CN113485127B - Method for improving dynamic target tracking performance of photoelectric measurement equipment - Google Patents
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Abstract
A method for improving the tracking performance of a photoelectric measuring device on a dynamic target relates to the technical field of tracking control, and solves the problem that the photoelectric measuring device is difficult to consider both the transition process and the steady-state tracking precision in the process of tracking the dynamic target by adopting the traditional conventional control method. The present invention addresses the above-mentioned problems from a position controller design point of view. Firstly, designing a position controller based on improved supercoiled switching control, wherein a control structure takes a position tracking error as a variable to change in real time, and the switching control is used for ensuring the robustness and control precision of a system; secondly, the self-adaptive time-varying design is carried out on the parameters of the position controller, and the control parameters are changed in real time by taking the saturation degree of the control quantity as a variable. In conclusion, the adaptive time-varying position controller is formed, and the strong robustness of switching control and the flexibility of adaptive time-varying parameters are adopted, so that the transition process of switching into a target track when a target is tracked and the tracking precision when the target is stably tracked are both considered, and the tracking performance of the photoelectric measuring equipment on the dynamic target is improved.
Description
Technical Field
The invention relates to the technical field of tracking control, in particular to a method for improving the tracking performance of photoelectric measurement equipment on a dynamic target.
Background
In recent years, alternating-current permanent magnet torque motors are widely applied to photoelectric measuring equipment due to good structure and control characteristics. The photoelectric measuring equipment driven by an alternating-current permanent-magnet torque motor mainly has the function of realizing high-precision tracking measurement of a target, and a tracking control system of the photoelectric measuring equipment generally adopts a closed-loop control structure in which current, speed and position controllers are connected in series from inside to outside. The current loop and the speed loop are inner control loops, and the inner loop controller is mainly designed to ensure the servo control rigidity of the system and improve the disturbance suppression capability. The position loop is an outer control loop, and high-precision tracking of a position given signal is realized on the basis of the inner control loop. The tracking performance of the photoelectric measurement equipment on the dynamic target finally depends on the design of a position ring controller, and is mainly embodied in two aspects, namely a transition process of cutting into a target track; and secondly, the tracking precision of the target is stably tracked.
The position loop controller of the photoelectric measuring equipment is usually designed by adopting conventional control methods such as PI (proportional integral) and lead-lag, but the design of the conventional controller generally cannot give consideration to the dynamic response, the steady-state precision and the stability of the system. If steady-state tracking accuracy is considered unilaterally, the parameter setting of the controller is larger for the dynamic process of cutting into the target track, so that the position response is subjected to jitter overshoot. The jitter overshoot is usually caused by the integral saturation of the position control error, so that the target jumps back and forth in the field of view of the equipment, the adjusting time of the system for switching to the steady-state tracking is prolonged, and the transition process of tracking the dynamic target is poor. If the dynamic transition process of the tracking target is considered unilaterally, the parameter setting of the controller is smaller for the steady-state tracking process in general, and the tracking precision is limited. The above problems are common problems of conventional controllers such as PI, lead-lag, etc., so the design of the conventional controller usually compromises a set of parameters for tracking control.
On the basis of the traditional conventional control method, a plurality of advanced control algorithms are provided through the modification and innovative design of researchers. The performance of the control system is also improved and enhanced from different perspectives, from linear controllers to non-linear controllers, from fixed control architectures to variable control architectures, from constant controller parameters to variable controller parameters. Among them, sliding mode control and supercoiled switching control are typical variable control structure methods, and much attention and research are paid to the field of motor control. The supercoiling switching control is a second-order sliding mode control, effectively weakens buffeting amount compared with the traditional first-order sliding mode control, and shows good application effect in the aspects of improving robustness, response performance and control precision of a control system. In addition, time-varying parameter design is also applied to some control systems, so that the control capability of the controller is more flexible. Compared with a fixed structure and a constant parameter controller, the variable structure and time-varying parameter controller has stronger control capability on the transition process and the steady-state precision of the system and has stronger adaptability to different states of the system.
Disclosure of Invention
The invention provides a method for improving the tracking performance of a photoelectric measuring device on a dynamic target, aiming at the problem that the transition process of cutting into a target track and the steady-state tracking precision are difficult to be considered by adopting the traditional conventional control method when the photoelectric measuring device tracks the dynamic target.
A method for improving the tracking performance of photoelectric measuring equipment to a dynamic target designs a self-adaptive time-varying position controller to carry out position closed-loop control. Firstly, designing a position controller based on improved supercoiled switching control, and switching a control structure by taking a position tracking error as a variable; then, performing self-adaptive time-varying design on parameters of the position controller, and taking the saturation degree of the controlled variable as a variable to change in real time to form a self-adaptive time-varying position controller; the controller can give consideration to the transition process of switching into a target track when tracking a dynamic target and the tracking precision when tracking a steady state;
the design method of the adaptive time-varying position controller comprises the following steps:
step one, establishing a tracking control model of photoelectric measurement equipment, wherein the control model is expressed by a formula as follows:
where θ is the system position signal, ω is the system velocity signal, uωIs the output signal of the speed controller, f is the disturbance signal, b is the model parameter, y is the system output signal;
designing a position controller based on improved supercoiled switching control based on the supercoiled switching control principle; the position controller is expressed by the formula:
in the formula uθControl quantity, k, output for position controllerp、kg、kl、ki、khAre all controller parameters, where ki、khFor integrating the control quantity parameters, ρ is a coefficient, tanh (. cndot.) is a hyperbolic tangent function, δ is a coefficient greater than 0, uaIs integral control quantity, s is switching surface;
step three, the control quantity u output by the position controller in the step twoθPerforming amplitude limiting processing, and expressing the amplitude limiting processing as follows by adopting a formula:
in the formula usθIs uθControl quantity, omega, output after amplitude limitingmaxThe maximum operation speed amplitude allowed by the photoelectric measuring equipment;
step four, the integral control quantity parameter k of the position controller in the step twoiAnd khThe adaptive time-varying position controller after adaptive time-varying design is expressed by a formula as follows:
in the formula (I), the compound is shown in the specification,
and
for adaptive time-varying parameters, the formula is expressed as:
in the formula, ki0And kh0For initial control of gain, λiAnd λhIs a coefficient, and 0 < lambdai＜1，0＜λh＜1，γiAnd gammahIs a coefficient greater than 0, and Δ u is uθAnd usθThe difference of (a).
The invention has the beneficial effects that: the method for improving the tracking performance of the photoelectric measurement equipment on the dynamic target is mainly designed from the perspective of a position controller. Compared with the traditional fixed control structure and the constant control parameter controller, the position controller adopts a variable control structure and a time-varying control parameter design to form the self-adaptive time-varying position controller. The robustness and the control precision of a tracking control system are ensured by improving the supercoiled switching control, and the dynamic transition process of tracking is improved by controlling the parameter self-adaptive time-varying design. Therefore, the adoption of the self-adaptive time-varying position controller can effectively improve the tracking performance of the photoelectric measuring equipment on the dynamic target. The method has the following advantages:
firstly, in the method for tracking the dynamic target performance, the traditional supercoiled switching control is improved, a hyperbolic tangent function is adopted to replace a symbolic function, and a control item k is addedg|s|ρtanh(δs)、kls and ^ khs, forming a position controller based on improved supercoiled switching control, wherein the improved supercoiled switching control can further effectively reduce buffeting signals in switching control and improve the control precision of a system tracking target;
the invention carries out self-adaptive time-varying design on the control parameters of the integral control quantity in the position controller, and the control parameters are self-adaptive to change in real time according to the saturation degree of the position control quantity, thereby effectively improving the speed of the system exiting a saturation area, reducing the overshoot caused by the integral saturation of the position error and improving the dynamic transition process of the system tracking a target.
The position controller of the photoelectric measuring equipment is designed by combining the concepts of variable control structures and time-varying control parameters, so that the problem that the conventional control method cannot give consideration to both the dynamic response process and the steady-state precision is solved. The control structure and control parameters of the controller respectively use the position tracking error and the saturation degree of the control quantity as variables to carry out time variation, thereby forming the self-adaptive time-varying position controller. The position controller designed by the self-adaptive time-varying control method has stronger robustness, can give consideration to the transition process of switching into a target track when a target is tracked and the tracking precision when the target is stably tracked, and improves the tracking performance of the photoelectric measuring equipment on the dynamic target.
Drawings
FIG. 1 is a block diagram of a tracking control structure of an adaptive time-varying position controller-based photoelectric measuring device according to the present invention;
FIG. 2 is a graph of a hyperbolic tangent function;
in fig. 3, (a), (b), and (c) are simulation effect diagrams of the position loop using the conventional supercoiled switching control method when tracking the position step reference signal;
in fig. 4, (a), (b), and (c) are simulation effect diagrams of the position loop adopting the improved supercoiled switching control method when tracking the position step reference signal;
in fig. 5, (a), (b), and (c) are comparative simulation effect diagrams of the position loop using the constant parameter controller and the adaptive time-varying parameter controller when tracking the position sinusoidal reference signal;
in FIG. 6, (a) and (b) are adaptive time-varying parameters
And
the simulation effect graph of (1);
in fig. 7, (a), (b), and (c) are simulation effect diagrams of the position loop using the conventional PI controller when tracking the position sinusoidal reference signal.
Detailed Description
The embodiment is described with reference to fig. 1 to 7, and the movement of the photoelectric measuring device is improvedA method for tracking performance of a state object. In the embodiment, the position controller adopts an adaptive time-varying design, the control structure of the controller performs adaptive change by using the position tracking error as a variable, and the control parameter performs adaptive change by using the saturation degree of the control quantity as a variable, so that the controller can give consideration to both the dynamic process of cutting into the target track when tracking the target and the tracking accuracy when tracking the steady state. FIG. 1 is a block diagram of a tracking control structure of an electro-optical measuring device based on an adaptive time-varying position controller, and a position signal theta is given by a system*And the system position signal theta is input into the adaptive time-varying position controller to output a control quantity uθ，uθThe control quantity u is output through an amplitude limiting linksθ，usθAnd the input quantity is used as the input quantity of the speed loop controller, and then the subsequent closed-loop control is carried out. The method is realized by the following steps:
step one, establishing a tracking control model of photoelectric measurement equipment, wherein the control model is expressed by a formula as follows:
where θ is the system position signal, ω is the system velocity signal, uωIs the output signal of the speed controller, f is the disturbance signal, b is the model parameter, and y is the system output signal.
A tracking control system of the photoelectric measuring equipment adopts a cascade closed-loop control structure with current, speed and position from inside to outside. After the velocity closed loop is completed, the control object of the position loop can be equivalent to a first-order inertia link. The invention focuses on the design of the position loop controller to improve the tracking performance of the system on the dynamic target.
And step two, designing a variable control structure position controller based on a supercoiling switching control principle. The traditional super-spiral rotary cutting controller is expressed by a formula as follows:
in the formula uθControl quantity, k, output for position controllerp、kiAre all controller parameters, uaFor integral control quantity, s is a switching surface and is expressed by the following formula:
s＝θ*-θ (3)
in the formula, theta*The system is given a position reference signal.
The supercoiled switching control is a variable control structure design, and the control structure carries out self-adaptive switching by taking an error as a variable. Compared with the traditional first-order sliding mode control, the superspiral switching control keeps the strong robustness of the variable control structure switching control, and effectively weakens the buffeting of the system. But under the control of the supercoiled switching, the system still has buffeting signal residue.
In order to solve the problem of buffeting and further improve the control precision, the traditional super-spiral rotary cutting controller is improved and designed, and the formula is expressed as follows:
wherein tanh (. cndot.) is a hyperbolic tangent function, δ is a coefficient greater than 0, and kg、kl、khAre all controller parameters, define ki、khRho is a coefficient of 1 < rho < 2 for integrating the control quantity parameter.
Fig. 2 is a graph of a hyperbolic tangent function. It can be seen that when x is relatively large, the value of the hyperbolic tangent function has a saturation characteristic, and when x is relatively small, the value of the hyperbolic tangent function decreases rapidly, so that the sign function can be simulated by using the hyperbolic tangent function. Fig. 2 shows the curves corresponding to the hyperbolic tangent function y ═ tanh (h × x) at different values of the rate of change h (h ═ 1, h ═ 5, h ═ 20). The hyperbolic tangent function tanh (-) is used for replacing the sign function, the delta value is adjusted to enable the sign function to have the switching characteristic similar to that of the sign function, and buffeting caused by the switching characteristic of the sign function is effectively reduced. the tan h (·) function replaces a symbol function, so that on one hand, switching buffeting signals can be reduced; on the other hand, however, this replacement results in a rapid decrease in the amount of control of the system within the linear segment of tanh (·).
Increase k in the controllerg|s|ρtanh(δs)、kls and ^ khs three control items. Adding a control term kg|s|ρtan (δ s), when the system state is far from the switching plane, i.e., | s | is large, kg|s|ρtan h (delta s) generates a larger control quantity, accelerates the system state to move to a switching surface, and improves the response speed; when the system state is closer to the tangent picture, i.e. | s | is smaller, kg|s|ρthe control effect of tanh (. delta.s) is weakened, and in addition, after the system state enters the linear section of tanh (. DELTA.s), tanh (. DELTA.s) has a greater weakening effect on the control amount, kp|s|1/2tanh (δ s) and ^ kithe control effect of tanh (δ s) is greatly weakened, and k is increasedls and ^ khAnd the s term is used for carrying out incremental compensation on the control quantity, so that the robustness of the system can be ensured, and the control precision of the system can be improved.
In conclusion, the position controller based on the improved supercoil switching control is designed, and compared with the traditional supercoil switching control, the position controller can further reduce buffeting signals and improve the control precision of a system.
And step three, for equipment safety and other factors, the running speed of the photoelectric measuring equipment is usually limited within a certain amplitude, in particular to large-scale large-inertia photoelectric measuring equipment. Therefore, the control amount u outputted from the position controllerθThe method needs to be subjected to amplitude limiting treatment and is expressed by the formula:
in the formula usθIs uθControl quantity, omega, output after amplitude limitingmaxThe maximum operation speed amplitude allowed by the photoelectric measuring equipment.
Step four, as can be seen from step two, the position controller contains integral control quantity; and step three, the control system has a saturation amplitude limiting link. The two factors exist simultaneously, and the integral saturation phenomenon is easily caused. The integral saturation causes the system overshoot to be large and the adjusting time to be long, and is a main reason for generally causing the dynamic process of the equipment tracking target to be poor.
In order to solve the above problem, the integral control amount parameter k for the position controller of equation (4)iAnd khAre designed in an adaptive time-varying manner and are respectively used
And
expressed, the adaptive time-varying position controller is formulated as:
in the formula (I), the compound is shown in the specification,
and
for adaptive time-varying parameters, the following formula is used:
in the formula, ki0And kh0For initial control of gain, λiAnd λhIs a coefficient and 0 < lambdai＜1、0＜λh＜1，γiAnd gammahIs a coefficient greater than 0, and Δ u is uθAnd usθIs formulated as:
Δu＝uθ-usθ (9)
wherein Δ u represents the saturation degree of the control amount of the position controller, and the larger the value of Δ u is, the more the position controller isThe stronger the system saturation. Control parameter
And the delta u is taken as a variable to be adaptively changed along with the system state.
When the system is in the linear region, Δ u is 0, and the coefficient λ is seti、λhThe following can be obtained:
at this time, the integral control quantity parameter
Adaptive change to be much larger than initial control gain ki0、kh0The numerical value of (c).
When the system enters a saturation region and enters a deep saturation state, the value of delta u is large, and a coefficient gamma is seti、γhThe following can be obtained:
the following can be obtained:
at this time, the integral control quantity parameter
Adaptively changing to progressively equal to the initialControl gain ki0、kh0The numerical value is smaller.
In this embodiment, the adaptive time-varying design of the control parameters enables the controller to have more flexible adjustment capability when the system control amount is in the saturation region and the linear region, respectively. The control gain of an integral term when the system is in a saturation region is reduced, the speed of the system exiting the saturation region is increased, and overshoot caused by integral saturation is reduced; the control gain of the integral term when the system is in a linear region is increased, so that the response speed of the system is improved, and the control precision is ensured; therefore, the adaptive time-varying design of the control parameters enhances the adaptability of the controller to different states of the system, and can improve the dynamic response performance of the system, so that the cut-in process of the system to the dynamic target track becomes rapid and smooth.
The adaptive time-varying position controller in the present embodiment is designed based on the supercoiled switching control theory, and the robustness and control accuracy of the system are ensured by the switching control of the variable control structure. The invention improves the traditional supercoiled switching control because the chattering residue still exists in the traditional supercoiled switching control. Secondly, in order to solve the problem that the dynamic process is poor due to the integral saturation of the position error, the invention carries out self-adaptive time-varying design on the parameters of the position controller, and the control parameters change in real time by taking the saturation degree of the control quantity as a variable. The adaptive time-varying position controller based on the design enables the system to have the capability of rapidly and stably cutting into the target track through the adaptive time-varying parameter design, ensures the high-precision steady-state tracking of the system on the dynamic target through improving the supercoiled switching control, and can effectively improve the tracking capability of the photoelectric measuring equipment on the dynamic target.
To prove the effectiveness of the adaptive time-varying position controller proposed in the present embodiment, a simulation comparative analysis was performed from three aspects.
Firstly, in order to prove the effectiveness of the improved supercoiled switching control, the position controller is designed by respectively adopting a traditional supercoiled switching control method and an improved supercoiled switching control method, and the integral control quantity parameters are designed by constant parameters. Given the position step reference signal, the response results tracked by the two methods are compared, and the simulation results are shown in fig. 3 and 4.
As can be seen from fig. 3 and 4, with the conventional supercoiled switching control, the system can track the position step signal, but at steady state, there is a dither amount in the system position signal, as shown in (a) of fig. 3, and there is a dither amount in the control amount of the position controller, as shown in (b) of fig. 3, and the system phase plane curve does not completely reach the origin, but moves with a fixed amplitude near the origin, as shown in (c) of fig. 3. With improved supercoiled switching control, the system can also track a given position signal, effectively attenuating the amount of dither in the system position signal at steady state, as shown in fig. 4 (a), and the amount of dither in the position controller, as shown in fig. 4 (b), the system image plane curve approaches the origin, as shown in fig. 4 (c). Simulation results prove that the buffeting signals can be effectively inhibited by adopting the improved supercoiling switching control method, and the position control precision is improved.
Secondly, in order to prove the effectiveness of the adaptive time-varying parameter design and further verify the tracking capability of a tracking control system based on an adaptive time-varying position controller on a dynamic target, the invention respectively adopts a traditional conventional position controller (represented by a traditional PI position controller), a constant parameter position controller and an adaptive time-varying position controller to track a given position reference signal.
The constant parameter position controller and the self-adaptive time-varying position controller are both designed by adopting improved supercoiled switching control, and the control results are compared, so that the capability of the self-adaptive time-varying parameter design for improving the tracking transition process can be verified.
The control results of the adaptive time-varying position controller and the conventional controller are compared, and the correctness and the effectiveness of the photoelectric measurement device on the dynamic target tracking performance can be verified by the adaptive time-varying position controller in the embodiment.
The typical sinusoidal signal is used as a position reference signal to simulate the tracking of a dynamic target, and the simulation results are shown in fig. 5 to 7 by comparing the response results of the tracking of the three methods.
As can be seen from fig. 5, the adaptive time-varying parameter controller tracks the adjustment time of the sinusoidal signal shorter than the constant control parameter controller, as in (a) of fig. 5, and the position control amount exits the saturation region at a faster speed, as in (b) of fig. 5. However, the steady-state tracking accuracy of both is the same, as in (c) of fig. 5, because the position control amount is in the linear region at the time of steady-state tracking, and the control parameter values of the constant parameter controller and the adaptive time-varying parameter controller are completely the same at this time. It can be seen that the dynamic response performance of the system can be effectively improved without changing the steady-state tracking accuracy of the system by adopting the adaptive parameter time-varying design.
FIG. 6 is an adaptive time varying parameter
And
the change curve of (2) shows that when the position control quantity is in the saturation region, the control parameter value is rapidly reduced, and when the control quantity exits the saturation region, the control parameter value is rapidly increased. The parameter self-adaptive time-varying design enhances the adaptability of the system to different states and improves the transition process of the system tracking the sine guide signal.
Fig. 7 is a response result of tracking the position sine reference signal by using the conventional PI controller, and it can be seen that the transition process tracked by using the conventional PI controller has larger jitter when tracking the position sine reference signal, as shown in (a) of fig. 7, and the controller needs longer time to exit the saturation region, as shown in (b) of fig. 7; and the transition process of tracking by adopting the self-adaptive time-varying controller is smoother, and the adjustment time required for switching to steady-state tracking is shorter. In addition, in steady-state tracking, the steady-state tracking accuracy of the adaptive time-varying controller is higher than that of the conventional PI controller, as shown in (c) of fig. 7. The simulation result proves that compared with the traditional conventional control method, the self-adaptive time-varying position control method is adopted to track the dynamic position guide signal, the transition process is smoother, and the steady-state tracking precision is higher.
The method for improving the tracking performance of the photoelectric measurement equipment on the dynamic target is correct, effective and feasible.
Claims (3)
1. A method for improving the tracking performance of photoelectric measuring equipment to a dynamic target is characterized in that: the method designs a self-adaptive time-varying position controller for position closed-loop control, and the controller has the capability of considering both the transition process of switching into a target track when tracking a dynamic target and the tracking precision when tracking a steady state;
the design method of the self-adaptive time-varying position controller is realized by the following steps:
step one, establishing a tracking control model of photoelectric measurement equipment, wherein the control model is expressed by a formula as follows:
where θ is the system position signal, ω is the system velocity signal, uωIs the output signal of the speed controller, f is the disturbance signal, b is the model parameter, y is the system output signal;
designing a position controller based on improved supercoiled switching control based on the supercoiled switching control principle; the position controller is expressed by the formula:
in the formula uθControl quantity, k, output for position controllerp、kg、kl、ki、khAre all controller parameters, where ki、khFor integrating the control quantity parameters, ρ is a coefficient, tanh (. cndot.) is a hyperbolic tangent function, δ is a coefficient greater than 0, uaIs integral control quantity, s is switching surface;
the formula of the switching surface s is:
s＝θ*-θ
in the formula, theta*Position reference signals given for the system;
step three, the control quantity u output by the position controller in the step twoθPerforming amplitude limiting processing, and expressing the amplitude limiting processing as follows by adopting a formula:
in the formula usθIs uθControl quantity, omega, output after amplitude limitingmaxThe maximum operation speed amplitude allowed by the photoelectric measuring equipment;
step four, the integral control quantity parameter k of the position controller in the step twoiAnd khThe adaptive time-varying position controller after adaptive time-varying design is expressed by a formula as follows:
in the formula (I), the compound is shown in the specification,
and
for the adaptive time-varying parameter, the formula is expressed as follows:
in the formula, ki0And kh0For initial control of gain, λiAnd λhIs a coefficient, and 0 < lambdai＜1，0＜λh＜1，γiAnd gammahIs a coefficient greater than 0, and Δ u is uθAnd usθThe difference of (a).
2. The method for improving the performance of the photoelectric measurement device in tracking the dynamic target according to claim 1, wherein: in step four, uθAnd usθThe difference value Δ u of (d) is formulated as:
Δu＝uθ-usθ≥0
the difference value delta u represents the saturation degree of the control quantity of the position controller, and the larger the value of delta u is, the stronger the saturation degree of the system is; adaptive time-varying parameters
And the delta u is taken as a variable to perform self-adaptive change along with the system state.
3. The method for improving the performance of the photoelectric measurement device in tracking the dynamic target according to claim 2, wherein:
when the system is in the linear region, Δ u is 0, and the coefficient λ is seti、λhObtaining adaptive time-varying parameters
The formula of (1) is:
the adaptive time-varying parameter
Greater than initial control gain ki0、kh0The value of (d);
when the system enters the saturation region, the coefficient gamma is seti、γhIf the system isWhen the deep saturation state is entered, the value of delta u is large, and the following results are obtained:
further obtaining:
the adaptive time-varying parameter
Is changed to be progressively equal to the initial control gain ki0、kh0The numerical value is smaller.
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