CN112487672B - Micro-vibration integrated simulation analysis method for optical remote sensing camera - Google Patents
Micro-vibration integrated simulation analysis method for optical remote sensing camera Download PDFInfo
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Abstract
The invention relates to a micro-vibration integration simulation analysis method of an optical remote sensing camera, which mainly comprises the steps of establishing an optical-mechanical integration model, checking a LOS rigid body of the optical-mechanical integration model, carrying out modal analysis in a free floating state, obtaining a transfer function by using a state space method, and calculating a LOS value by using a load input and the transfer function. The LOS rigid body inspection is used for verifying the correctness of the optical machine integration model establishment; modal analysis is to provide the necessary frequency and mode shape information for the state space method. On one hand, the simulation analysis method is high in calculation efficiency, on the other hand, two optical and mechanical disciplines involved in the micro-vibration simulation process of the optical remote sensing camera are integrated, compared with each single-discipline idealized model, the method can comprehensively consider the coupling influence among different disciplines, is closer to the real working process of the optical remote sensing camera, and the LOS value obtained through simulation has a stronger guiding significance on the design of the optical system and the evaluation of the imaging performance of the optical system.
Description
Technical Field
The invention belongs to the field of integrated simulation of optical remote sensing cameras, and particularly relates to a micro-vibration integrated simulation analysis method of an optical remote sensing camera.
Background
With the increasing demands for astronomical observation and civil and military earth observation, the optical remote sensing camera is developing towards the direction of large caliber, large view field and high image quality, and the camera often has the characteristics of long staring observation time, long exposure time, high image stabilization precision requirement and the like.
The optical axis pointing stability (LOS) is an important aspect of the image quality evaluation of an optical system, and directly reflects the stability of camera imaging. When the optical remote sensing camera works in an orbit, the optical remote sensing camera is continuously influenced by internal and external disturbance of a wide frequency band, and the LOS value of the optical system under the action of micro-vibration is analyzed, so that the vibration suppression and image stabilization control effects of the optical remote sensing camera can be reflected, and the quality of the design of the optical system can be reflected.
The micro-vibration integrated simulation analysis of the international optical remote sensing camera mostly adopts a frequency response analysis method, when the number of vibration sources is large, repeated frequency response analysis work needs to be carried out, the calculation efficiency is low, and along with the increasing complexity of the structure of the optical remote sensing camera, the calculation amount of the frequency response analysis can also have very high requirements on the performance of a computer. Therefore, there is a need to provide a micro-vibration integrated simulation analysis method capable of considering the coupling effect between different disciplines and acquiring the LOS value of the optical system more efficiently.
Disclosure of Invention
The invention provides a micro-vibration integrated simulation analysis method of an optical remote sensing camera, aiming at solving the technical problems that the micro-vibration integrated simulation analysis method in the prior art is low in calculation efficiency and requires less grids and nodes of an optical-mechanical integrated model in calculation amount.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a micro-vibration integrated simulation analysis method of an optical remote sensing camera, which comprises the following steps:
step (1), establishing a finite element model of an optical remote sensing camera structure in MSC.Patran, fitting in SigFit to obtain rigid body displacement MPC of each mirror, further establishing an optical model by using an optical sensitivity matrix, and integrating the optical model into the finite element model of the optical remote sensing camera structure to obtain an optical-mechanical integrated model of the optical remote sensing camera;
step (2), LOS rigid body inspection is carried out on the integrated model of the optical-mechanical machine by using a theoretical calculation method or a finite element analysis method; namely, whether the optical remote sensing camera meets the translation or not has no influence on the position of an image point of an object at infinity, and when the optical remote sensing camera is inclined, the object can generate an angle drift equal to the inclined angle of the camera;
step (3), if the LOS rigid body of the optical-mechanical integrated model is qualified, performing modal analysis on the LOS rigid body in a free floating state by using MSC.Nastran to obtain frequency and vibration mode information of the structure; if the LOS rigid body of the optical-mechanical integrated model is not qualified, turning to the step (1);
step (4), establishing a state space model by using the obtained modal information based on a state space method in Matlab, and calculating to obtain a transfer function of the structure;
and (5) describing the load input of the micro-vibration in a Power Spectral Density (PSD) mode, and further calculating by using the load input and a transfer function to obtain an LOS value of the optical remote sensing camera when the optical remote sensing camera is disturbed by each vibration source.
In the above technical solution, the step (1) is specifically:
establishing a finite element model of an optical remote sensing camera structure in MSC.Patran, positioning the mirror surface of each mirror by utilizing the curvature radius of each mirror, the material property of the mirror surface and the number information of an analysis coordinate system in optical software SigFit, fitting to obtain rigid displacement MPC of each mirror, further establishing an optical model by utilizing an optical sensitivity matrix, and integrating the optical model into the finite element model of the optical remote sensing camera structure in a bdf file manner to obtain an optical machine integration model of the optical remote sensing camera.
In the above technical solution, in the theoretical calculation method in step (2), it is assumed that the whole camera translates by a unit length along any axial direction of the optical coordinate system, and is substituted into the optical sensitivity matrix to calculate whether the image point is unchanged, and it is assumed that the whole camera rotates by a unit angle along any axial direction of the optical coordinate system, and is substituted into the optical sensitivity matrix to calculate whether the LOS value of the image point is also a unit angle.
In the above technical solution, the finite element analysis method in step (2) is to apply translational displacement or rotational displacement to the model in the optical-mechanical integrated model, calculate the image point displacement under corresponding working conditions by using msc.
In the above technical solution, the upper limit of the frequency of the modal analysis in step (3) should be twice the maximum value of the upper limits of the disturbance frequency bands of all vibration sources.
In the above technical solution, the step (4) is specifically:
establishing a state space model in Matlab, wherein the expression of the state space of the multi-input and multi-output system is as follows:
y＝Cx+Du
wherein A is a system matrix and represents the correlation condition among various state variables of the system; b is an input matrix, also called a control matrix, which represents the influence of system input on the change of state variables; c is an output matrix which represents the action relation between the state variable and the system output; d is a direct connection matrix which represents the direct influence of system input on system output, and many systems do not have the direct relation and are usually zero matrixes; the four matrices are calculated as follows:
D＝zeros(f out ,f in )
wherein nm is the extracted modal order, f in Degree of freedom, f, input to the system out Is the degree of freedom of the system output, and omega, Z,
β u And beta y The calculation method or the number of rows and columns is as follows: />
β u ＝((in+out)×6,f in )
β y ＝(f out ,(in+out)×6)
Wherein, w i Is angular frequency, ξ i In is the damping ratio, in is the number of system input points, and out is the number of system output points; after the state space model is established, the transfer function between the system input and the system output can be obtained.
In the above technical solution, the step (5) specifically includes the following steps:
describing the load input of the micro-vibration in the form of power spectral density, and obtaining the following by using the displacement response value obtained by calculation and an optical schematic diagram:
an LOS response curve of the optical remote sensing camera under the action of the micro-vibration can be obtained, the root mean square value rms of the response in a specified frequency range, namely a 1 sigma value, can be obtained by squaring the area A of a graph surrounded by the curve and an X axis, and a 3 sigma value can be further obtained, wherein the specific formula is as follows:
3σ＝3×1σ
wherein a 1 σ value represents that the response amplitude is less than 1 σ at a probability of 68.26%; the 3 σ value represents that the response amplitude is less than 3 σ at a probability of 99.73%.
The invention has the beneficial effects that:
1. the establishment of the optical-mechanical integration model of the optical remote sensing camera relates to two disciplines of optics and machinery, and compared with the prior single-discipline analysis, the method can consider the coupling factors among the disciplines and obtain a more accurate simulation analysis result;
2. according to the invention, a state space method is utilized to carry out micro-vibration integrated simulation analysis, compared with the conventional frequency response analysis method, the calculation efficiency is improved, and the performance of a computer is not required to be too high due to the problem of calculation amount;
3. the LOS value obtained by calculation by the method can be used as a criterion for judging the working effect of the vibration suppression and image stabilization control system of the optical remote sensing camera on one hand, and can also be used for evaluating the imaging quality of the optical system on the other hand, so that the LOS value has a strong guiding significance for the design of the optical system.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a flow chart of the micro-vibration integrated simulation analysis method of the optical remote sensing camera of the present invention;
FIG. 2 is an optical sensitivity matrix;
FIG. 3 is a schematic diagram of an optical-mechanical integration model of an optical remote sensing camera;
FIG. 4 is a schematic diagram of PSD response calculation;
FIG. 5 is a LOS value calculation schematic;
wherein:
m in FIG. 2 1 Primary mirror, M 2 -secondary mirror, IP-image plane;
FIG. 3 shows 1-primary mirror, 2-secondary mirror, and 3-image point;
f in FIG. 5 eff Is the focal length of the optical system, Δ image Is the displacement of the image point on the image plane.
Detailed Description
As shown in fig. 1, a micro-vibration integrated simulation analysis method for an optical remote sensing camera includes the following specific processes:
1. establishing a finite element model of an optical remote sensing camera structure in MSC.Patran, positioning the mirror surface of each mirror by using information such as curvature radius, mirror surface material attribute, analysis coordinate system number and the like of each mirror in optical software SigFit, fitting to obtain rigid body displacement MPC of each mirror, further establishing an optical model by using an optical sensitivity matrix in FIG. 2, integrating the optical model into the finite element model in a bdf file manner to obtain an optical-mechanical integration model of the optical remote sensing camera, and referring to FIG. 3;
2. performing LOS rigid body inspection on the integrated model of the optical-mechanical system by using a theoretical calculation method or a finite element analysis method, wherein the theoretical calculation method is to firstly assume that the whole camera translates unit length along any axial direction of an optical coordinate system, substitute an optical sensitivity matrix to calculate whether an image point is unchanged, then assume that the whole camera rotates unit angle around any axial direction of the optical coordinate system, substitute the optical sensitivity matrix to calculate whether the LOS value of the image point is also a unit angle; the finite element analysis method is that in the optical-mechanical integrated model, translational displacement or rotational displacement is applied to the model, MSC.Nastran is used for calculating the displacement of image points under corresponding working conditions, and whether the change of the image points is reasonable or not is verified similarly to a theoretical calculation method;
3. if the LOS rigid body of the optical-mechanical integrated model is qualified, carrying out modal analysis on the LOS rigid body by using MSC.Nastran in a free floating state by adopting a Lanczos method to obtain frequency and vibration mode information of the structure, wherein the upper frequency limit of the modal analysis is twice of the maximum value of the upper limit of disturbance frequency bands of all vibration sources; if the LOS rigid body of the optical-mechanical integrated model is not qualified, turning to the step (1);
4. establishing a state space model in Matlab, wherein the expression of the state space of the multi-input and multi-output system is as follows:
y＝Cx+Du
wherein A is a system matrix and represents the correlation condition among various state variables of the system; b is an input matrix, also called a control matrix, which represents the influence of system input on the change of state variables; c is an output matrix which represents the action relation between the state variable and the system output; d is a direct connection matrix which represents the direct influence of system input on system output, and many systems do not have the direct relation and are usually zero matrixes; the four matrices are calculated as follows:
D＝zeros(f out ,f in )
wherein nm is the extracted modal order, f in Number of degrees of freedom, f, input for the system out Is the degree of freedom of the system output, and omega, Z,
β u And beta y The calculation method or the number of rows and columns is as follows:
β u ＝((in+out)×6,f in )
β y ＝(f out ,(in+out)×6)
wherein w i Is angular frequency, ξ i In is the damping ratio, in is the number of system input points, and out is the number of system output points; after the state space model is established, the transfer function between the system input and the system output can be obtained;
5. describing the load input of the micro-vibration in the form of Power Spectral Density (PSD), obtaining a displacement response value by using a calculation method shown in fig. 4, and knowing according to an optical schematic diagram shown in fig. 5:
the LOS response curve of the optical remote sensing camera under the action of the micro-vibration can be obtained, the square opening of the area A of a graph surrounded by the curve and the X axis (frequency) can obtain the root mean square value (rms) of the response in a specified frequency range, namely the value of 1 sigma, and further the value of 3 sigma can be obtained, and the specific formula is as follows:
3σ＝3×1σ
wherein a 1 σ value represents that the response amplitude is less than 1 σ at a probability of 68.26%; the 3 σ value represents that the response amplitude is less than 3 σ with a probability of 99.73%.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications derived therefrom are intended to be within the scope of the invention.
Claims (5)
1. A micro-vibration integrated simulation analysis method of an optical remote sensing camera is characterized by comprising the following steps:
step (1), establishing a finite element model of an optical remote sensing camera structure in MSC.Patran, fitting in SigFit to obtain rigid body displacement MPC of each mirror, further establishing an optical model by using an optical sensitivity matrix, and integrating the optical model into the finite element model of the optical remote sensing camera structure to obtain an optical-mechanical integrated model of the optical remote sensing camera;
step (2), LOS rigid body inspection is carried out on the integrated model of the optical-mechanical machine by using a theoretical calculation method or a finite element analysis method;
step (3), if the LOS rigid body of the optical-mechanical integrated model is qualified, carrying out modal analysis on the LOS rigid body by using MSC.Nastran in a free floating state to obtain frequency and vibration mode information of the structure; if the LOS rigid body of the optical-mechanical integrated model is not qualified, turning to the step (1);
step (4), establishing a state space model by using the obtained modal information based on a state space method in Matlab, and calculating to obtain a transfer function of the structure;
describing the load input of the micro-vibration in a power spectral density mode, and further calculating by using the load input and a transfer function to obtain an LOS value of the optical remote sensing camera when the optical remote sensing camera is disturbed by each vibration source;
the step (4) specifically comprises the following steps:
establishing a state space model in Matlab, wherein the expression of the state space of the multi-input and multi-output system is as follows:
y＝Cx+Du
wherein, A is a system matrix which represents the correlation condition among all state variables of the system; b is an input matrix, also called a control matrix, which represents the influence of system input on the change of state variables; c is an output matrix which represents the action relation between the state variable and the system output; d is a direct connection matrix which represents the direct influence of system input on system output, and many systems do not have the direct relation and are zero matrixes; the four matrices are calculated as follows:
D＝zeros(f out ,f in )
wherein nm is the extracted modal order, f in Degree of freedom, f, input to the system out Is the degree of freedom of the system output, and omega, Z,
β u And beta y The calculation method or the number of rows and columns is as follows:
β u ＝((in+out)×6,f in )
β y ＝(f out ,(in+out)×6)
wherein, w i Is angular frequency, ξ i In is the damping ratio, in is the number of system input points, and out is the number of system output points; after the state space model is established, the transfer function between the system input and the system output can be obtained;
the step (5) specifically comprises the following steps:
describing the load input of the micro-vibration in the form of power spectral density, and obtaining the following by using a displacement response value obtained by calculation and an optical schematic diagram:
an LOS response curve of the optical remote sensing camera under the action of the micro-vibration can be obtained, the square of the area A of a graph formed by the curve and the X axis is opened, the root-mean-square value rms of the response in a specified frequency range, namely the value of 1 sigma, and the value of 3 sigma can be further obtained, and the specific formula is as follows:
3σ＝3×1σ
wherein a 1 σ value represents that the response amplitude is less than 1 σ at a probability of 68.26%; the 3 σ value represents that the response amplitude is less than 3 σ with a probability of 99.73%.
2. The micro-vibration integrated simulation analysis method of the optical remote sensing camera according to claim 1, wherein the step (1) is specifically:
establishing a finite element model of an optical remote sensing camera structure in MSC.Patran, positioning the mirror surface of each mirror by utilizing the curvature radius and the material property of the mirror surface and analyzing the serial number information of a coordinate system in optical software SigFit, fitting to obtain rigid body displacement MPC of each mirror, further establishing an optical model by utilizing an optical sensitivity matrix, and integrating the optical model into the finite element model of the optical remote sensing camera structure in the form of a bdf file to obtain an optical-mechanical integration model of the optical remote sensing camera.
3. The method of claim 1, wherein the theoretical calculation method in step (2) is to calculate whether the image point is unchanged by assuming that the whole camera is translated along any axial direction of the optical coordinate system by a unit length, and substituting the optical sensitivity matrix into which the whole camera is rotated by a unit angle around any axial direction of the optical coordinate system, and calculating whether the LOS value of the image point is also a unit angle by substituting the optical sensitivity matrix into which the whole camera is rotated by a unit angle.
4. The method for analyzing the micro-vibration integration simulation of the optical remote sensing camera according to claim 1, wherein the finite element analysis method in the step (2) is to apply translation or rotation displacement to the model in the optical-mechanical integration model, calculate the displacement of the image point under the corresponding working condition by using MSC.Nastran, and verify whether the change of the image point is reasonable or not similarly to a theoretical calculation method.
5. The method for integrating, simulating and analyzing the micro-vibration of the optical remote sensing camera according to claim 1, characterized in that the upper limit of the frequency of the modal analysis in the step (3) is twice as large as the maximum of the upper limit of the disturbance frequency bands of all vibration sources.
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