CN112882378A - Method for improving stability precision of photoelectric turntable based on system identification - Google Patents
Method for improving stability precision of photoelectric turntable based on system identification Download PDFInfo
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Abstract
The invention provides a method for improving the stability precision of a photoelectric turntable based on system identification, which comprises the following steps: calculating control parameters of a current loop controller, and debugging the current loop controller: carrying out current loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify a servo motor model; optimizing the servo motor model; calculating control parameters of a speed loop controller, and debugging the speed loop controller; carrying out speed loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify the rotational inertia of the photoelectric turntable; and optimizing parameters of the speed ring controller according to the identified rotational inertia, and performing compensation design on the state observer until the requirement of stable precision indexes is met. The invention can solve the problems that the parameters of the controller of the photoelectric turntable in the prior art are not fine enough, and the final visual axis stability and precision cannot achieve the optimal effect.
Description
Technical Field
The invention relates to the technical field of photoelectricity, in particular to a method for improving the stability precision of a photoelectric turntable based on system identification.
Background
The photoelectric turntable is a monitoring device, and a target is monitored mainly through a monitoring component arranged in a shell. The control debugging of the current photoelectric turntable is mainly to adjust parameters of a controller based on an ideal mathematical model and then to design and apply. Specifically, the method is applied to actual products after off-line simulation design of an outer ring controller is performed on the basis of an ideal mathematical model of a servo motor. However, due to internal friction, transmission structure resonance influence and the like, the servo transmission mechanism represented by an actual product and an ideal mathematical model has obvious difference, so that control parameters of off-line design are not applicable, and repeated verification and correction are needed in the process of real object debugging.
In addition, because the design of a plurality of controllers is closely related to the parameters of the motor or the system, and the designed and output ideal parameters are different from the characteristics of the actual product, the designed parameters of the controllers are not fine enough, and the final visual axis stabilizing precision of the photoelectric rotary table cannot achieve the optimal effect.
Disclosure of Invention
The invention aims to provide a method for improving the stability precision of a photoelectric turntable based on system identification, and aims to solve the problems that in the prior art, the parameters of a controller of the photoelectric turntable are not fine enough, and the final visual axis stability precision cannot achieve the optimal effect.
In order to achieve the above object, the present invention provides a method for improving the stability accuracy of a photoelectric turntable based on system identification, comprising:
calculating control parameters of a current loop controller, and debugging the current loop controller:
carrying out current loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify a servo motor model;
optimizing the servo motor model;
calculating control parameters of a speed loop controller, and debugging the speed loop controller;
carrying out speed loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify the rotational inertia of the photoelectric turntable;
and optimizing parameters of the speed ring controller according to the identified rotational inertia, and performing compensation design on the state observer until the requirement of stable precision indexes is met.
Further, the current loop controller is a linear PI regulator:
response bandwidth f of current loop of photoelectric turntablei300-500 Hz, and the proportionality coefficient of the current loop controller is Kp_cur＝2πfi*L/KvIntegral coefficient of Ki_cur＝Kp_curR/L, wherein KvL, R are motor line inductance and line resistance, respectively, for the amplification factor of the drive circuit.
Further, the current loop closed-loop frequency sweeping for the photoelectric turntable includes:
inputting a sinusoidal current waveform i of continuously varying frequencyref_sin＝A1*sin[2π*(f1+Δf)*t+φ0]Wherein A is1Is the current amplitude, f1For the frequency of the current closed loop, Δ f is the variation of the frequency, φ10Is a sine wave phase angle, t is continuous time;
recording the angular velocity value w output by the inertial gyroscope through current loop controlm。
Further, the analyzing the frequency sweep data to identify the servo motor model includes:
and performing data analysis on the sweep frequency data to obtain amplitude gain and phase lag angle input and output at different frequencies, and analyzing the frequency domain characteristics of the servo motor of the photoelectric turntable to obtain an identified servo motor model.
Further, the optimizing the servo motor model includes:
fitting a mechanical resonance or delay link of the photoelectric turntable in the servo motor model;
wherein, the second order mathematical expression of the mechanical resonance or delay link is as follows:
where s is the Laplace operator, wxTo fit the resonance frequency, a1、a2、ξ1、ξ2Is a dieAnd (5) forming a coefficient to be fitted.
Furthermore, the speed loop controller consists of a linear PI controller and a lead-lag correction link;
the desired phase angle margin γ of the control system is 45 °, the proportionality coefficient K of the speed loop controllerp_spdAnd integral coefficient Ki_spdRespectively as follows:
wherein, J1Is the theoretical moment of inertia, W, that the structural design of the photoelectric turntable can outputnFor identifying the actual response bandwidth of the motor, K, obtained after the servo motor modeltIs a torque coefficient.
Further, the performing of the speed loop closed-loop frequency sweep on the photoelectric turntable includes:
let the angular velocity input be wspd＝A2sin(2πf2t+φ20) And carrying out sine given frequency sweep test on the speed closed loop of the photoelectric turntable, wherein A2Amplitude of sine input for angular velocity, A2Is a sine frequency of phi20Is a sinusoidal phase angle and t is a continuous time.
Further, the analyzing the sweep frequency data to identify the moment of inertia of the photoelectric turntable includes:
and performing iterative calculation on the sweep frequency data by adopting a least square identification algorithm, and identifying the rotational inertia of the photoelectric turntable according to the servo motor model.
Further, an evanescent factor is introduced into the least square identification algorithm.
Further, the identified expression of the moment of inertia is
Wherein, TsFor the sampling time, θ is the state quantity to be estimated.
Compared with the prior art, the invention has the following beneficial effects:
(1) the stability precision of the photoelectric turntable is improved: the visual axis stability precision is one of the key performance indexes of the photoelectric turntable, and the application effect of the product is directly influenced. The actual rotational inertia is obtained through system identification, parameters of a linear PI controller or parameters of other state observers and interference observers are optimized, and stable precision performance indexes can be improved.
(2) The design success rate of the controller is high: in the traditional method, the controller is generally designed off line based on theoretical parameters and an ideal mathematical model, the characteristics of a real object cannot be completely represented, and the designed parameters need to be repeatedly verified and corrected. The key influence factors of the control object are obtained by system identification, then off-line design and on-line application are carried out, and the matching success rate of the design result and the real object application is higher.
(3) Promoting the development progress: the photoelectric rotary table after system identification is controlled, designed and debugged, so that the processes of repeated verification, experiment and correction are saved, and the development progress of products can be effectively promoted.
(4) The reliability is high: the method has clear working flow and reliable control mode.
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In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description will be briefly introduced, and it is obvious that the drawings in the following description are an embodiment of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts according to the drawings:
fig. 1 is a basic configuration diagram of a photoelectric turntable;
FIG. 2 is a stabilization loop servo control block diagram;
FIG. 3 is a mathematical relationship diagram of a servo motor;
fig. 4 is a flowchart of a method for improving the stability accuracy of a photoelectric turntable based on system identification according to an embodiment of the present invention;
fig. 5 is a motor identification block diagram for current loop sweep injection.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The basic structure frame of the photoelectric turntable is shown in figure 1, which is a typical two-shaft two-frame structure, an outer U-shaped frame can rotate around a base in azimuth, an inner frame is provided with a visual load or a laser load and the like and rotates around an outer frame in pitching mode, servo motors of azimuth and pitching axes respectively move, and the visual axis with the load can point to a space designated position. The stable accuracy index of the photoelectric turntable refers to the stability of the visual axis pointing to the space position under the condition that the turntable is disturbed internally or externally.
The visual axis stabilization of the photoelectric turntable mainly depends on the inertial gyros of the azimuth axis and the pitch axis to act on a rotation angular velocity loop of the axis as a feedback quantity, and a given quantity of the angular velocity loop is 0, so that a stabilization loop is formed. When the visual axis is in a stable mode, if the visual axis is interfered by a base or the outside, the gyroscope can be sensitive to the projection of the interference angular velocity of the inertia space on the axis system, then the interference amount can be controlled to be 0 again by the stable loop, the controlled frame motion drives the visual axis to return to the position before the interference again, and the principle is the action principle of the gyroscope stable loop on stabilizing the visual axis of the photoelectric turntable. Fig. 2 is a block diagram of the basic servo control of the stabilization loop of the single-shaft frame of the photoelectric turntable.
The mathematical expression relationship of the servo motor link in the laplace time domain in fig. 2 is shown in fig. 3. In fig. 3, U is the control voltage, L, R is the motor line inductance and line resistance, respectively, Kt is the torque coefficient, Ke is the counter potential coefficient, Te is the electromagnetic torque, TL is the load torque, and J is the moment of inertia.
The control of the current turntable stabilizing circuit is mostly based on a motor mathematical model as shown in fig. 3, a controller of a current and speed double closed loop is designed through off-line simulation, and the controller generally adopts a linear regulation structure of a PI + lead-lag network. The design based on the ideal model is not combined with a real object system, and the design result cannot meet the stable precision required by indexes.
The core idea of the invention is to provide a method for improving the stability precision performance index of a photoelectric turntable by using system identification, and specifically, by means of frequency sweep design, firstly, an accurate model of a servo mechanism of the turntable is obtained, secondly, actual parameters of rotational inertia are obtained, then a motor mathematical model is corrected according to input and output of a test, and the parameters are further optimized according to a controller design part needing to apply the rotational inertia.
Fig. 4 is a flow chart schematically illustrating a method for improving the stability accuracy of an optical-electrical turntable based on system identification according to an embodiment of the present invention. As shown in fig. 4, a method for improving the stability accuracy of a photoelectric turntable based on system identification according to an embodiment of the present invention includes the following steps:
s100: calculating control parameters of a current loop controller, and debugging the current loop controller:
s200: carrying out current loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify a servo motor model;
s300: optimizing the servo motor model;
s400: calculating control parameters of a speed loop controller, and debugging the speed loop controller;
s500: carrying out speed loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify the rotational inertia of the photoelectric turntable;
s600: and optimizing parameters of the speed ring controller according to the identified rotational inertia, and performing compensation design on the state observer until the requirement of stable precision indexes is met.
According to the method for improving the stability precision of the photoelectric turntable based on system identification, on one hand, the ideal servo motor model can be identified and corrected to be more consistent with an actual system by performing frequency sweeping analysis on the current closed loop of the photoelectric turntable, and the response bandwidth of the actual servo system is obtained; on the other hand, the actual moment of inertia parameter value can be obtained through the frequency sweeping of the speed closed loop, so that the design of a speed PI loop controller or other optimized control structures is more precise, and the improvement of the stable precision of the visual axis of the photoelectric turntable is finally realized. The following is a detailed description of the method for improving the stability accuracy of the photoelectric turntable based on system identification.
The current loop closed-loop control period is generally very fast, and mainly plays a role in inhibiting torque fluctuation and improving the control precision of an outer loop, and the controller of the current loop closed-loop control period is designed into a linear PI regulator so that the precision requirement of closed-loop response can be met. When the response bandwidth of the current loop of the photoelectric turntable is designed to be fiWhen the frequency is 300-500 Hz, the proportional coefficient of the current loop controller is designed to be Kp_cur＝2πfi*L/KvIntegral coefficient of Ki_cur＝Kp_curR/L, wherein KvL, R are motor line inductance and line resistance, respectively, for the amplification factor of the drive circuit.
The control parameters of the current loop controller can be calculated through the formula, and then the speed loop controller can be debugged.
And after debugging is finished, carrying out current closed-loop frequency sweeping on the photoelectric rotary table real object. Carrying out current loop closed-loop frequency sweeping on the photoelectric turntable, specifically as follows:
(1) inputting a sinusoidal current waveform i of continuously varying frequencyref_sin＝A1*sin[2π*(f1+Δf)*t+φ 0]Wherein A is1Is the current amplitude, f1For the frequency of the current closed loop, Δ f is the variation of the frequency, φ10Is a sine wave phase angle, t is continuous time;
(2) recording the angular velocity value w output by the inertial gyroscope through current loop controlmAnd obtaining sweep frequency data.
Furthermore, the analyzing the frequency sweep data to identify the servo motor model includes:
and performing data analysis on the sweep frequency data to obtain amplitude gain and phase lag angle input and output at different frequencies, and analyzing the frequency domain characteristics of the servo motor of the photoelectric turntable to obtain an identified servo motor model.
It will be appreciated that the angular velocity value w is output by the inertial gyromAnd analyzing data, finding out amplitude gain and phase lag angle input and output at different frequencies, and analyzing the frequency domain characteristics of the servo mechanism of the actual system so as to identify the servo motor model.
The result of the frequency scanning identification shows that the frequency domain characteristics of the actual system are different from the linear frequency domain characteristics of the servo motor shown in fig. 3, and the model correction needs to be performed on the middle-link servo motor, so that the mechanical resonance or delay link of the physical system is increased, as shown in fig. 5.
In the off-line mathematical simulation model represented by fig. 5, a sinusoidal current identical to that in the sweep test is input, and in order to make the output of the modeling mathematical model and the output of the actual system sweep coincide, it is generally necessary to fit and add a mechanical resonance or delay link of the photoelectric turntable, and a mathematical expression thereof is shown below.
The second-order mathematical expression of the mechanical resonance or delay link is as follows:
where s is the Laplace operator, wxTo fit the resonance frequency, a1、a2、ξ1、ξ2Is the model coefficient to be fitted.
By carrying out current closed-loop frequency sweep test and data analysis on an actual system, the actual response bandwidth of the motor can be obtained after a servo motor model is identified, then the control parameters of the speed loop can be further designed and calculated, and the speed loop controller can not be repeatedly modified and debugged in real objects because the response bandwidth of an ideal mathematical model comes in and goes out with the actual situation.
The speed loop controller consists of a linear PI controller and a lead-lag correction link; assuming that the response bandwidth of the motor obtained through the identification is wnAnd designing the expected phase angle margin gamma of the control system to be 45 degrees, wherein the proportionality coefficient K of the speed loop controllerp_spdAnd integral coefficient Ki_spdRespectively as follows:
wherein, J1Is the theoretical moment of inertia, W, that the structural design of the photoelectric turntable can outputnFor identifying the actual response bandwidth of the motor, K, obtained after the servo motor modeltIs a torque coefficient.
The set of PI control parameters calculated through the theoretical moment of inertia can be substituted into a closed-loop mathematical model for analysis, and if the requirement of stable precision indexes cannot be met, a lag lead correction link needs to be added, or other optimized control structures need to be designed.
In the turntable servo control system, no matter the design of a PI controller, or other optimized controllers such as: and the state observer, the interference observer and the like are closely related to the rotational inertia parameter J1 of the whole product. When a more precise speed ring controller is needed to realize the visual axis stability precision index of the photoelectric turntable, the real object system needs to be subjected to rotational inertia parameter identification. Then, parameters of the speed loop controller are optimized according to the identified rotational inertia, and the state observer is subjected to compensation design until the requirements of stable accuracy indexes are met.
Specifically, speed loop closed-loop frequency sweeping is performed on the photoelectric rotary table, and frequency sweeping data are analyzed to identify the rotational inertia of the photoelectric rotary table. Wherein, carry out the analysis in order to discern to the sweep frequency data the inertia of rotation of photoelectricity revolving stage includes:
and performing iterative calculation on the sweep frequency data by adopting a least square identification algorithm, and identifying the rotational inertia of the photoelectric turntable according to the servo motor model.
Least square identification is widely applied to parameter identification, and the basic principle is as follows: according to a linear mathematical model transmitted by a servo motor, input and output are used as state quantities, an output error obtained by calculating an estimation parameter is introduced as a judgment basis, and when the square sum of the errors is minimum, the identification parameter is considered to be converged to an actual parameter. Furthermore, an evanescent factor lambda can be introduced into the least square identification algorithm to reduce the influence of old data on the identification result of the algorithm, thereby being beneficial to improving the robustness and the convergence.
For ease of understanding, the algorithmic process of the evanescent least squares method is briefly described as follows:
setting a discrete expression of system output: y (k) phiT(k) And theta, wherein theta is the state quantity to be estimated, phi (k) is the state quantity transfer relation, y is the state output quantity, and k is the current moment of discrete time.
The recursive least squares estimate is then: θ (k) ═ θ (k-1) + l (k) ([ y (k) — ΦT(k)θ(k-
1)]，
Wherein:
in order to adapt the gain matrix for the parameters,
P(k)＝[I-L(k)φT(k)]p (k-1) is a covariance matrix.
Define an estimated value of θ as
Further introducing an evanescent factor lambda to improve the formula to obtain:
for understanding, the process of deriving the discrete-time moment of inertia identification according to the mathematical relationship of the servo motor is briefly described as follows:
sampling time T of moment of inertia identification algorithmsThe rotating speed of the motor is small enough, so that:
wherein w is the measured output angular velocity, and the torque equation of the motor is carried in:
j is moment of inertia, TeFor electromagnetic torque of the machine, TLIs the load torque. Assume load torque at sample time TsThe internal variation being small and regarded as constant, i.e. TL(k)＝TL(k-1), the following two equations are designed to subtract:
the expression form of the discrete time containing the moment of inertia of the motor can be obtained as follows:
comparing the above formula with an expression of an evanescent least squares identification algorithm, wherein:
y(k)＝w(k)-2*w(k-1)+w(k-2)，
φ(k)＝Te(k-1)-Te(k-2)，
according to the iteration of the discrete algorithm, the identification expression of the identification rotational inertia can be obtained as
。
In order to make the identification calculation of the moment of inertia more accurate, the amplitude change rates of the output matrix y (k) and the state transition matrix phi (k) in the identification algorithm process need to be as clear and reliable as possible. Therefore, in the case of a designed speed loop PI controller, the speed loop closed-loop frequency sweeping for the photoelectric turntable specifically includes: let the angular velocity input be wspd＝A2sin(2πf2t+φ20) And carrying out sine given frequency sweep test on the speed closed loop of the photoelectric turntable, wherein A2Amplitude of sine input for angular velocity, A2Is a sine frequency of phi20Is a sinusoidal phase angle and t is a continuous time. Then the angular velocity output and intermediate torque shape of the motorThe state variable can better meet the identification precision of the discrete least square iterative computation.
In summary, the method for improving the stability precision of the photoelectric turntable based on system identification provided by the invention optimizes the control design process of the photoelectric turntable through system identification, can improve the stability precision of the photoelectric turntable, can improve the application success rate of the design of the controller on a turntable object, and has the advantages of high development efficiency and high reliability of the method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for improving the stability precision of a photoelectric turntable based on system identification is characterized by comprising the following steps:
calculating control parameters of a current loop controller, and debugging the current loop controller:
carrying out current loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify a servo motor model;
optimizing the servo motor model;
calculating control parameters of a speed loop controller, and debugging the speed loop controller;
carrying out speed loop closed-loop frequency sweeping on the photoelectric turntable, and analyzing frequency sweeping data to identify the rotational inertia of the photoelectric turntable;
and optimizing parameters of the speed ring controller according to the identified rotational inertia, and performing compensation design on the state observer until the requirement of stable precision indexes is met.
2. The method for improving the stability accuracy of an optoelectronic turntable based on system identification as claimed in claim 1, wherein the current loop controller is a linear PI regulator:
the above-mentionedResponse bandwidth f of current loop of photoelectric turntablei300-500 Hz, and the proportionality coefficient of the current loop controller is Kp_cur＝2πfi*L/KyIntegral coefficient of Ki_cur＝Kp_curR/L, wherein KvL, R are motor line inductance and line resistance, respectively, for the amplification factor of the drive circuit.
3. The method for improving the stability accuracy of the photoelectric turntable based on system identification according to claim 1, wherein the performing current loop closed-loop frequency sweeping on the photoelectric turntable comprises:
inputting a sinusoidal current waveform i of continuously varying frequencyref_sin＝A1*sin[2π*(f1+Δf)*t+φ0]Wherein A is1Is the current amplitude, f1For the frequency of the current closed loop, Δ f is the variation of the frequency, φ10Is a sine wave phase angle, t is continuous time;
recording the angular velocity value w output by the inertial gyroscope through current loop controlm。
4. The method for improving the stability accuracy of an optoelectronic turret based on system identification as claimed in claim 1, wherein the analyzing the frequency sweep data to identify the servo motor model comprises:
and performing data analysis on the sweep frequency data to obtain amplitude gain and phase lag angle input and output at different frequencies, and analyzing the frequency domain characteristics of the servo motor of the photoelectric turntable to obtain an identified servo motor model.
5. The method for improving the stability accuracy of the photoelectric turntable based on the system identification as claimed in claim 1, wherein the optimizing the servo motor model comprises:
fitting a mechanical resonance or delay link of the photoelectric turntable in the servo motor model;
wherein, the second order mathematical expression of the mechanical resonance or delay link is as follows:
where s is the Laplace operator, wxTo fit the resonance frequency, a1、a2、ξ1、ξ2Is the model coefficient to be fitted.
6. The method for improving the stability accuracy of an optoelectronic turntable based on system identification as claimed in claim 1, wherein the speed loop controller is composed of a linear PI controller and a lead-lag correction element;
the desired phase angle margin γ of the control system is 45 °, the proportionality coefficient K of the speed loop controllerp_spdAnd integral coefficient Ki_spdRespectively as follows:
wherein, J1Is the theoretical moment of inertia, W, that the structural design of the photoelectric turntable can outputnFor identifying the actual response bandwidth of the motor, K, obtained after the servo motor modeltIs a torque coefficient.
7. The method for improving the stability accuracy of the photoelectric turntable based on system identification according to claim 1, wherein the performing a speed loop closed-loop frequency sweep on the photoelectric turntable comprises:
let the angular velocity input be wspd＝A2sin(2πf2t+φ20) And carrying out sine given frequency sweep test on the speed closed loop of the photoelectric turntable, wherein A2Amplitude of sine input for angular velocity, A2Is a sine frequency of phi20Is a sinusoidal phase angle and t is a continuous time.
8. The method for improving the stability accuracy of the photoelectric turntable based on system identification as claimed in claim 1, wherein the analyzing the frequency sweep data to identify the moment of inertia of the photoelectric turntable comprises:
and performing iterative calculation on the sweep frequency data by adopting a least square identification algorithm, and identifying the rotational inertia of the photoelectric turntable according to the servo motor model.
9. The method for improving the stability accuracy of an optoelectronic turntable based on system identification as claimed in claim 8, wherein an evanescent factor is introduced into the least squares identification algorithm.
10. The method of claim 9, wherein the identified expression of the moment of inertia is
Wherein, TsFor the sampling time, θ is the state quantity to be estimated.
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| CN114089624A (en) * | 2021-07-20 | 2022-02-25 | 武汉高德红外股份有限公司 | Peak machine disturbance suppression system and method based on real-time FFT (fast Fourier transform) |
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