CN113359876B - Control method and device for large-bearing eccentric shaft platform of airborne SAR (synthetic aperture radar) - Google Patents
Control method and device for large-bearing eccentric shaft platform of airborne SAR (synthetic aperture radar) Download PDFInfo
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Abstract
The invention discloses a control method and a device for an airborne SAR (synthetic aperture radar) large-bearing eccentric shaft platform, wherein the method comprises the following steps: if the angle instruction value sent by the master console is in an interval [ D1 degrees, D2 degrees ] and the angle sensor feedback value is in an interval [ C4 degrees, C3 degrees ], starting the control, if the angle error is in an interval [ (D1-C3) degrees, B2 degrees ], an interval (B3 degrees and (D2-C4) degrees ], controlling the platform by adopting a speed single PI control method, setting a position closed-loop output threshold, converting the position closed-loop output threshold into a speed instruction, obtaining a speed error by making a difference with the rotating speed of the platform fed back by the speed sensor, inputting the speed error into a first PI controller, and outputting a modulation pulse width signal by the first PI controller, amplifying the modulation pulse width signal by a driver and then adjusting the running state of the motor in real time; the invention has the advantages that: the stability of the control of the large-load eccentric shaft platform and the stability of the rotation of the antenna are ensured.
Description
Technical Field
The invention relates to the technical field of airborne radars, in particular to a control method and a control device for a large-bearing eccentric shaft platform of an airborne SAR radar.
Background
A Synthetic Aperture (SAR) radar is an active earth observation system, can be installed on flight platforms such as airplanes, satellites and spacecrafts, can carry out earth observation all the time and all the weather, and has certain earth surface penetration capability. At present, the remote sensing device has unique advantages in disaster monitoring, environment monitoring, ocean monitoring, resource exploration, crop estimation, mapping, military affairs and other aspects, and can play a role that other remote sensing means are difficult to play, so that the remote sensing device is more and more paid attention by various countries in the world.
The airborne SAR radar is used as a high-resolution two-dimensional imaging radar, and clear imaging of the airborne SAR radar needs the antenna to keep the stability of an inertial space in the environments of the swinging of an aircraft, airflow disturbance and the like. When the attitude of the carrier changes, the carrier can be compensated by adopting the reverse motion of the stable platform, so that the direction of the antenna beam is stable.
According to the number of the shafts, the stable platform can be divided into a four-shaft platform, a three-shaft platform, a two-shaft platform and a one-shaft platform. The azimuth axes of the two axis platforms are omitted by the one axis platform, the pitching direction of the antenna is controlled only by the pitching axis, the azimuth direction of the wave beam is controlled by using a phase scanning method, and the method has the characteristics of simplicity, reliability and low cost. The large-bearing eccentric shaft platform of the airborne SAR has the following three characteristics:
1. the envelope size of the antenna loaded by the platform is large, the mass is more than 150kg, and the eccentric moment is more than 20 Nm;
2. the airborne environment requires that the rotating shaft supporting structure of the platform has small size and small mass;
3. the target tracking system has the function of tracking the target in a follow-up manner (the tracking precision is not more than 0.5 degrees).
The three characteristics can seriously restrict the stability of the antenna rotation and reduce the control stability and the control precision of the platform. The method is characterized by comprising the following four aspects:
1. the small-size and small-mass rotating shaft supporting structure causes the integral rigidity and strength of the rotating shaft to be small, and finally causes the unstable control of the platform and aggravates the buffeting phenomenon of the rotation of the antenna by combining the characteristics of large size, large mass and eccentricity of the antenna;
2. the overload environment of the carrier will enhance the effect of the eccentricity.
3. The characteristics of system backlash and follow-up tracking amplify instability;
4. the rotation characteristic of the antenna buffeting greatly weakens the service life of a motor, a speed reducer, a driver and a transmission mechanism, and simultaneously generates a large amount of interference signals, so that the main control chip cannot work normally.
Chinese patent application No. 202010283182.3 discloses a stability control method for a three-axis stabilized platform floating on water, comprising the steps of: acquiring attitude information data of a floating platform and attitude information data of a stable platform; step two, obtaining the control quantity of the rolling compensation motor and the control quantity of the pitching compensation motor according to the data collected in the step one; the trapezoidal screw rod mechanism is driven by the driving motor to move up and down so as to control the level of the upper table surface of the stable platform; step three, obtaining the yaw information of the floating platform according to the data collected in the step one, obtaining the correction quantity of the azimuth motor according to the yaw information, and controlling the azimuth motor to drive the azimuth reducer to stably rotate relative to the earth coordinate; step four: and completing the stability control of the stable platform through the second step and the third step. By the method and the device, the attitude information of the floating platform can be rapidly calculated. The patent application is suitable for a three-axis stable platform, and the stable control of a large-bearing eccentric shaft platform can not be realized by the method provided by the patent application, so that a method for realizing the stable control of the large-bearing eccentric shaft platform needs to be designed, so that an airborne SAR (synthetic aperture radar) provided with the large-bearing eccentric shaft platform can stably and accurately run.
Disclosure of Invention
The technical problem to be solved by the invention is that the stability of the operation process of the airborne SAR provided with the large-bearing eccentric one-shaft platform is difficult to guarantee due to the lack of a method for stably controlling the large-bearing eccentric one-shaft platform in the prior art.
The invention solves the technical problems through the following technical means: the control method of the large-bearing eccentric shaft platform of the airborne SAR comprises the following steps: if the angle instruction value sent by the master console is in the interval [ D1 degrees, D2 degrees ] and the angle sensor feedback value is in the interval [ C4 degrees, C3 degrees ], starting the control, and if not, ending the control and reporting to the master console; if the angle error is in the interval [ (D1-C3) DEG, B2 ℃) and the interval (B3 DEG, (D2-C4) °, controlling the large-load eccentric shaft platform by adopting a speed single PI control method; the speed single PI control method comprises the following steps: the method comprises the steps of obtaining an angle error by subtracting an angle instruction value from an angle sensor feedback value on a platform rotating shaft, setting a position closed loop output threshold value according to the angle error and the angle sensor feedback value, converting the position closed loop output threshold value into a speed instruction, obtaining a speed error by subtracting a platform rotating speed fed back by a speed sensor, inputting the speed error into a first PI controller of a speed closed loop system, and outputting a modulation pulse width signal by the first PI controller to regulate the running state of a motor in real time after the modulation pulse width signal is amplified by a driver.
Wherein C3 represents the mechanical limit angle value of the counterclockwise rotation of the antenna; c4 represents the mechanical limit angle value of clockwise rotation of the antenna; b2 represents the minimum value of the roll angle when the aircraft flies linearly; b3 represents the maximum value of the roll angle when the aircraft flies in a straight line.
The method is characterized in that the control condition of the large-bearing eccentric shaft platform is set, the control is carried out only when the condition is met, the angle error and the speed error are compensated by adopting a speed single PI control method in the control process, so that the actual angle sensor feedback value and the angle instruction value are closer in the platform operation process, the angle compensation is carried out on the platform more stably by compensating the speed error in the adjustment process, the stability of the large-bearing eccentric shaft platform is ensured in the whole process, and the stability of the operation process of the airborne SAR provided with the large-bearing eccentric shaft platform is ensured.
Further, if the angle error is in an interval [ B2 °, B3 ° ] a position and speed dual PI control method is adopted to control the large-load eccentric shaft platform, and the position and speed dual PI control method is as follows: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time.
Further, the method is characterized in that D1 takes the value of-90, D2 takes the value of +90, C3 takes the value of +95, C4 takes the value of-95, B2 takes the value of-6, and B3 takes the value of + 6.
Further, if the angle error is in a range [ (D1-C3) °, B1 °), and the angle sensor feedback value is in a range [ C1 °, C3 ° ], the position closed-loop output threshold value is set to a1, and if the angle sensor feedback value is in another range, the position closed-loop output threshold value is set to a2, an absolute value of the position closed-loop output threshold value a1 is smaller than an absolute value of the position closed-loop output threshold value a2, wherein B1 is a minimum value of a roll angle when the vehicle turns, and C1 is a balanced position angle value when the antenna rotates clockwise to a stop state.
Further, if the angle error is in the interval [ B1 °, B2 °), and the angle sensor feedback value is in the interval [ C2 °, C3 ° ], the position closed-loop output threshold value is set to A3; if the feedback value of the angle sensor is in the interval [ C1 degrees and C2 degrees ], setting the position closed-loop output threshold value to be A4; if the feedback value of the angle sensor is in other intervals, setting a position closed-loop output threshold value A5, wherein the absolute value of the position closed-loop output threshold value A3 is smaller than the absolute value of a position closed-loop output threshold value A4; the absolute value of A4 is less than the absolute value of position closed loop output threshold A5, where C2 is the angle at which the change in the slope of the eccentricity torque curve is greatest when the antenna turns from C3 to C1.
Furthermore, the method is characterized in that the value of B1 is-30, the value of C1 is +1, the value of C2 is +60, the value of A1 is-3.4, the value of A2 is-4.3, the value of A3 is-3.1, the value of A4 is-3.5, and the value of A5 is-4.3.
Further, if the angle error is in a section (B3 °, B4 °), and the angle sensor feedback value is in a section [ C4 °, C5 ° ], the position closed-loop output threshold value is set to a6, if the angle sensor feedback value is in another section, the position closed-loop output threshold value is set to a7, and the absolute value of the position closed-loop output threshold value a6 is smaller than the absolute value of the position closed-loop output threshold value a7, where B4 is the maximum value of the roll angle when the vehicle turns, C5 is the angle at which the gradient of the eccentricity torque curve changes most when the antenna turns from C4 to C6, and C6 is the equilibrium position angle value at which the antenna turns counterclockwise to the stop state.
Further, if the angle error is in the interval (B4 °, (D2-C4) ° and the angle sensor feedback value is in the interval [ C4 °, C6 ° ], the position closed-loop output threshold value is set to A8, and if the angle sensor feedback value is in another interval, the position closed-loop output threshold value is set to a9, and the absolute value of the position closed-loop output threshold value A8 is smaller than the absolute value of the position closed-loop output threshold value a 9.
Further, B4 takes the value +30, C5 takes the value-1, C6 takes the value +5, a6 takes the value 3.5, a7 takes the value 4.2, A8 takes the value 3.6, and a9 takes the value 4.2.
The invention also provides a control device of the large-bearing eccentric shaft platform of the airborne SAR radar, which comprises: the initialization module is used for starting the control if the angle instruction value sent by the master console is in the interval [ D1 degrees, D2 degrees ] and the angle sensor feedback value is in the interval [ C4 degrees, C3 degrees ], or ending the control and reporting to the master console;
the first control module is used for controlling the large-load eccentric shaft platform by adopting a speed single PI control method if the angle error is in an interval [ (D1-C3) DEG, B2 ℃) and an interval (B3 DEG, (D2-C4) °; the speed single PI control method comprises the following steps: the method comprises the steps of obtaining an angle error by subtracting an angle instruction value from an angle sensor feedback value on a platform rotating shaft, setting a position closed loop output threshold value according to the angle error and the angle sensor feedback value, converting the position closed loop output threshold value into a speed instruction, obtaining a speed error by subtracting the speed instruction from a rotating speed of a platform fed back by a speed sensor, inputting the speed error into a first PI controller, and adjusting the running state of a motor in real time after a modulation pulse width signal output by the first PI controller is amplified by a driver.
Wherein C3 represents the mechanical limit angle value of the counterclockwise rotation of the antenna; c4 represents the mechanical limit angle value of clockwise rotation of the antenna; b2 represents the minimum value of the roll angle when the aircraft flies linearly; b3 represents the maximum value of the roll angle when the aircraft flies in a straight line.
Further, the device further comprises a second control module, wherein the second control module is used for controlling the large-bearing eccentric shaft platform by adopting a position and speed double-PI control method if the angle error is in an interval [ B2 degrees, B3 degrees ], and the position and speed double-PI control method comprises the following steps: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time.
Further, D1 takes the value of-90, D2 takes the value of +90, C3 takes the value of +95, C4 takes the value of-95, B2 takes the value of-6, and B3 takes the value of + 6.
Further, the first control module is further configured to set the position closed-loop output threshold value to be a1 if the angle error is in a range [ (D1-C3) ° and B1 °), and the angle sensor feedback value is in a range [ C1 ° and C3 ° ], and set the position closed-loop output threshold value to be a2 if the angle sensor feedback value is in another range, where an absolute value of the position closed-loop output threshold value a1 is smaller than an absolute value of the position closed-loop output threshold value a2, where B1 is a minimum value of a roll angle when the vehicle turns, and C1 is an equilibrium position angle value when the antenna rotates clockwise to a stop state.
Furthermore, the first control module is further configured to set the position closed-loop output threshold to be A3 if the angle error is in a range [ B1 °, B2 °), and the angle sensor feedback value is in a range [ C2 °, C3 ° ]; if the feedback value of the angle sensor is in the interval [ C1 degrees and C2 degrees ], setting the position closed-loop output threshold value to be A4; if the feedback value of the angle sensor is in other intervals, setting a position closed-loop output threshold value A5, wherein the absolute value of the position closed-loop output threshold value A3 is smaller than the absolute value of a position closed-loop output threshold value A4; the absolute value of A4 is less than the absolute value of position closed loop output threshold A5, where C2 is the angle at which the change in the slope of the eccentricity torque curve is greatest when the antenna turns from C3 to C1.
Further, the value of B1 is-30, the value of C1 is +1, the value of C2 is +60, the value of A1 is-3.4, the value of A2 is-4.3, the value of A3 is-3.1, the value of A4 is-3.5, and the value of A5 is-4.3.
The first control module is further configured to set the position closed-loop output threshold value to be a6 if the angle error is in a section (B3 ° and B4 ° ], and the angle sensor feedback value is in a section [ C4 ° and C5 ° ], set the position closed-loop output threshold value to be a7 if the angle sensor feedback value is in another section, where an absolute value of the position closed-loop output threshold value a6 is smaller than an absolute value of the position closed-loop output threshold value a7, where B4 is a maximum value of a roll angle when the vehicle turns, C5 is an angle at which an inclination of an eccentric torque curve changes most when the antenna turns from C4 to C6, and C6 is an equilibrium position angle value at which the antenna turns counterclockwise to a stop state.
Further, the first control module is configured to set the position closed-loop output threshold value to be A8 if the angle error is in the interval (B4 °, (D2-C4) ° and the angle sensor feedback value is in the interval [ C4 °, C6 ° ], and set the position closed-loop output threshold value to be A9 if the angle sensor feedback value is in another interval, wherein an absolute value of the position closed-loop output threshold value A8 is less than an absolute value of the position closed-loop output threshold value A9.
Further, B4 takes the value +30, C5 takes the value-1, C6 takes the value +5, a6 takes the value 3.5, a7 takes the value 4.2, A8 takes the value 3.6, and a9 takes the value 4.2.
The invention has the advantages that: the method is characterized in that the control condition of the large-bearing eccentric shaft platform is set, the control is carried out only when the condition is met, the angle error and the speed error are compensated by adopting a speed single PI control method in the control process, so that the actual angle sensor feedback value and the angle instruction value are closer in the platform operation process, the angle compensation is carried out on the platform more stably by compensating the speed error in the adjustment process, the stability of the large-bearing eccentric shaft platform is ensured in the whole process, and the stability of the operation process of the airborne SAR provided with the large-bearing eccentric shaft platform is ensured.
Drawings
Fig. 1 is a structural diagram of a speed single PI control system in a control method for a large-load eccentric one-axis platform of an airborne SAR radar according to an embodiment of the present invention;
fig. 2 is a structural diagram of a position and speed dual PI control system in the control method for a large-load eccentric one-axis platform of an airborne SAR radar according to an embodiment of the present invention;
fig. 3 is an algorithm flowchart of a control method for a large-load eccentric shaft platform of an airborne SAR radar according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method for a large-load eccentric shaft platform of an airborne SAR radar according to an embodiment of the present invention;
fig. 5 is a simplified flowchart of the control method for the large-load eccentric shaft platform of the airborne SAR radar according to the embodiment of the present invention, when performing 180-degree large-range rotation control.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The invention takes a certain type of airborne SAR radar as an example, the weight of the antenna is 170 kg; eccentricity 23.98 Nm; the moment of inertia is 2.24 Nm; the disturbance torque is 31.93 Nm; the driving element is a direct current motor-reducer combination, wherein the rated output power of the motor is 138.48W, the rated output torque is 0.17Nm, and the rated rotating speed is 6930 rpm; the reduction ratio of the speed reducer is 200: 1, continuous running torque of 30 Nm. The angle sensor adopts a rotary transformer, and the precision is 0.05 degrees; the AD conversion chip corresponding to the angle sensor adopts AD2S80ATE, and the precision is 0.02 degrees; the speed sensor selects a motor with a speed measuring machine, and the precision of the speed measuring machine is 0.05 degrees; the AD conversion chip corresponding to the speed sensor selects MAX125CEAX, and the precision is 0.02 degrees. The main control chip selects DSP 28335. The main control chip is internally provided with the following coded method logic process.
As shown in fig. 3 and 4, a method for controlling a large-load eccentric shaft platform of an airborne SAR radar includes: before control begins, the angle instruction value and the angle sensor feedback value need to be checked. If the angle instruction value sent by the master console is in the interval of [ -90 °, +90 ° ] and the feedback value of the angle sensor is in the interval of [ -95 °, +95 ° ], starting the control, otherwise, ending the control and reporting to the master console; if the angle error is in the range of-185 degrees, -6 degrees and the range of (+6 degrees, +185 degrees), the large-load eccentric shaft platform is controlled by adopting a speed single PI control method; the speed single PI control method comprises the following steps: the method comprises the steps of obtaining an angle error by subtracting an angle instruction value from an angle sensor feedback value on a platform rotating shaft, setting a position closed loop output threshold value according to the angle error and the angle sensor feedback value, converting the position closed loop output threshold value into a speed instruction, obtaining a speed error by subtracting the speed instruction from a rotating speed of a platform fed back by a speed sensor, inputting the speed error into a first PI controller, and adjusting the running state of a motor in real time after a modulation pulse width signal output by the first PI controller is amplified by a driver. The structure of the speed single PI control system is shown in FIG. 1. Angle sensor, speed sensor, first PI controller, driver, motor, drive mechanism, pivot etc. in the single PI control system of speed all set up on the platform, and the concrete structure setting on the platform adopts prior art and concrete structure setting not belong to the protection scope of this application. In fig. 3, 4 and 5, the position feedback is an angle sensor feedback value, the position input is an angle command value input, and the position error is an angle error.
The specific control process is as follows: if the angle error is in the interval of-185 degrees and-30 degrees and the feedback value of the angle sensor is in the interval of +1 degrees and +95 degrees, the position closed-loop output threshold value is set to be-3.4, and if the feedback value of the angle sensor is in other intervals, the position closed-loop output threshold value is set to be-4.3.
If the angle error is in the interval of [ -30 °, -6 °), and the feedback value of the angle sensor is in the interval of [ +60 °, +95 ° ], setting the position closed-loop output threshold value to be-3.1; if the feedback value of the angle sensor is in the interval [ +1 degree, +60 degrees ], setting the position closed-loop output threshold value to be-3.5; and if the feedback value of the angle sensor is in other intervals, setting the position closed-loop output threshold value to be-4.3.
If the angle error is in the interval (+6 degrees and +30 degrees), and the feedback value of the angle sensor is in the interval (-95 degrees and-1 degrees), the position closed-loop output threshold value is set to be 3.5, and if the feedback value of the angle sensor is in other intervals, the position closed-loop output threshold value is set to be 4.2.
If the angle error is in the range (+30 degrees and +185 degrees), and the feedback value of the angle sensor is in the range (-95 degrees and +5 degrees), the position closed-loop output threshold value is set to be 3.6, and if the feedback value of the angle sensor is in other ranges, the position closed-loop output threshold value is set to be 4.2.
If the angle error is in the interval range of [ -6 °, +6 ° ] then the position speed double PI control method is adopted to control the large-load eccentric one-axis platform, and the position speed double PI control method is as follows: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time. . The structure diagram of the position and speed dual PI control system is shown in FIG. 2. The second PI controller and the third PI controller are also arranged on the platform.
It should be noted that if the method of the present invention is used to perform 180-degree wide-range rotation control, the control flow chart can be simplified from fig. 4 to fig. 5. In the embodiment of the invention, each data value is only a most preferable value, and in practical application, the closed-loop output threshold value of each position, the feedback value of each angle sensor and the error interval of each angle can be adjusted in a small range according to different values of the weight, the eccentric moment, the inertia moment and the like of the antenna of the airborne SAR.
According to the technical scheme, the condition that the large-bearing eccentric shaft platform starts to control is set, the control is carried out only when the condition is met, the angle error and the speed error are compensated by adopting a speed single PI control method in the control process, the actual angle sensor feedback value is closer to the angle instruction value in the platform operation process, the angle compensation is carried out on the platform more stably by compensating the speed error in the adjusting process, the stability of the large-bearing eccentric shaft platform is ensured in the whole process, and the stability of the operation process of the airborne SAR provided with the large-bearing eccentric shaft platform is ensured.
Example 2
Based on embodiment 1 of the present invention, embodiment 2 of the present invention further provides a control device for an airborne SAR radar large-bearing eccentric shaft platform, where the device includes: the initialization module is used for starting the control if the angle instruction value sent by the master console is in the interval [ D1 degrees, D2 degrees ] and the angle sensor feedback value is in the interval [ C4 degrees, C3 degrees ], or ending the control and reporting to the master console;
the first control module is used for controlling the large-load eccentric shaft platform by adopting a speed single PI control method if the angle error is in an interval [ (D1-C3) DEG, B2 ℃) and an interval (B3 DEG, (D2-C4) °; the speed single PI control method comprises the following steps: the method comprises the steps that an angle instruction value and an angle sensor feedback value on a platform rotating shaft are differenced to obtain an angle error, a position closed loop output threshold value is set according to the angle error and the angle sensor feedback value, the position closed loop output threshold value is converted into a speed instruction, the speed instruction is differenced with the rotating speed of a platform fed back by a speed sensor to obtain a speed error, the speed error is input into a first PI controller, and the first PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of a motor in real time;
wherein C3 represents the mechanical limit angle value of the counterclockwise rotation of the antenna; c4 represents the mechanical limit angle value of clockwise rotation of the antenna; b2 represents the minimum value of the roll angle when the aircraft flies linearly; b3 represents the maximum value of the roll angle when the aircraft flies in a straight line.
Specifically, the device further comprises a second control module, wherein the second control module is used for controlling the large-bearing eccentric shaft platform by adopting a position and speed double-PI control method if the angle error is in an interval [ B2 degrees, B3 degrees ], and the position and speed double-PI control method comprises the following steps: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time.
Specifically, the value of D1 is-90, the value of D2 is +90, the value of C3 is +95, the value of C4 is-95, the value of B2 is-6, and the value of B3 is + 6.
Specifically, the first control module is further configured to set the position closed-loop output threshold value to be a1 if the angle error is in an interval [ (D1-C3) ° B1 °), and the angle sensor feedback value is in an interval [ C1 °, C3 ° ], and set the position closed-loop output threshold value to be a2 if the angle sensor feedback value is in another interval, where an absolute value of the position closed-loop output threshold value a1 is smaller than an absolute value of the position closed-loop output threshold value a2, where B1 is a minimum value of a roll angle when the vehicle turns, and C1 is a balanced position angle value when the antenna rotates clockwise to a stop state.
More specifically, the first control module is further configured to set the position closed-loop output threshold to be A3 if the angle error is in a range [ B1 °, B2 °), and the angle sensor feedback value is in a range [ C2 °, C3 ° ]; if the feedback value of the angle sensor is in the interval [ C1 degrees and C2 degrees ], setting the position closed-loop output threshold value to be A4; if the feedback value of the angle sensor is in other intervals, setting a position closed-loop output threshold value A5, wherein the absolute value of the position closed-loop output threshold value A3 is smaller than the absolute value of a position closed-loop output threshold value A4; the absolute value of A4 is less than the absolute value of position closed loop output threshold A5, where C2 is the angle at which the change in the slope of the eccentricity torque curve is greatest when the antenna turns from C3 to C1.
More specifically, the value of B1 is-30, the value of C1 is +1, the value of C2 is +60, the value of A1 is-3.4, the value of A2 is-4.3, the value of A3 is-3.1, the value of A4 is-3.5, and the value of A5 is-4.3.
Specifically, the first control module is further configured to set the position closed-loop output threshold value to be a6 if the angle error is in a section (B3 °, B4 ° ], and the angle sensor feedback value is in a section [ C4 °, C5 ° ], set the position closed-loop output threshold value to be a7 if the angle sensor feedback value is in another section, where an absolute value of the position closed-loop output threshold value a6 is smaller than an absolute value of the position closed-loop output threshold value a7, where B4 is a maximum value of a roll angle when the vehicle turns, C5 is an angle at which an inclination of an eccentric torque curve changes most when the antenna turns from C4 to C6, and C6 is an equilibrium position angle value at which the antenna rotates counterclockwise to a stop state.
More specifically, the first control module is further configured to set the position closed-loop output threshold value to be A8 if the angle error is in the interval (B4 °, (D2-C4) ° and the angle sensor feedback value is in the interval [ C4 °, C6 ° ], and set the position closed-loop output threshold value to be A9 if the angle sensor feedback value is in another interval, and the absolute value of the position closed-loop output threshold value A8 is less than the absolute value of the position closed-loop output threshold value A9.
More specifically, B4 takes the value +30, C5 takes the value-1, C6 takes the value +5, a6 takes the value 3.5, a7 takes the value 4.2, A8 takes the value 3.6, and a9 takes the value 4.2.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The control method of the large-bearing eccentric shaft platform of the airborne SAR is characterized by comprising the following steps: if the angle instruction value sent by the master console is in the interval of [ -90 °, +90 ° ] and the feedback value of the angle sensor is in the interval of [ -95 °, +95 ° ], starting the control, otherwise, ending the control and reporting to the master console; if the angle error is in the range of-185 degrees, -6 degrees and the range of (+6 degrees, +185 degrees), the large-load eccentric shaft platform is controlled by adopting a speed single PI control method; the speed single PI control method comprises the following steps: the method comprises the steps that an angle instruction value and an angle sensor feedback value on a platform rotating shaft are differenced to obtain an angle error, a position closed loop output threshold value is set according to the angle error and the angle sensor feedback value, the position closed loop output threshold value is converted into a speed instruction, the speed instruction is differenced with the rotating speed of a platform fed back by a speed sensor to obtain a speed error, the speed error is input into a first PI controller, and the first PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of a motor in real time; wherein, +95 is the mechanical spacing angle value that the aerial rotated counterclockwise; -95 ° is the mechanical limit angle value for clockwise rotation of the antenna; -6 ° is the minimum value of the roll angle when the aircraft is flying straight; +6 degrees is the maximum value of the roll angle when the aircraft flies linearly;
if the angle error is in the interval of [ -6 °, +6 ° ] then the position speed double PI control method is adopted to control the large-load eccentric one-axis platform, and the position speed double PI control method is as follows: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time.
2. The method for controlling the large-load eccentric shaft platform of the airborne SAR radar according to claim 1, wherein if the angle error is in the interval of [ -185 °, -30 °), the feedback value of the angle sensor is in the interval of [ +1 °, +95 ° ], the position closed-loop output threshold value is set to be-3.4, and if the feedback value of the angle sensor is in other intervals, the position closed-loop output threshold value is set to be-4.3, wherein-30 ° is the minimum value of the roll angle when the airborne vehicle turns, and +1 ° is the equilibrium position angle value when the antenna rotates clockwise to a stop state.
3. The control method of the large-load eccentric shaft platform of the airborne SAR radar as recited in claim 2, wherein if the angle error is in the interval of [ -30 °, -6 °), and the feedback value of the angle sensor is in the interval of [ +60 °, +95 ° ], the closed-loop output threshold value of the set position is-3.1; if the feedback value of the angle sensor is in the interval [ +1 degree, +60 degrees ], setting the position closed-loop output threshold value to be-3.5; and if the feedback value of the angle sensor is in other intervals, setting the position closed loop output threshold value to be-4.3, wherein the +60 degrees is the angle with the maximum change of the slope of the eccentric moment curve when the antenna rotates from +95 degrees to +1 degrees.
4. The method for controlling the large-load eccentric shaft platform of the airborne SAR radar according to claim 1, wherein if the angle error is in an interval (+6 degrees and +30 degrees), and the feedback value of the angle sensor is in an interval [ -95 degrees and-1 degrees ], the position closed-loop output threshold is set to be 3.5, if the feedback value of the angle sensor is in other intervals, the position closed-loop output threshold is set to be 4.2, wherein +30 degrees is the maximum value of the roll angle when the airborne vehicle turns, 1 degree is the angle at which the slope of the eccentric moment curve changes most when the antenna turns from-95 degrees to +5 degrees, and +5 degrees is the angle value of the equilibrium position when the antenna rotates counterclockwise to the stop state.
5. The method for controlling the large-load eccentric one-axis platform of the airborne SAR radar according to claim 4, wherein if the angle error is in the interval (+30 degrees and +185 degrees), and the feedback value of the angle sensor is in the interval [ -95 degrees and +5 degrees ], the position closed-loop output threshold value is set to be 3.6, and if the feedback value of the angle sensor is in other intervals, the position closed-loop output threshold value is set to be 4.2.
6. Control device of eccentric one axle platform is greatly born to airborne SAR radar, its characterized in that, the device includes: the initialization module is used for starting the control if the angle instruction value sent by the master console is in the interval of [ -90 degrees, +90 degrees ] and the feedback value of the angle sensor is in the interval of [ -95 degrees, +95 degrees ], or ending the control and reporting to the master console;
the first control module is used for controlling the large-load eccentric shaft platform by adopting a speed single PI control method if the angle error is in an interval of-185 degrees and-6 degrees and an interval of (+6 degrees and +185 degrees); the speed single PI control method comprises the following steps: the method comprises the steps that an angle instruction value and an angle sensor feedback value on a platform rotating shaft are differenced to obtain an angle error, a position closed loop output threshold value is set according to the angle error and the angle sensor feedback value, the position closed loop output threshold value is converted into a speed instruction, the speed instruction is differenced with the rotating speed of a platform fed back by a speed sensor to obtain a speed error, the speed error is input into a first PI controller, and the first PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of a motor in real time; wherein, +95 is the mechanical spacing angle value that the aerial rotated counterclockwise; -95 ° is the mechanical limit angle value for clockwise rotation of the antenna; -6 ° is the minimum value of the roll angle when the aircraft is flying straight; +6 degrees is the maximum value of the roll angle when the aircraft flies linearly;
the device also comprises a second control module, wherein the second control module is used for controlling the large-load eccentric shaft platform by adopting a position and speed double PI control method if the angle error is in an interval of [ -6 degrees, +6 degrees ], and the position and speed double PI control method comprises the following steps: and the difference between the angle instruction value and the feedback value of the angle sensor on the platform rotating shaft is used for obtaining an angle error, the angle error is input into a second PI controller, the difference between the output value of the second PI controller and the rotating speed of the platform fed back by the speed sensor is used for obtaining a speed error, the speed error is input into a third PI controller, and the third PI controller outputs a modulation pulse width signal which is amplified by a driver and then adjusts the running state of the motor in real time.
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