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 PDFInfo
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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
Technical Field
The invention belongs to the technical field of visual monitoring, and particularly relates to a prediction feedforward tracking control method and device based on an internal model and a storage medium thereof.
Background
The vision-based photoelectric tracking system extracts the miss distance information of a target by means of a CCD vision sensor to drive a rotating mechanism to quickly and accurately track the moving target. Generally, the image exposure and miss-target amount extraction process introduces non-negligible delay into the control system, which causes the position pointed by the visual axis to deviate from the current position of the target, and the deviation becomes larger and larger as the mobility of the target is improved. The delay in the closed-loop system can cause the phase to be quickly attenuated, so that the bandwidth of the system can be greatly limited, the control performance requirement can be basically met when a low-speed weak maneuvering target is tracked, but the accuracy requirement can not be met by only depending on the feedback control based on the miss distance information when a quick strong maneuvering target is tracked, and even the target can be separated from the field range. The literature Combined line-of-sight error and angular position to generated fed tracking loop (Optical Engineering, Vol (54), 2015) proposes to synthesize a target trajectory with miss-target amount information and platform position information and to use kalman to predict the target current trajectory, feed forward into the system, and compensate for delay effects to improve tracking accuracy, but this method requires additional encoders to be installed on the platform, and alignment of different sensors also introduces additional errors. Document "Error-Based feed forward Control for a Charge-Coupled Device Tracking System" (IEEE Transactions on Industrial Electronics, Vol (66), 2019) proposes an Error-Based Feedforward controller method, which directly feeds forward Error information and model output into a System after fusion, which is equivalent to constructing a high-gain controller at low frequency, so as to improve the Tracking accuracy of the System, but the method only ignores the influence of delay on low frequency, and does not directly compensate signal time lag, so that the improvement on accuracy is still limited.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a predictive feedforward tracking control method, equipment and a storage medium thereof based on an internal model, mainly aiming at the problem that the tracking accuracy of a photoelectric tracking system is insufficient due to image processing time lag, the past target track is obtained by synthesizing miss distance information and the output of the internal model, target current information is estimated by prediction extrapolation and is fed forward to a control system, and the tracking accuracy is improved. To solve the problems set forth in the background art described above.
The purpose of the invention can be realized by the following technical scheme: the predictive feedforward tracking control method based on the internal model comprises the following steps:
step (1): the method comprises the steps of respectively installing gyros on orthogonal deflection axes of a photoelectric tracking system, and measuring a speed object model of a platform in a frequency domain fitting mode
Which is a real object property
The approximation of zero-pole offset method is used to design the speed controller
Making the compensated object be a type I system;
step (2): a CCD image sensor is arranged at the light path terminal of the system, and the position object model is closed-loop transformed according to the speed
Design position controller
；
And (3): the CCD off-target amount and speed ring given signal are processed by an internal model
Is added to synthesize an intermediate signal
As input signal for a least squares algorithm;
and (4): using least squares algorithm on intermediate signals
Performing prediction extrapolation, and estimating the current track of the target;
and (5): differentiating the current track of the target to obtain the current speed of the target, and passing through a low-pass filter
After filtering and denoising, the signal is superposed with the output of the position controller to be used as a given signal of the speed loop.
As a further aspect of the present invention, in the step (1), firstly, a structural mechanism according to the photoelectric tracking system is modeled as follows:
wherein, the device comprises a differential link, an oscillation link and an inertia link,
in order to obtain the gain of the model,
in order to be the natural oscillation frequency,
in order to be a damping coefficient of the damping,
measuring the Baud response curve of the platform in a frequency domain fitting mode for an electrical time constant, and adjusting
The parameters are such that the fitted curve coincides with the experimentally tested curve, determining the model parameters.
As a further aspect of the inventionThe scheme of the step (2) is that in the step (2), the delay of the system is measured to be
It is the system true delay
Approximation of velocity closed loop transfer function due to high velocity closed loop bandwidth
The low-frequency wide frequency band can be regarded as an ideal transfer function 1, so that the position object model can be approximated as
The position controller can be designed as a proportional controller.
As a further aspect of the present invention, in the step (3), the intermediate signal
The transfer function of (a) is as follows:
wherein the content of the first and second substances,
for targeting a given signal, there are usually
Then, in the main control band of the system, there are
Which approximates the system's past trace signal.
As a further aspect of the present invention, the step (4): and fitting the past track signals by using a least square method to obtain parameters of a track model, extrapolating and predicting by using the track model to estimate current track information, and updating the model parameters and estimating the track information of the next current moment when new track points enter.
As a further proposal of the invention, in the step (5), the low-pass filter is designed as
Wherein
Is the filter time constant.
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: the above-described method steps are implemented.
A storage medium storing machine executable instructions that, when invoked and executed by a processor, cause the processor to: the above-described method steps are implemented.
The invention has the beneficial effects that:
1. the invention does not need to install an additional position sensor on the photoelectric system, simplifies the structure and saves the expenditure;
2. the invention provides a method for estimating the current track of the target only by miss distance information and a system model without depending on an additional sensor, and a feedforward structure which only depends on an internal model is constructed.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a control block diagram of an in-model based predictive feedforward tracking control method of the present invention;
FIG. 2 is a diagram of target reference trajectories at different frequencies in the present embodiment;
FIG. 3 is a past trace synthesized at different frequencies in the present embodiment;
FIG. 4 is a diagram of predicted current trajectories at different frequencies in the present embodiment;
fig. 5 is a graph comparing error suppression capability of the dual closed loop of the present invention with respect to velocity and position.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
FIG. 1 is a control block diagram of an internal model-based predictive feedforward tracking control method, which includes a speed loop, a position loop, and an internal model-based predictive feedforward control structure; the target track at the current moment is obtained after the least square prediction of the track at the past moment obtained by fusing the miss distance information and the output of the internal model, and the target track is used for feedforward control, so that the low-frequency tracking capability can be theoretically and greatly improved. The concrete implementation steps of the device for realizing feedforward control are as follows:
step (1): the method comprises the steps of respectively installing gyroscopes on orthogonal deflection shafts of a photoelectric tracking system, measuring transfer characteristics in a frequency domain fitting mode, inputting the measured values into a controller, outputting the measured values into a sensor, and obtaining a speed object model of a platform
Which is a real object property
The transfer function is as follows:
wherein the content of the first and second substances,
in order to be the natural oscillation frequency,
in order to be a damping coefficient of the damping,
is an electrical time constant. According to an object model, a zero-pole offset method is adopted, and a designed speed controller is as follows:
wherein the content of the first and second substances,
in order to control the gain of the controller,
the system is modified to a type i system after compensation by the speed controller for the filter time constant.
Step (2): a CCD image sensor is arranged at the end of the system light path, and the delay time of the CCD is obtained in a frequency domain fitting mode
It is the system true delay time
An approximation of. Speed closed loop transfer function due to high speed closed loop bandwidth
The ideal transfer function 1 can be regarded in a low-frequency wide frequency band. The position object model can thus be approximated as
Position of replacementThe device controller can be designed as a proportional controller.
And (3): the CCD off-target amount and speed ring given signal are processed by an internal model
Is added to synthesize an intermediate signal
The transfer function is as follows:
wherein the content of the first and second substances,
for targeting a given signal, there are usually
Then, in the main control band of the system, there are
Which approximates the system's past trajectory signal as the input signal to the least squares algorithm.
And (4): and fitting the past track signals by using a least square method to obtain parameters of a track model, and extrapolating and predicting the track model to estimate current track information. And when a new track point enters, updating the model parameters and estimating the track information of the next current moment.
And (5): differentiating the current track of the target to obtain the current speed of the target, and passing through a low-pass filter
After filtering and denoising, the signal is superposed with the output of the position controller to be used as a given signal of the speed loop.
Is transmitted toFunction is as
Wherein
Is the filter time constant.
The following describes the design process and experimental effect of the present invention in detail by taking a certain photoelectric tracking platform system as an example:
(1) the transfer function of the velocity model obtained by means of frequency domain fitting is as follows,
according to the transfer function, neglecting high frequency influence, and by a zero-pole cancellation method, the designed speed controller is as follows:
(2) the sampling rate of the CCD is set to 50Hz, and the system time lag measured by fitting is
Then the position object model is approximated as
The controller of the position outer ring is designed as
。
(3) The off-target amount and speed ring given signal is processed by an internal model
Is added to synthesize an intermediate signal
Which approximates the past objectiveAnd marking tracks.
(4) Fitting the past track signals by using a least square method, and fitting by using a quadratic polynomial as follows:
in the experiment, 100 track points in the past 2s are adopted for fitting to obtain parameters of a track model, and the current track information is estimated by extrapolation prediction of the track model. And when a new track point enters, updating the model parameters and estimating the track information of the next current moment.
(5) And differentiating the estimated target track signal at the current moment to obtain a target speed, filtering and denoising the target speed, and superposing the target speed and the output of the position controller to be used as a given signal of a speed ring. Wherein the selected filter is
。
Fig. 2, 3 and 4 are time domain comparison graphs of the target reference trajectory, the synthesized past trajectory and the predicted current trajectory at different frequencies according to the present invention. In the low frequency range of 0.5Hz and 1Hz, the prediction performance by the least square method is better, and the phase lag of the signal can be almost completely compensated. As the frequency becomes larger, the prediction performance becomes worse, and at 2Hz, although the phase lag can be compensated, the waveform distortion is also caused, so the least square method is mainly used for prediction compensation of the low frequency band signal.
Under the same experimental conditions, comparing error suppression residuals of the speed position double closed loop and the prediction feedforward control method based on the internal model, for example, fig. 5 is an error suppression capability comparison graph of the invention, which is drawn by taking logarithm of amplitude ratio between errors at different frequencies and given input. Compared with the speed position double closed loop, the system adopting the prediction feedforward control method based on the internal model has stronger error inhibition capability below 5Hz in the low frequency band, which shows that the system in the area has stronger tracking capability. Although the track prediction capability is reduced with the increase of the frequency, so that the tracking capability is deteriorated, because the target track signal is generally distributed in a low frequency band, it is very effective to improve the tracking accuracy of the system by the method of the present invention.
Based on embodiments in this specification, the present disclosure also provides 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: the method steps of the above embodiments are implemented. The device may be a base station or a terminal device.
The present disclosure also provides a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by a processor, cause the processor to: the method steps of the above embodiments are implemented.
It will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the spirit and scope of the invention, and any equivalents thereto, such as those skilled in the art, are intended to be embraced therein.
Claims (8)
1. The prediction feedforward tracking control method based on the internal model is characterized in that: the method comprises the following steps:
step (1): the method comprises the steps of respectively installing gyros on orthogonal deflection axes of a photoelectric tracking system, and measuring a speed object model of a platform in a frequency domain fitting mode
Which is a real object property
The approximation of zero-pole offset method is used to design the speed controller
Making the compensated object be a type I system;
step (2): a CCD image sensor is arranged at the light path terminal of the system, and the position object model is closed-loop transformed according to the speed
Design position controller
；
And (3): the CCD off-target amount and speed ring given signal are processed by an internal model
Is added to synthesize an intermediate signal
As input signal for a least squares algorithm;
and (4): using least squares algorithm on intermediate signals
Performing prediction extrapolation, and estimating the current track of the target;
and (5): differentiating the current track of the target to obtain the current speed of the target, and passing through a low-pass filter
After filtering and denoising, the signal is superposed with the output of the position controller to be used as a given signal of the speed loop.
2. The internal model-based predictive feedforward tracking control method according to claim 1, wherein in step (1), the structural mechanism of the photoelectric tracking system is modeled as follows:
wherein, the device comprises a differential link, an oscillation link and an inertia link,
in order to obtain the gain of the model,
in order to be the natural oscillation frequency,
in order to be a damping coefficient of the damping,
measuring the Baud response curve of the platform in a frequency domain fitting mode for an electrical time constant, and adjusting
The parameters are such that the fitted curve coincides with the experimentally tested curve, determining the model parameters.
3. The intra-model-based predictive feedforward tracking control method according to claim 1, wherein in step (2), the delay of the system is measured as a frequency domain fit
It is the system true delay
Approximation of velocity closed loop transfer function due to high velocity closed loop bandwidth
The low-frequency wide frequency band can be regarded as an ideal transfer function 1, so that the position object model can be approximated as
The position controller can be designed as a proportional controller.
4. The intra-model based predictive feedforward tracking control method according to claim 1, wherein in step (3), the intermediate signal is
The transfer function of (a) is as follows:
wherein the content of the first and second substances,
for targeting a given signal, there are usually
Then, in the main control band of the system, there are
Which approximates the system's past trace signal.
5. The intra-model based predictive feedforward tracking control method according to claim 1, wherein the step (4): and fitting the past track signals by using a least square method to obtain parameters of a track model, extrapolating and predicting by using the track model to estimate current track information, and updating the model parameters and estimating the track information of the next current moment when new track points enter.
6. The intra-mode based predictive feedforward tracking control method according to claim 1, wherein in step (5), the low-pass filter is designed as a low-pass filter
Wherein
Is the filter time constant.
7. A device 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: carrying out the method steps of any one of claims 1 to 6.
8. A storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to: carrying out the method steps of any one of claims 1 to 6.
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| CN115755627A (en) * | 2022-12-16 | 2023-03-07 | 哈尔滨工业大学 | Model prediction-based feedforward control method for nanoscale precise motion table |
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