision of the multistage multi-order lag correction network to the fractional order operator, wherein the phase margin of the photoelectric tracking system is expressed by relative order parameters, the correction frequency band of the multistage multi-order lag correction network is expressed by the working frequency band range, the fitting precision of the multistage multi-order lag correction network to the fractional order operator is expressed by the order and the order of the lag correction network, the structure and parameters of the correction network are directly output through the normalized flow by internal software calculation, the output parameters are directly related to the tracking performance of the photoelectric tracking system, the method does not need designers to have professional correction network design experience, and can even directly adopt the preset value to carry out one-click operation, thereby avoiding the embarrassment that the design basis is fuzzy in the general correction network design.
At the same time, these three sets of parameters required by the system may also be manually modified by the control system designer. The specific meanings and boundary ranges of the individual parameters are explained in detail in the description of the embodiments. After the performance parameter setting is completed, the parameter setting module 2 automatically calculates the structure and controller parameters of the multistage multi-stage hysteresis correction network by using the performance parameters, and provides the design and parameter setting results of the correction network.
The method relates a large number of network parameters in a multistage multi-order lag correction network with three expected performance parameters, only three performance parameters are needed to be input, poles and zeros with a fixed multiplying power relation are configured in a working frequency band according to a configuration formula, meanwhile, the maximum gain coefficient which can be borne by the system is automatically calculated, finally, the multistage multi-order lag correction network which is smooth enough in amplitude and phase and accurate enough in fitting of a fractional order integration system is formed, and the requirements of a photoelectric tracking system on tracking accuracy and stability margin are met; the calculation software is used for automatically calculating and outputting all correction network parameters, so that the workload of designers is greatly reduced, and the problems of design difficulty and design rule non-uniformity caused by the unclear relation among a complex structure, parameter design and system performance in a general correction network are solved.
The control system implementing personnel can directly put the correction network parameters into corresponding software codes, and then the multistage and multistage hysteresis correction network can be realized in the computer.
Compared with the prior system, the invention has the following advantages:
firstly, under the traditional feedback control framework, the invention improves the tracking precision of the photoelectric tracking system and simultaneously weakens the contradiction between the tracking precision and the stability margin. Compared with the traditional single integrator system, the invention can provide higher in-bandwidth tracking capability under the same bandwidth condition; compared with a multi-integrator system, the method is insensitive to gain change, has high enough stability margin, and does not need to bear the risk of stability damage caused by various reasons in the system operation process. On the comprehensive capability of the system, the invention has better system tracking performance;
and secondly, each module of the invention adopts an automatic setting and calculating method, after the identification result of the controlled system is obtained, the design of the multistage and multistage hysteresis correction network and the output of corresponding network parameters can be automatically carried out in the whole process, the design result can be automatically obtained without the operation of professional persons in the whole process, and the engineering realization is very convenient. Meanwhile, in order to further improve the design freedom of designers, a way for manually setting related parameters is provided in the performance setting module (module 1), and the system performance requirements can be conveniently and individually designed.
Drawings
FIG. 1 is a block diagram of a multi-stage multi-order lag correction network control system for a photoelectric tracking system in accordance with the present invention;
FIG. 2 is a diagram of the distribution of the zero-poles and the amplitude and phase response of the multi-stage and multi-stage lag correction network according to the present invention;
FIG. 3 is a block diagram of the control design and implementation process of the multi-stage hysteresis correction network of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
In the photoelectric tracking system, a mode that a plurality of lag correctors are cascaded and overlapped under a certain rule is adopted, smooth control gain improvement and phase loss in a working frequency range are realized, and a certain system stability margin requirement is met while the tracking precision of the photoelectric tracking system is effectively improved.
The invention aims at a photoelectric tracking system, which can be regarded as a single-input single-output linear constant system in an operating frequency band and can be represented by a transfer function G(s), wherein r (t) is a tracked input signal, and y (t) is an actual tracking position of the photoelectric tracking system. Because the delay effect caused by signal sampling and transmission always exists in the system operation process, the controlled system discussed in the invention should be added with a time delay link e-τsThe total controlled object of the photoelectric tracking system is G(s) e-τsAs shown in fig. 1. On the basis of the determination of the controlled object, the designer first designs a basic corrector C0(s) which functions to correct the open loop characteristic of the system to a transfer characteristic of approximately 1. However, since there is always a time lag in the controlled object and the basic corrector cannot compensate for it, the general basic corrector is designed to be C0(s)≈G-1(s). The controlled object added with the basic corrector can be approximately regarded as a pure time delay link e-τs. The multistage, multistage hysteretic correction network proposed by the present invention is represented in fig. 1 as a block β(s) in the basic corrector C0And(s) further adding a correction link. Therefore, the correction controller of the photoelectric tracking system is a set C(s) ═ β(s) C of the basic corrector and the multistage hysteresis correction network0(s)。
The open-loop transfer function of the photoelectric tracking system comprising the basic controller and the multistage multi-order hysteresis correction network is as follows:
F(s)＝β(s)C0(s)G(s)e-τs≈β(s)e-τs (1)
if β(s) is a standard integral system, satisfy β(s) ═ K/sNThen it is extremely easy to calculate to obtain when at least p is satisfiedmUnder the condition of rad phase margin, if the maximum open loop bandwidth of the system is omegacThen the maximum gain of β(s) is:
the maximum order N of the system should satisfy:
as can be seen from equation (2), if the bandwidth of the system is not changed, and it is necessary to increase the value of the integration order N to obtain higher tracking accuracy by increasing the gain, it is extremely difficult for the inequality (3) to take an equal sign when N is limited to an integer. On the other hand, if β(s) is not a pure integral element but a complex element formed by multiple sets of poles-zero, the analysis of the bandwidth, phase, etc. becomes very complex. Therefore, the invention assumes the amplitude and phase performance of the multistage multi-order lag correction network beta(s) on the frequency domain and the fractional order standard integral transfer function K/sαThe same, namely:
β(s)≈K/sα (4)
the limitation of the fractional order is 0 < alpha < 2, so that the system is not a non-causal system with the numerator higher than the denominator, and the system cannot be stable due to the phase loss of the system caused by the over-high integral order. The slope of the amplitude-frequency curve of the multistage hysteresis correction network beta(s) is about-20 alpha dB/dec, and the phase is about-pi alpha/2 rad. Obviously, when alpha is larger than 1, the amplitude of the low frequency band of the correction network is higher than that of a common first-order integral correction system, and the closed-loop tracking precision of the correction network is higher than that of the common first-order integral correction system according to the rule of high amplitude and high precision. Meanwhile, alpha is a rational number smaller than 2, the phase in the working range of the system can not drop minus pi all the time, which ensures that the system has enough phase margin all the time, and scholars have proved theoretically that (4) has excellent gain robustness, and the change of the system gain can not change the stability of the system, so the robust stability and the tracking precision of the system are ensured. The fractional order α is then defined as the relative order of the system. The larger the relative order α, the higher the system tracking accuracy, but at the same time the lower the stability margin.
As a non-strict equation, K/s in equation (4)αIs a fractional order integral transfer function. Limited by the current fractional order element technology, the deviceThe transfer function has not been directly implemented. However, the present invention is inspired by the fact that the broken line formed by a plurality of groups of lead-lag correctors can simulate the transfer characteristic of the fractional order, and a group of frequency points omega from low to high is selected in the working frequency band1、ω2、ω3、ω4…ω2nAdding a pole, a zero, a pole, a zero … to these frequency points to form a series combination of pole and zero, and adding an integrator, a multi-stage lag correction network β(s) similar to fractional order integration can be formed. Frequency range [ omega ] where zero pole is located1,ω2n]I.e. the frequency band range parameter in the performance setting module (module 1). The distribution of the zero poles, the amplitude frequency and the phase frequency curve of beta(s) in the frequency domain are shown in fig. 2. When the number of the lag correctors added in a certain frequency band is increased, the amplitude-frequency and phase-frequency curves of the lag correctors are smoother, the fitting effect on the fractional order integral system is better, and the complexity of the system implementation is higher. Suppose that each frequency ωiM superposed zeros or poles are arranged on the network, n independent lag correctors with non-superposed frequencies are arranged in beta(s), 2nm pole zeros and an integrator are arranged in beta(s), the number of stages of the formed multistage and multistage lag correction network is n, the order is m, and the form is as follows:
in order to enable the performance of the n-level m-order hysteresis correction network in the working frequency range to meet the formula (4) as much as possible and reduce the complex work of independently designing 2nm pole zeros in the formula (5), the invention provides the following design conditions:
1) defining a constant c as the frequency multiple relation of the upper and lower bounds of the frequency band range in the whole multistage multi-order lag correction network, namely:
2) each independent lag corrector zero has a fixed multiple e with the pole frequency, and the pole has a fixed multiple d with the zero frequency between every two adjacent independent lag correctors, namely, for any i ═ 1,2,. n, there are:
by the above assumptions, the constants e, d and their determined intermediate frequency points ωiThe zero pole of the multi-stage and multi-stage hysteresis correction network does not need to be manually distributed for obtaining, but is determined by the set relative order alpha and the operating frequency range multiple c. The relationship is as follows:
ω2nthe frequency point of the last zero point of the whole multistage hysteresis correction network is a frequency point which does not affect the bandwidth and the phase margin of the system, and the cut-off frequency of the correction network is not higher than 0.1 time of the frequency of the open-loop bandwidth, namely omega2n≤0.1ωc。
In summary, the design and implementation of the multi-stage and multi-stage hysteresis correction network includes two modules executed sequentially: the performance setting module 1 and the parameter setting module 2 are sequentially executed in the implementation process.
Firstly, the performance setting module 1 presets a group of feasible multistage multi-order lag correction network parameters including relative order parameters, working frequency range parameters and the order and progression of the multistage multi-order lag correction network according to the design constraint conditions of a general photoelectric tracking control system.
The general servo system takes the phase margin as pmPi/4, in order to make inequality (3) equal without considering the time delay, a preset relative order α is obtained by calculation01.5. The working frequency range of the multi-level multi-order lag correction network is simultaneously defaulted to c0The initial frequency of the calibration network is ω, which is 100 octaves1＝0.001ωcTermination frequency of ω2n＝0.1ωc. According to experience, in the frequency range, in order to simultaneously guarantee the smoothness of the multistage and multistage hysteresis correction network and the system implementation complexity, the stage number of the initially selected hysteresis correction network is 3, and the stage number is 1. The default performance parameter settings in the performance setting module 1 are as follows:
table 1 initial performance parameter setting table
The designer may modify the above parameters within the constraints of the performance parameters according to specific requirements. The larger the relative order alpha is, the higher the accuracy of the system is, but the lower the stability margin of the system is, and meanwhile, the relative order must meet the stability requirement of the formula (3); at a cut-off frequency omega2nThe larger the working frequency band range c under the condition of no change, the wider the fitting frequency band of the fractional order integration system is, but the higher the requirements on the number of stages and the order of the lag correction network are. Generally speaking, the correction compensation within 100 octaves is enough to improve the tracking accuracy of the photoelectric tracking system in the low-frequency working range; the larger the order m and the order n are, the higher the accuracy of the beta(s) fitting fractional order integration system is, but the complexity of the controller implementation is brought to the system. The above parameters are selected as trade-offs.
Secondly, the parameter setting module 2 is sequentially executed after the performance parameter module, wherein the correction network structure is given by a formula (5); the correction of the network parameters is mainly performed by the derivation process for specific frequency points omega1、ω2、ω3、ω4…ω2nAnd a gain parameter K. The following table is configured by the assumed conditions and parameter setting method in the performance setting module 1, and the specific gain and frequency points.
Table 2 table of correction network parameters
After the performance setting module 1 and the parameter setting module 2 are executed in sequence, the network beta(s) and each network parameter [ K, omega ] in the network beta(s) are corrected in a one-stage multi-stage lag wayi]I is 1,2, … 2 n. And adding the parameters into a control correction network of the controlled object, namely realizing a multistage and multistage hysteresis correction network.
Claims (3)
1. A multistage and multistage hysteresis correction network control method for a photoelectric tracking system is characterized by comprising the following steps: the method comprises sequentially executing two modules: the system comprises a performance setting module (1) and a parameter setting module (2), wherein the performance setting module (1) sets expected frequency response characteristics of the photoelectric tracking system, a design range of a correction network and fitting accuracy, and the expected frequency response characteristics, the design range of the correction network and the fitting accuracy are respectively expressed by relative orders, working frequency bands and correction network order numbers; the parameter setting module (2) calculates the structure of the multistage multi-stage hysteresis correction network and all network parameters in the structure in software according to the designed performance parameter input, and automatically generates a calculation result of parameter setting, so that the multistage multi-stage hysteresis correction network meeting the tracking precision and stability margin performance requirements can be quickly and conveniently realized.
2. The method as claimed in claim 1, wherein the method further comprises: the designer sets three performance parameters of phase margin of the photoelectric tracking system, correction frequency band of the multistage multi-order lag correction network and fitting precision of the multistage multi-order lag correction network to the fractional order operator, the phase margin of the photoelectric tracking system is expressed by relative order parameters, the correction frequency band of the multistage multi-order lag correction network is expressed by a working frequency band range, the fitting precision of the multistage multi-order lag correction network to the fractional order operator is expressed by the order and the order of the lag correction network, the structure and parameters of the correction network are directly output through the normalized flow by internal software calculation, the output parameters are directly related to the tracking performance of the photoelectric tracking system, the method does not need designers to have professional correction network design experience, and can even directly adopt the preset value to carry out one-click operation, thereby avoiding the embarrassment that the design basis is fuzzy in the general correction network design.
3. The method as claimed in claim 1, wherein the method further comprises: the method relates a large number of network parameters in a multistage multi-order lag correction network with three expected performance parameters, only three performance parameters are needed to be input, poles and zeros with a fixed multiplying power relation are configured in a working frequency band according to a configuration formula, meanwhile, the maximum gain coefficient which can be borne by the system is automatically calculated, finally, the multistage multi-order lag correction network which is smooth enough in amplitude and phase and accurate enough in fitting of a fractional order integration system is formed, and the requirements of a photoelectric tracking system on tracking accuracy and stability margin are met; the calculation software is used for automatically calculating and outputting all correction network parameters, so that the workload of designers is greatly reduced, and the problems of design difficulty and design rule non-uniformity caused by the unclear relation among a complex structure, parameter design and system performance in a general correction network are solved.
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