CN113687598A - Prediction feedforward tracking control method and device based on internal model and storage medium thereof - Google Patents

Prediction feedforward tracking control method and device based on internal model and storage medium thereof Download PDF

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CN113687598A
CN113687598A CN202111237427.XA CN202111237427A CN113687598A CN 113687598 A CN113687598 A CN 113687598A CN 202111237427 A CN202111237427 A CN 202111237427A CN 113687598 A CN113687598 A CN 113687598A
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trajectory
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罗勇
赵泓润
包梦茹
丁宇
赵兴强
王维西
贺伟
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Nanjing University of Information Science and Technology
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Abstract

The invention discloses a predictive feedforward tracking control method based on an internal model, equipment and a storage medium thereof, relates to the technical field of visual monitoring, and aims to solve the problem of insufficient tracking precision of a photoelectric tracking system caused by image processing time lag. The method optimizes a control structure and an algorithm, realizes the estimation of the current state of a target under the condition of saving an additional position sensor, feeds the current state into a control system in a feedforward mode, and improves the control performance of the system.

Description

基于内模的预测前馈跟踪控制方法、设备及其存储介质Internal model-based predictive feedforward tracking control method, device and storage medium

技术领域technical field

本发明属于视觉监测技术领域，具体涉及基于内模的预测前馈跟踪控制方法、设备及其存储介质。The invention belongs to the technical field of visual monitoring, and in particular relates to an internal model-based predictive feedforward tracking control method, device and storage medium thereof.

背景技术Background technique

基于视觉的光电跟踪系统依靠CCD视觉传感器提取目标的脱靶量信息，来驱动旋转机构对运动目标实施快速精确地跟踪。通常图像曝光和脱靶量提取过程会引入不可忽略的延时到控制系统当中，导致视轴指向的位置与目标当前位置有偏差，而且随着目标机动性的提升，这种偏差会变得越来越大。闭环系统中的延时会导致相位快速衰减，因而会极大限制系统带宽，当跟踪低速弱机动的目标时，还能基本满足控制性能要求，但是在跟踪快速强机动目标时，显然单纯依靠基于脱靶量信息的反馈控制将不能满足精度要求，甚至会导致目标脱离视场范围。文献《Combined line-of-sight error and angular position togenerate feedforward control for a charge-coupled device-based tracking loop》(Optical Engineering，Vol(54)，2015）提出用脱靶量信息与平台位置信息合成目标轨迹并采用卡尔曼预测目标当前轨迹，前馈到系统中，补偿延时影响以提升跟踪精度，但是该方法需要在平台上安装额外的编码器，并且不同传感器的对准也会引入额外的误差。文献《Error-Based Feedforward Control for a Charge-Coupled Device Tracking System》(IEEE Transactions on Industrial Electronics，Vol(66)，2019）提出了基于误差的前馈控制器方法，通过将误差信息和模型输出融合以后直接前馈到系统中，相当于在低频构建一个高增益的控制器，提升系统的跟踪精度，但是该方法只是忽略了延时对低频的影响，没有直接补偿信号时滞，因此对精度的提升依然有限。The vision-based optoelectronic tracking system relies on the CCD vision sensor to extract the missing information of the target to drive the rotating mechanism to track the moving target quickly and accurately. Usually the process of image exposure and off-target extraction will introduce a non-negligible delay into the control system, resulting in a deviation between the position pointed by the boresight and the current position of the target, and with the improvement of the target's mobility, this deviation will become more and more bigger. The delay in the closed-loop system will cause the phase to decay rapidly, which will greatly limit the system bandwidth. When tracking low-speed and weakly maneuvering targets, it can basically meet the control performance requirements, but when tracking fast and strong maneuvering targets, it is obviously based on The feedback control of the miss-target amount information will not meet the accuracy requirements, and even cause the target to deviate from the field of view. The document "Combined line-of-sight error and angular position to generate feedforward control for a charge-coupled device-based tracking loop" (Optical Engineering, Vol(54), 2015) proposes to synthesize target trajectories with off-target amount information and platform position information Kalman is used to predict the current trajectory of the target and feed it forward to the system to compensate for the delay effect to improve the tracking accuracy, but this method requires additional encoders to be installed on the platform, and the alignment of different sensors will also introduce additional errors. The document "Error-Based Feedforward Control for a Charge-Coupled Device Tracking System" (IEEE Transactions on Industrial Electronics, Vol(66), 2019) proposes an error-based feedforward controller method. After fusing the error information and the model output, Feed forward directly into the system, which is equivalent to building a high-gain controller at low frequencies to improve the tracking accuracy of the system, but this method just ignores the effect of delay on low frequencies, and does not directly compensate for the signal delay, thus improving the accuracy. still limited.

发明内容SUMMARY OF THE INVENTION

针对现有技术的不足，本发明的目的在于提供基于内模的预测前馈跟踪控制方法、设备及其存储介质，主要针对光电跟踪系统由于图像处理时滞导致的跟踪精度不足的问题，通过将脱靶量信息与内模的输出合成得到过去的目标轨迹，预测外推估计目标当前信息，前馈到控制系统中，提升跟踪精度。以解决上述背景技术中提出的问题。In view of the deficiencies of the prior art, the purpose of the present invention is to provide an internal model-based predictive feedforward tracking control method, device and storage medium thereof, mainly aiming at the problem of insufficient tracking accuracy caused by image processing time lag in the photoelectric tracking system. The missed target amount information and the output of the internal model are synthesized to obtain the past target trajectory, and the current information of the target is predicted and extrapolated, which is fed forward to the control system to improve the tracking accuracy. In order to solve the problems raised in the above background art.

本发明的目的可以通过以下技术方案实现：基于内模的预测前馈跟踪控制方法，其步骤如下：The purpose of the present invention can be achieved through the following technical solutions: a predictive feedforward tracking control method based on an internal model, the steps of which are as follows:

步骤（1）：在光电跟踪系统的正交偏转轴上分别安装陀螺，通过频域拟合的方式，测量平台的速度对象模型

Figure DEST_PATH_IMAGE001
，它是真实对象特性
Figure 41776DEST_PATH_IMAGE002
的近似，运用零极点抵消法，设计速度控制器
Figure DEST_PATH_IMAGE003
，使补偿后的对象为Ⅰ型系统；Step (1): Install the gyroscope on the orthogonal deflection axis of the photoelectric tracking system, and measure the speed object model of the platform by means of frequency domain fitting
Figure DEST_PATH_IMAGE001
, which is the real object property
Figure 41776DEST_PATH_IMAGE002
approximation, using the zero-pole cancellation method, design the speed controller
Figure DEST_PATH_IMAGE003
, so that the compensated object is a type I system;

步骤（2）：在系统光路终端安装CCD图像传感器，根据由速度闭环改造后的位置对象模型

Figure 677157DEST_PATH_IMAGE004
，设计位置控制器
Figure DEST_PATH_IMAGE005
；Step (2): Install a CCD image sensor at the optical path terminal of the system, according to the position object model transformed by the velocity closed loop
Figure 677157DEST_PATH_IMAGE004
, design the position controller
Figure DEST_PATH_IMAGE005
;

步骤（3）：将CCD脱靶量与速度环给定信号经内模

Figure 223545DEST_PATH_IMAGE006
的输出相加，合成中间信号
Figure DEST_PATH_IMAGE007
，作为最小二乘算法的输入信号；Step (3): Pass the CCD off-target amount and the given signal of the speed loop through the internal model
Figure 223545DEST_PATH_IMAGE006
The outputs are added to synthesize the intermediate signal
Figure DEST_PATH_IMAGE007
, as the input signal of the least squares algorithm;

步骤（4）：利用最小二乘算法对中间信号

Figure 223862DEST_PATH_IMAGE007
进行预测外推，估计目标当前轨迹；Step (4): Use the least squares algorithm to analyze the intermediate signal
Figure 223862DEST_PATH_IMAGE007
Perform prediction extrapolation to estimate the current trajectory of the target;

步骤（5）：对目标当前轨迹微分，获取目标当前速度，经低通滤波器

Figure 567119DEST_PATH_IMAGE008
滤波去噪以后，与位置控制器的输出叠加，作为速度环的给定信号。Step (5): Differentiate the current trajectory of the target, obtain the current speed of the target, and pass the low-pass filter
Figure 567119DEST_PATH_IMAGE008
After filtering and denoising, it is superimposed with the output of the position controller as the given signal of the speed loop.

作为本发明进一步的方案，所述步骤（1）中，首先根据光电跟踪系统的结构机理建模如下：As a further solution of the present invention, in the step (1), the first modeling is as follows according to the structure and mechanism of the photoelectric tracking system:

Figure DEST_PATH_IMAGE009
Figure DEST_PATH_IMAGE009

其中，包含了微分环节，振荡环节和惯性环节，

Figure 193141DEST_PATH_IMAGE010
为模型增益，
Figure 938243DEST_PATH_IMAGE011
为自然振荡频率，
Figure 437358DEST_PATH_IMAGE012
为阻尼系数，
Figure 205593DEST_PATH_IMAGE013
为电气时间常数，通过频域拟合的方式测量平台的波特响应曲线，调整
Figure 651618DEST_PATH_IMAGE014
参数使拟合的曲线和试验测试的曲线重合，确定模型参数。Among them, it includes the differential link, the oscillation link and the inertia link,
Figure 193141DEST_PATH_IMAGE010
is the model gain,
Figure 938243DEST_PATH_IMAGE011
is the natural oscillation frequency,
Figure 437358DEST_PATH_IMAGE012
is the damping coefficient,
Figure 205593DEST_PATH_IMAGE013
is the electrical time constant, measure the Bode response curve of the platform by means of frequency domain fitting, adjust
Figure 651618DEST_PATH_IMAGE014
The parameters make the fitted curve coincide with the experimentally tested curve to determine the model parameters.

作为本发明进一步的方案，所述步骤（2）中，通过频域拟合的方式，测得系统的延迟为

Figure DEST_PATH_IMAGE015
，它是系统真实延迟
Figure 969336DEST_PATH_IMAGE016
的近似，由于速度闭环带宽很高，速度闭环传递函数
Figure DEST_PATH_IMAGE017
在低频较宽的频段可以当作理想传递函数1，因此位置对象模型可以近似为
Figure 639352DEST_PATH_IMAGE018
，位置控制器可以设计为比例控制器。As a further solution of the present invention, in the step (2), by means of frequency domain fitting, the measured delay of the system is
Figure DEST_PATH_IMAGE015
, which is the system real delay
Figure 969336DEST_PATH_IMAGE016
is an approximation of , due to the high velocity closed-loop bandwidth, the velocity closed-loop transfer function
Figure DEST_PATH_IMAGE017
It can be regarded as an ideal transfer function 1 in a wide frequency band at low frequencies, so the position object model can be approximated as
Figure 639352DEST_PATH_IMAGE018
, the position controller can be designed as a proportional controller.

作为本发明进一步的方案，所述步骤（3）中，中间信号

Figure DEST_PATH_IMAGE019
的传递函数如下：As a further solution of the present invention, in the step (3), the intermediate signal
Figure DEST_PATH_IMAGE019
The transfer function is as follows:

Figure 363725DEST_PATH_IMAGE020
Figure 363725DEST_PATH_IMAGE020

其中，

Figure DEST_PATH_IMAGE021
为目标给定信号，通常有
Figure 144599DEST_PATH_IMAGE022
，则在系统的主要控制频带内，有
Figure DEST_PATH_IMAGE023
，其近似为系统过去的轨迹信号。in,
Figure DEST_PATH_IMAGE021
Given a signal for the target, usually there is
Figure 144599DEST_PATH_IMAGE022
, then in the main control frequency band of the system, there are
Figure DEST_PATH_IMAGE023
, which approximates the past trajectory signal of the system.

作为本发明进一步的方案，所述步骤（4）：利用最小二乘法对过去的轨迹信号进行拟合，得到轨迹模型的参数，以该轨迹模型外推预测，估计当前的轨迹信息，当有新的轨迹点进入时，则更新模型参数，估计下一个当前时刻的轨迹信息。As a further solution of the present invention, the step (4): use the least squares method to fit the past trajectory signals to obtain the parameters of the trajectory model, extrapolate the prediction with the trajectory model, and estimate the current trajectory information. When the trajectory point enters, the model parameters are updated to estimate the trajectory information of the next current moment.

作为本发明进一步的方案，所述步骤（5）中，低通滤波器设计为

Figure 582403DEST_PATH_IMAGE024
，其中
Figure DEST_PATH_IMAGE025
为滤波时间常数。As a further solution of the present invention, in the step (5), the low-pass filter is designed as
Figure 582403DEST_PATH_IMAGE024
,in
Figure DEST_PATH_IMAGE025
is the filter time constant.

一种设备，该设备具有处理器和机器可读存储介质，机器可读存储介质存储有能够被所述处理器执行的机器可执行指令，所述处理器被所述机器可执行指令促使：实现上述的方法步骤。An apparatus having a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor being caused by the machine-executable instructions to: implement the above method steps.

一种存储介质，存储有机器可执行指令，在被处理器调用和执行时，所述机器可执行指令促使所述处理器：实现上述的方法步骤。A storage medium storing machine-executable instructions, when invoked and executed by a processor, the machine-executable instructions cause the processor to: implement the above method steps.

本发明的有益效果：Beneficial effects of the present invention:

1.本发明不需要在光电系统上安装额外的位置传感器，精简了结构，节省了开支；1. The present invention does not need to install additional position sensors on the photoelectric system, simplifies the structure, and saves expenses;

2.本发明提供了不依赖额外传感器，只需要脱靶量信息和系统模型就能估计目标当前轨迹的方法，构建了单纯依靠内模的前馈结构。2. The present invention provides a method for estimating the current trajectory of the target without relying on additional sensors and only needs the information of the off-target amount and the system model, and constructs a feedforward structure relying solely on the internal model.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. In other words, other drawings can also be obtained from these drawings without any creative effort.

图1是本发明的基于内模的预测前馈跟踪控制方法的控制框图；1 is a control block diagram of an internal model-based predictive feedforward tracking control method of the present invention;

图2是本实施例中不同频率下目标参考轨迹；Fig. 2 is the target reference track under different frequencies in the present embodiment;

图3是本实施例中不同频率下合成的过去轨迹；Fig. 3 is the past track synthesized under different frequencies in the present embodiment;

图4是本实施例中不同频率下预测的当前轨迹；Fig. 4 is the current trajectory predicted under different frequencies in the present embodiment;

图5是本发明相对于速度位置双闭环的误差抑制能力对比图。FIG. 5 is a comparison diagram of the error suppression capability of the present invention with respect to the speed-position double closed loop.

具体实施方式Detailed ways

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

如附图1所示是基于内模的预测前馈跟踪控制方法的控制框图，其中包括速度环、位置环以及基于内模的预测前馈控制结构；通过脱靶量信息与内模的输出融合得到的过去时刻的轨迹经最小二乘预测以后得到当前时刻的目标轨迹，用于前馈控制，理论上能大幅提升低频跟踪能力。采用所述装置实现前馈控制的具体实现步骤如下：As shown in Fig. 1 is the control block diagram of the predictive feedforward tracking control method based on the internal model, which includes a velocity loop, a position loop and a predictive feedforward control structure based on the internal model; obtained by fusing the missed target amount information with the output of the internal model The trajectory of the past moment is predicted by the least squares to obtain the target trajectory of the current moment, which is used for feedforward control, which can theoretically greatly improve the low-frequency tracking ability. The specific implementation steps of adopting the device to realize the feedforward control are as follows:

步骤（1）：在光电跟踪系统的正交偏转轴上分别安装陀螺，通过频域拟合的方式测量传递特性，输入为控制器输出值，输出为传感器的测量值，得到平台的速度对象模型

Figure 298686DEST_PATH_IMAGE026
，它是真实对象特性
Figure DEST_PATH_IMAGE027
的近似，其传递函数如下：Step (1): Install the gyroscope on the orthogonal deflection axis of the photoelectric tracking system, measure the transfer characteristic by frequency domain fitting, the input is the output value of the controller, the output is the measured value of the sensor, and the speed object model of the platform is obtained
Figure 298686DEST_PATH_IMAGE026
, which is the real object property
Figure DEST_PATH_IMAGE027
The approximation of the transfer function is as follows:

Figure 634990DEST_PATH_IMAGE028
Figure 634990DEST_PATH_IMAGE028

其中，

Figure DEST_PATH_IMAGE029
为自然振荡频率，
Figure 140926DEST_PATH_IMAGE030
为阻尼系数，
Figure DEST_PATH_IMAGE031
为电气时间常数。根据对象模型，采用零极点抵消法，设计的速度控制器如下：in,
Figure DEST_PATH_IMAGE029
is the natural oscillation frequency,
Figure 140926DEST_PATH_IMAGE030
is the damping coefficient,
Figure DEST_PATH_IMAGE031
is the electrical time constant. According to the object model, using the zero-pole cancellation method, the designed speed controller is as follows:

Figure 387231DEST_PATH_IMAGE032
Figure 387231DEST_PATH_IMAGE032

其中，

Figure DEST_PATH_IMAGE033
为控制器增益，
Figure 133470DEST_PATH_IMAGE034
为滤波时间常数，通过速度控制器补偿以后，系统被改造成Ⅰ型系统。in,
Figure DEST_PATH_IMAGE033
is the controller gain,
Figure 133470DEST_PATH_IMAGE034
For the filter time constant, after compensation by the speed controller, the system is transformed into a type I system.

步骤（2）：在系统光路终端安装CCD图像传感器，通过频域拟合的方式，得到CCD的延迟时间为

Figure DEST_PATH_IMAGE035
，它是系统真实延迟时间
Figure 81703DEST_PATH_IMAGE036
的近似。由于速度闭环带宽很高，速度闭环传递函数
Figure 469959DEST_PATH_IMAGE017
在低频较宽的频段可以当作理想传递函数1。因此位置对象模型可以近似为
Figure DEST_PATH_IMAGE037
，位置控制器可以设计为比例控制器。Step (2): Install a CCD image sensor at the end of the optical path of the system, and obtain the delay time of the CCD by frequency domain fitting as:
Figure DEST_PATH_IMAGE035
, which is the real delay time of the system
Figure 81703DEST_PATH_IMAGE036
approximation. Due to the high speed closed-loop bandwidth, the speed closed-loop transfer function
Figure 469959DEST_PATH_IMAGE017
It can be regarded as an ideal transfer function 1 in a wide frequency band at low frequencies. So the location object model can be approximated as
Figure DEST_PATH_IMAGE037
, the position controller can be designed as a proportional controller.

步骤（3）：将CCD脱靶量与速度环给定信号经内模

Figure 570770DEST_PATH_IMAGE038
的输出相加，合成中间信号
Figure DEST_PATH_IMAGE039
，其传递函数如下：Step (3): Pass the CCD off-target amount and the given signal of the speed loop through the internal model
Figure 570770DEST_PATH_IMAGE038
The outputs are added to synthesize the intermediate signal
Figure DEST_PATH_IMAGE039
, and its transfer function is as follows:

Figure 674862DEST_PATH_IMAGE040
Figure 674862DEST_PATH_IMAGE040

其中，

Figure 454599DEST_PATH_IMAGE021
为目标给定信号，通常有
Figure DEST_PATH_IMAGE041
，则在系统的主要控制频带内，有
Figure 53070DEST_PATH_IMAGE042
，其近似为系统过去的轨迹信号，作为最小二乘算法的输入信号。in,
Figure 454599DEST_PATH_IMAGE021
Given a signal for the target, usually there is
Figure DEST_PATH_IMAGE041
, then in the main control frequency band of the system, there are
Figure 53070DEST_PATH_IMAGE042
, which is approximated by the past trajectory signal of the system, as the input signal of the least squares algorithm.

步骤（4）：利用最小二乘法对过去的轨迹信号进行拟合，得到轨迹模型的参数，以该轨迹模型外推预测，估计当前的轨迹信息。当有新的轨迹点进入时，则更新模型参数，估计下一个当前时刻的轨迹信息。Step (4): Use the least squares method to fit the past trajectory signals to obtain the parameters of the trajectory model, extrapolate the prediction with the trajectory model, and estimate the current trajectory information. When a new trajectory point enters, the model parameters are updated to estimate the trajectory information at the next current moment.

步骤（5）：对目标当前轨迹微分，获取目标当前速度，经低通滤波器

Figure DEST_PATH_IMAGE043
滤波去噪以后，与位置控制器的输出叠加，作为速度环的给定信号。
Figure 867443DEST_PATH_IMAGE043
的传递函数为
Figure 876856DEST_PATH_IMAGE044
，其中
Figure 878310DEST_PATH_IMAGE025
为滤波时间常数。Step (5): Differentiate the current trajectory of the target, obtain the current speed of the target, and pass the low-pass filter
Figure DEST_PATH_IMAGE043
After filtering and denoising, it is superimposed with the output of the position controller as the given signal of the speed loop.
Figure 867443DEST_PATH_IMAGE043
The transfer function of is
Figure 876856DEST_PATH_IMAGE044
,in
Figure 878310DEST_PATH_IMAGE025
is the filter time constant.

下面以某一光电跟踪平台系统为例对本发明的设计过程和实验效果进行详细说明：The design process and experimental effect of the present invention are described in detail below by taking a certain photoelectric tracking platform system as an example:

（1）通过频域拟合的方式得到的速度模型的传递函数如下，(1) The transfer function of the velocity model obtained by frequency domain fitting is as follows,

Figure DEST_PATH_IMAGE045
Figure DEST_PATH_IMAGE045

根据上述传递函数，忽略高频影响，通过零极点抵消法，设计的速度控制器如下：According to the above transfer function, ignoring the influence of high frequency, through the zero-pole cancellation method, the designed speed controller is as follows:

Figure 280472DEST_PATH_IMAGE046
Figure 280472DEST_PATH_IMAGE046

（2）CCD的采样率设置为50Hz，通过拟合测量的系统时滞为

Figure DEST_PATH_IMAGE047
，则位置对象模型近似为
Figure 214930DEST_PATH_IMAGE048
，位置外环的控制器设计为
Figure DEST_PATH_IMAGE049
。(2) The sampling rate of the CCD is set to 50Hz, and the system delay measured by fitting is
Figure DEST_PATH_IMAGE047
, then the position object model is approximately
Figure 214930DEST_PATH_IMAGE048
, the controller of the position outer loop is designed as
Figure DEST_PATH_IMAGE049
.

（3）将脱靶量与速度环给定信号经内模

Figure 864086DEST_PATH_IMAGE050
的输出相加，合成中间信号
Figure DEST_PATH_IMAGE051
，它近似为过去的目标轨迹。(3) The off-target amount and the given signal of the speed loop are passed through the internal model
Figure 864086DEST_PATH_IMAGE050
The outputs are added to synthesize the intermediate signal
Figure DEST_PATH_IMAGE051
, which approximates the past target trajectory.

（4）利用最小二乘法对过去的轨迹信号进行拟合，采用如下二次多项式进行拟合：(4) Use the least squares method to fit the past trajectory signal, and use the following quadratic polynomial to fit:

Figure 149574DEST_PATH_IMAGE052
Figure 149574DEST_PATH_IMAGE052

该实验采取过去2s中100个轨迹点进行拟合，得到轨迹模型的参数，以该轨迹模型外推预测，估计当前的轨迹信息。当有新的轨迹点进入时，则更新模型参数，估计下一个当前时刻的轨迹信息。In this experiment, 100 trajectory points in the past 2s were used for fitting, and the parameters of the trajectory model were obtained. The trajectory model was used to extrapolate the prediction to estimate the current trajectory information. When a new trajectory point enters, the model parameters are updated to estimate the trajectory information at the next current moment.

（5）对估计的当前时刻目标轨迹信号微分得到目标速度，并经滤波去噪后，与位置控制器的输出叠加，作为速度环的给定信号。其中选取的滤波器为

Figure DEST_PATH_IMAGE053
。(5) Differentiate the estimated target trajectory signal at the current moment to obtain the target velocity, and after filtering and denoising, it is superimposed with the output of the position controller as the given signal of the velocity loop. The selected filter is
Figure DEST_PATH_IMAGE053
.

图2、图3、图4是本发明不同频率下目标参考轨迹、合成的过去轨迹以及预测的当前轨迹的时域对比图。在低频段的0.5Hz，1Hz，采用最小二乘法的预测性能较好，几乎能完全补偿信号的相位滞后。随着频率变大，预测性能变差，2Hz处，虽然能补偿相位滞后，但也造成了波形失真，因此最小二乘法主要针对低频段信号的预测补偿。FIG. 2 , FIG. 3 , and FIG. 4 are time-domain comparison diagrams of the target reference trajectory, the synthesized past trajectory, and the predicted current trajectory under different frequencies of the present invention. In the low frequency band of 0.5Hz and 1Hz, the prediction performance of the least square method is better, and the phase lag of the signal can be almost completely compensated. As the frequency increases, the prediction performance deteriorates. At 2 Hz, although the phase lag can be compensated, it also causes waveform distortion. Therefore, the least squares method is mainly aimed at the prediction and compensation of low-frequency signals.

在相同实验条件下，对比速度位置双闭环和基于内模的预测前馈控制方法的误差抑制残差，如图5是本发明的误差抑制能力对比图，它是由不同频率下的误差与给定输入之间的幅值比取对数绘制而成。与采用速度位置双闭环相比，采用基于内模的预测前馈控制方法的系统在低频段5Hz以下，有更强的误差抑制能力，说明此区域系统具备更强的跟踪能力。虽然随着频率的增加，轨迹预测能力下降导致跟踪能力变差，但是因为目标轨迹信号通常分布在低频段居多，因此通过本发明的方法来提高系统的跟踪精度是十分有效的。Under the same experimental conditions, compare the error suppression residuals of the speed and position double closed loop and the prediction feedforward control method based on the internal model. Figure 5 is a comparison diagram of the error suppression capability of the present invention. It is plotted as the logarithm of the magnitude ratio between the given inputs. Compared with the double closed loop of velocity and position, the system using the predictive feedforward control method based on internal model has stronger error suppression ability in the low frequency band below 5Hz, indicating that the system in this region has stronger tracking ability. Although with the increase of the frequency, the trajectory prediction ability decreases and the tracking ability becomes poor, but because the target trajectory signal is usually distributed in the low frequency band, the method of the present invention is very effective to improve the tracking accuracy of the system.

基于本说明书中的实施例，本公开还提供了一种设备，该设备具有处理器和机器可读存储介质，机器可读存储介质存储有能够被所述处理器执行的机器可执行指令，所述处理器被所述机器可执行指令促使：实现上述各实施例的方法步骤。其中，该设备可以为基站，也可以为终端设备。Based on the embodiments in this specification, the present disclosure also provides a device having a processor and a machine-readable storage medium, where the machine-readable storage medium stores machine-executable instructions that can be executed by the processor. The processor is caused by the machine-executable instructions to implement the method steps of the above-described embodiments. The device may be a base station or a terminal device.

本公开还提供了一种机器可读存储介质，存储有机器可执行指令，在被处理器调用和执行时，所述机器可执行指令促使所述处理器：实现上述各实施例的方法步骤。The present disclosure also provides a machine-readable storage medium storing machine-executable instructions, which, when invoked and executed by a processor, cause the processor to: implement the method steps of the foregoing embodiments.

对于本领域技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型。因此，从任意一处来说，都应将实施例看作是指导性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所有的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。It will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principle and spirit of the invention. Therefore, from any point of view, the embodiments should be regarded as instructive and non-limiting, the scope of the present invention is defined by the appended claims rather than the above description, and the preferred embodiments of the present invention are only , is not intended to limit the present invention, and all within the spirit and principle of the present invention, all modifications, equivalent replacements, improvements, etc., should be included within the protection scope of the present invention.

Claims (8)

1.基于内模的预测前馈跟踪控制方法，其特征在于：其步骤如下：1. The prediction feedforward tracking control method based on the internal model is characterized in that: its steps are as follows: 步骤（1）：在光电跟踪系统的正交偏转轴上分别安装陀螺，通过频域拟合的方式，测量平台的速度对象模型
Figure 656669DEST_PATH_IMAGE001
，它是真实对象特性
Figure 87651DEST_PATH_IMAGE002
的近似，运用零极点抵消法，设计速度控制器
Figure 60286DEST_PATH_IMAGE003
，使补偿后的对象为Ⅰ型系统；Step (1): Install the gyroscope on the orthogonal deflection axis of the photoelectric tracking system, and measure the speed object model of the platform by means of frequency domain fitting
Figure 656669DEST_PATH_IMAGE001
, which is the real object property
Figure 87651DEST_PATH_IMAGE002
approximation, using the zero-pole cancellation method, design the speed controller
Figure 60286DEST_PATH_IMAGE003
, so that the compensated object is a type I system; 步骤（2）：在系统光路终端安装CCD图像传感器，根据由速度闭环改造后的位置对象模型
Figure 283326DEST_PATH_IMAGE004
，设计位置控制器
Figure 909479DEST_PATH_IMAGE005
；Step (2): Install a CCD image sensor at the optical path terminal of the system, according to the position object model transformed by the velocity closed loop
Figure 283326DEST_PATH_IMAGE004
, design the position controller
Figure 909479DEST_PATH_IMAGE005
; 步骤（3）：将CCD脱靶量与速度环给定信号经内模
Figure 827757DEST_PATH_IMAGE006
的输出相加，合成中间信号
Figure 604083DEST_PATH_IMAGE007
，作为最小二乘算法的输入信号；Step (3): Pass the CCD off-target amount and the given signal of the speed loop through the internal model
Figure 827757DEST_PATH_IMAGE006
The outputs are added to synthesize the intermediate signal
Figure 604083DEST_PATH_IMAGE007
, as the input signal of the least squares algorithm; 步骤（4）：利用最小二乘算法对中间信号
Figure 25837DEST_PATH_IMAGE007
进行预测外推，估计目标当前轨迹；Step (4): Use the least squares algorithm to analyze the intermediate signal
Figure 25837DEST_PATH_IMAGE007
Perform prediction extrapolation to estimate the current trajectory of the target; 步骤（5）：对目标当前轨迹微分，获取目标当前速度，经低通滤波器
Figure 478684DEST_PATH_IMAGE008
滤波去噪以后，与位置控制器的输出叠加，作为速度环的给定信号。Step (5): Differentiate the current trajectory of the target, obtain the current speed of the target, and pass the low-pass filter
Figure 478684DEST_PATH_IMAGE008
After filtering and denoising, it is superimposed with the output of the position controller as the given signal of the speed loop. 2.根据权利要求1所述的基于内模的预测前馈跟踪控制方法，其特征在于，所述步骤（1）中，首先根据光电跟踪系统的结构机理建模如下：2. The internal model-based predictive feedforward tracking control method according to claim 1, characterized in that, in the step (1), firstly, the modeling is as follows according to the structure mechanism of the optoelectronic tracking system:
Figure 618678DEST_PATH_IMAGE009
Figure 618678DEST_PATH_IMAGE009
 其中，包含了微分环节，振荡环节和惯性环节，
Figure 933116DEST_PATH_IMAGE010
为模型增益，
Figure 474956DEST_PATH_IMAGE011
为自然振荡频率，
Figure 98704DEST_PATH_IMAGE012
为阻尼系数，
Figure 725994DEST_PATH_IMAGE013
为电气时间常数，通过频域拟合的方式测量平台的波特响应曲线，调整
Figure 844123DEST_PATH_IMAGE014
参数使拟合的曲线和试验测试的曲线重合，确定模型参数。Among them, it includes the differential link, the oscillation link and the inertia link,
Figure 933116DEST_PATH_IMAGE010
is the model gain,
Figure 474956DEST_PATH_IMAGE011
is the natural oscillation frequency,
Figure 98704DEST_PATH_IMAGE012
is the damping coefficient,
Figure 725994DEST_PATH_IMAGE013
is the electrical time constant, measure the Bode response curve of the platform by means of frequency domain fitting, adjust
Figure 844123DEST_PATH_IMAGE014
The parameters make the fitted curve coincide with the experimentally tested curve to determine the model parameters. 3.根据权利要求1所述的基于内模的预测前馈跟踪控制方法，其特征在于，所述步骤（2）中，通过频域拟合的方式，测得系统的延迟为
Figure 974890DEST_PATH_IMAGE015
，它是系统真实延迟
Figure 644906DEST_PATH_IMAGE016
的近似，由于速度闭环带宽很高，速度闭环传递函数
Figure 884126DEST_PATH_IMAGE017
在低频较宽的频段可以当作理想传递函数1，因此位置对象模型可以近似为
Figure 665000DEST_PATH_IMAGE018
，位置控制器可以设计为比例控制器。3 . The internal model-based predictive feedforward tracking control method according to claim 1 , wherein in the step (2), by means of frequency domain fitting, the measured delay of the system is 3 .
Figure 974890DEST_PATH_IMAGE015
, which is the system real delay
Figure 644906DEST_PATH_IMAGE016
is an approximation of , due to the high velocity closed-loop bandwidth, the velocity closed-loop transfer function
Figure 884126DEST_PATH_IMAGE017
It can be regarded as an ideal transfer function 1 in a wide frequency band at low frequencies, so the position object model can be approximated as
Figure 665000DEST_PATH_IMAGE018
, the position controller can be designed as a proportional controller. 4.根据权利要求1所述的基于内模的预测前馈跟踪控制方法，其特征在于，所述步骤（3）中，中间信号
Figure 791219DEST_PATH_IMAGE019
的传递函数如下：4. The internal model-based predictive feedforward tracking control method according to claim 1, wherein in the step (3), the intermediate signal
Figure 791219DEST_PATH_IMAGE019
The transfer function is as follows:
Figure 632136DEST_PATH_IMAGE020
Figure 632136DEST_PATH_IMAGE020
 其中，
Figure 358653DEST_PATH_IMAGE021
为目标给定信号，通常有
Figure 943218DEST_PATH_IMAGE022
，则在系统的主要控制频带内，有
Figure 189523DEST_PATH_IMAGE023
，其近似为系统过去的轨迹信号。in,
Figure 358653DEST_PATH_IMAGE021
Given a signal for the target, usually there is
Figure 943218DEST_PATH_IMAGE022
, then in the main control frequency band of the system, there are
Figure 189523DEST_PATH_IMAGE023
, which approximates the past trajectory signal of the system. 5.根据权利要求1所述的基于内模的预测前馈跟踪控制方法，其特征在于，所述步骤（4）：利用最小二乘法对过去的轨迹信号进行拟合，得到轨迹模型的参数，以该轨迹模型外推预测，估计当前的轨迹信息，当有新的轨迹点进入时，则更新模型参数，估计下一个当前时刻的轨迹信息。5 . The internal model-based predictive feedforward tracking control method according to claim 1 , wherein the step (4): using the least squares method to fit past trajectory signals to obtain the parameters of the trajectory model, 6 . The trajectory model is extrapolated and predicted to estimate the current trajectory information. When a new trajectory point enters, the model parameters are updated to estimate the trajectory information at the next current moment. 6.根据权利要求1所述的基于内模的预测前馈跟踪控制方法，其特征在于，所述步骤（5）中，低通滤波器设计为
Figure 935762DEST_PATH_IMAGE024
，其中
Figure 759361DEST_PATH_IMAGE025
为滤波时间常数。6. The internal model-based predictive feedforward tracking control method according to claim 1, wherein in the step (5), the low-pass filter is designed as
Figure 935762DEST_PATH_IMAGE024
,in
Figure 759361DEST_PATH_IMAGE025
is the filter time constant. 7.一种设备，其特征在于，所述设备具有处理器和机器可读存储介质，所述机器可读存储介质存储有能够被所述处理器执行的机器可执行指令，所述处理器被所述机器可执行指令促使：实现权利要求1-6任一所述的方法步骤。7. An apparatus, characterized in that the apparatus has a processor and a machine-readable storage medium storing machine-executable instructions executable by the processor, the processor being The machine-executable instructions cause the implementation of the method steps of any of claims 1-6. 8.一种存储介质，其特征在于，存储有机器可执行指令，在被处理器调用和执行时，所述机器可执行指令促使所述处理器：实现权利要求1-6任一所述的方法步骤。8. A storage medium, characterized in that it stores machine-executable instructions, and when called and executed by a processor, the machine-executable instructions cause the processor to: implement any one of claims 1-6. method steps.
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Application publication date: 20211123