CN112506232A - Space semi-stable scanning control method based on angle feedback of rotary transformer - Google Patents
Space semi-stable scanning control method based on angle feedback of rotary transformer Download PDFInfo
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- CN112506232A CN112506232A CN202011235116.5A CN202011235116A CN112506232A CN 112506232 A CN112506232 A CN 112506232A CN 202011235116 A CN202011235116 A CN 202011235116A CN 112506232 A CN112506232 A CN 112506232A
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Abstract
The invention relates to a space semi-stable scanning control method based on angle feedback of a rotary transformer, and belongs to the technical field of photoelectricity. The method utilizes the angle values fed back by the rotary transformers of the azimuth and pitch shafting and combines the attitude angle of the airplane, plans the scanning path after the processing of the coordinate system conversion algorithm, has the advantages of simple realization, no need of hardware change of products, small software change and the like, completely meets the scanning requirement of airborne photoelectric detection equipment on the specified control through experimental verification, is already applied to products, is also suitable for control platforms of various closed-loop motor driving platforms, and has strong practicability.
Description
Technical Field
The invention belongs to the technical field of photoelectricity, relates to a space semi-stable scanning control technology based on angle feedback of a rotary transformer, and particularly relates to a method for calculating and planning spatial step scanning of a scanning mirror to an appointed geographic system by utilizing a scanning mirror angle value fed back by the rotary transformer and combining an aircraft attitude angle.
Background
At present, in the field of airborne aviation, in order to scan and track a space target of a designated geographic coordinate system, a classical control method needs to be externally connected with a gyro sensor, so that the product cost is increased, and meanwhile, a gyroscope is additionally arranged on a visual axis, so that the weight and the volume of a product are increased, and the optimization of product performance is not facilitated. Therefore, the problem of implementing step scanning on a designated geographic coordinate system space under the condition that a gyro sensor is not added to a product is urgently needed to be solved.
Disclosure of Invention
Technical problem to be solved
The detection equipment is required to scan the designated geographic system space, a gyro sensor needs to be externally connected in a classical control method, the product cost is increased, the software is greatly changed, and meanwhile, a gyroscope is additionally arranged on a visual axis, so that the weight and the volume of the product are increased, and the product performance optimization is not facilitated. The invention provides a space semi-stable scanning control method based on angle feedback of a rotary transformer, aiming at solving the problem of realizing step scanning of a designated geographic coordinate system space under the condition of no gyro sensor.
Technical scheme
A space semi-stable scanning control method based on angle feedback of a rotary transformer is characterized by comprising the following steps:
step 1: obtaining a ZERO position FW _ ZERO, an initial scanning position FW _ CanKao, a scanning range FW _ WORKMAX, FW _ WORKMIN, FY _ WORKMAX, FY _ MIN, XX _ MAX and XX _ MIN of a scanning mirror according to a system working instruction;
step 2: calculating deviation amount FW _ jisean which is FW _ ZERO-FW _ CanKao according to the ZERO position FW _ ZERO of the scanning mirror and the initial scanning position FW _ CanKao;
and step 3: calculating an intermediate variable 1 converted by a coordinate system according to the deviation value and by combining the attitude angle of the airplane;
x＝cos(El)*cos(-Az)；
y＝cos(El)*sin(-Az)；
z＝sin(El)；
calculating intermediate variables of coordinate system transformation 2
x_＝(cosbeta*cosalpha)*x+(cosbeta*sinalpha)*y-sinbeta*z；
y_＝(singama*sinbeta*cosalpha-cosgama*sinalpha)*x+(singama*sinbeta*sinalpha+cosgama*cosalpha)*y+singama*cosbeta*z；
z_＝(cosgama*sinbeta*cosalpha+singama*sinalpha)*x+(cosgama*sinbeta*sinalpha-singama*cosalpha)*y+cosgama*cosbeta*z；
Azz＝atan2(y_,x_)；
And 4, step 4: calculating the position and the pitching position values of the scanning mirror in the position and the pitching direction and under the geographic system coordinate, judging whether the position and the pitching position values exceed the working range, and limiting the position and the pitching position values to the working limit if the position and the pitching position values exceed the working range;
ELL＝-(float)(atan2(z_,(sqrt(pow(x_,2.0)+pow(y_,2.0)))))*28.65；
FW_Mubiao＝FW_ZERO-Azz*83428.8；
FY_Mubiao＝FY_ZERO-ELL*728；
and 5: and (5) repeating the step (2) after the program execution of the current scanning period is finished.
The technical scheme of the invention is further that: the scanning mode is axial stepping scanning.
Advantageous effects
The invention provides a space semi-stable scanning control method based on angle feedback of a rotary transformer, and relates to a control method for scanning a designated geographic system space by a scanning swing mirror in a non-gyro control system.
Drawings
FIG. 1 is a flow chart of the method of the present invention
Detailed Description
The invention will now be further described with reference to the following examples and drawings:
as shown in fig. 1, the spatial semi-stable scanning control method based on the angular feedback of the resolver provided by the present invention specifically includes the following steps:
step 1: obtaining a ZERO position FW _ ZERO, an initial scanning position FW _ CanKao, a scanning range FW _ WORKMAX, FW _ WORKMIN, FY _ WORKMAX, FY _ MIN, XX _ MAX and XX _ MIN of a scanning mirror according to a system working instruction;
step 2: calculating deviation amount FW _ jisean which is FW _ ZERO-FW _ CanKao according to the ZERO position FW _ ZERO of the scanning mirror and the initial scanning position FW _ CanKao;
and step 3: calculating an intermediate variable 1 converted by a coordinate system according to the deviation value and by combining the attitude angle of the airplane;
x＝cos(El)*cos(-Az)；
y＝cos(El)*sin(-Az)；
z＝sin(El)；
calculating intermediate variables of coordinate system transformation 2
x_＝(cosbeta*cosalpha)*x+(cosbeta*sinalpha)*y-sinbeta*z；
y_＝(singama*sinbeta*cosalpha-cosgama*sinalpha)*x+(singama*sinbeta*sinalpha+cosgama*cosalpha)*y+singama*cosbeta*z；
z_＝(cosgama*sinbeta*cosalpha+singama*sinalpha)*x+(cosgama*sinbeta*sinalpha-singama*cosalpha)*y+cosgama*cosbeta*z；
Azz＝atan2(y_,x_)；
And 4, step 4: calculating the position and the pitching position values of the scanning mirror in the position and the pitching direction and under the geographic system coordinate, judging whether the position and the pitching position values exceed the working range, and limiting the position and the pitching position values to the working limit if the position and the pitching position values exceed the working range;
ELL＝-(float)(atan2(z_,(sqrt(pow(x_,2.0)+pow(y_,2.0)))))*28.65；
FW_Mubiao＝FW_ZERO-Azz*83428.8；
FY_Mubiao＝FY_ZERO-ELL*728；
and 5: and (5) repeating the step (2) after the program execution of the current scanning period is finished.
Using the feedback angle values of the rotation transformation of the azimuth and pitch shafting, wherein the unit is degree; combining the attitude angle of the airplane, wherein the unit is degree; the azimuth angle value of the scanning mirror under the product coordinate system is measured in degrees; and the pitch angle value of the scanning mirror under the product coordinate system is measured in degrees.
The space semi-stable scanning control method based on the angle feedback of the rotary transformer utilizes the angle value fed back by the system angle measurement rotary transformer as a reference, combines information such as the attitude angle of an airplane, coordinate system conversion algorithm processing of a product system-geographic system, the position of a scanning mirror and the like, plans the scanning paths of the azimuth channel and the pitching channel, dynamically adjusts the position of the scanning angle, realizes that the scanning mirror is controlled to continuously scan the space of the specified geographic coordinate system, and has the advantages of simple realization, good reliability and the like.
Claims (2)
1. A space semi-stable scanning control method based on angle feedback of a rotary transformer is characterized by comprising the following steps:
step 1: obtaining a ZERO position FW _ ZERO, an initial scanning position FW _ CanKao, a scanning range FW _ WORKMAX, FW _ WORKMIN, FY _ WORKMAX, FY _ MIN, XX _ MAX and XX _ MIN of a scanning mirror according to a system working instruction;
step 2: calculating deviation amount FW _ jisean which is FW _ ZERO-FW _ CanKao according to the ZERO position FW _ ZERO of the scanning mirror and the initial scanning position FW _ CanKao;
and step 3: calculating an intermediate variable 1 converted by a coordinate system according to the deviation value and by combining the attitude angle of the airplane;
x＝cos(El)*cos(-Az)；
y＝cos(El)*sin(-Az)；
z＝sin(El)；
calculating intermediate variables of coordinate system transformation 2
x_＝(cosbeta*cosalpha)*x+(cosbeta*sinalpha)*y-sinbeta*z；
y_＝(singama*sinbeta*cosalpha-cosgama*sinalpha)*x+(singama*sinbeta*sinalpha+cosgama*cosalpha)*y+singama*cosbeta*z；
z_＝(cosgama*sinbeta*cosalpha+singama*sinalpha)*x+(cosgama*sinbeta*sinalpha-singama*cosalpha)*y+cosgama*cosbeta*z；
Azz＝atan2(y_,x_)；
And 4, step 4: calculating the position and the pitching position values of the scanning mirror in the position and the pitching direction and under the geographic system coordinate, judging whether the position and the pitching position values exceed the working range, and limiting the position and the pitching position values to the working limit if the position and the pitching position values exceed the working range;
ELL＝-(float)(atan2(z_,(sqrt(pow(x_,2.0)+pow(y_,2.0)))))*28.65；
FW_Mubiao＝FW_ZERO-Azz*83428.8；
FY_Mubiao＝FY_ZERO-ELL*728；
and 5: and (5) repeating the step (2) after the program execution of the current scanning period is finished.
2. The method according to claim 1, wherein the scanning mode is step scanning around an axis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011235116.5A CN112506232A (en) | 2020-11-08 | 2020-11-08 | Space semi-stable scanning control method based on angle feedback of rotary transformer |
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| CN202011235116.5A CN112506232A (en) | 2020-11-08 | 2020-11-08 | Space semi-stable scanning control method based on angle feedback of rotary transformer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739773A (en) * | 2021-09-08 | 2021-12-03 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
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2020
- 2020-11-08 CN CN202011235116.5A patent/CN112506232A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113739773A (en) * | 2021-09-08 | 2021-12-03 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
| CN113739773B (en) * | 2021-09-08 | 2024-06-07 | 西安应用光学研究所 | Efficient scanning method suitable for photoelectric system of small aircraft |
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