CN113859586A - On-orbit automatic adjustment method for control parameters of servo control system of space remote sensor - Google Patents
On-orbit automatic adjustment method for control parameters of servo control system of space remote sensor Download PDFInfo
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Abstract
An on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor comprises the following steps: debugging PID control parameters on the ground aiming at the existing mechanism model, and determining a stable domain of the PID control parameters through the generalized Hermite-Biehler theorem and the deduction thereof; performing spectrum analysis on the error after the on-orbit mechanism executes specific curve motion, and determining the bandwidth required by the on-orbit control system; in the PID control parameter stability domain determined on the ground, P, I control parameter values meeting the bandwidth requirement of the on-orbit control system and the commonly required phase margin are counted to obtain a new two-dimensional range formed by the P, I control parameters; and calculating P, I control parameter values corresponding to the centroids of the two-dimensional ranges formed by the P, I control parameters, so that new P, I control parameters required after the mechanism characteristics are changed are obtained on track, and the on-track self-tuning of the PID control parameters is completed. The technical problems of reduction of control precision and engineering practicability in the prior art are solved.
Description
Technical Field
The application relates to the technical field of high-precision servo control of space remote sensors, in particular to an on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor.
Background
Due to the task requirement, the on-orbit space remote sensor uses a high-precision tracking control system to perform imaging servo tracking on a target. However, after the control system is on track, the characteristics of the mechanical load of the self controller can be changed under the influence of temperature change, mechanical environment change, other load micro-vibration and the like. When the precision optical-mechanical equipment is controlled, the control precision is influenced, and obvious errors are caused.
Currently, there are two methods for overcoming this world inconsistency: a method for improving the phase margin of a control system and ensuring that the control system has enough robustness to overcome the interference caused by the change of load characteristics. However, in order to increase the phase margin, it is inevitable to suppress the accuracy, and it is difficult to realize a tracking servo with high accuracy. Another method for overcoming the inconsistency between the sky and the ground is to use a gravity unloading method to simulate a spatial mechanical environment on the ground, however, the method is difficult to simultaneously satisfy the conditions of completely simulating the actual spaces such as the mechanical, thermal and micro-vibration environments, and the method has a limited simulation effect on large size, large inertia and multi-dimensional motion, often requires a comparative analysis to obtain a final debugging result, and has a huge cost.
Disclosure of Invention
The technical problem that this application was solved is: aiming at the problems of reduced control precision and limited engineering application of the scheme in the prior art. The application provides an on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor, which comprises the steps of carrying out spectrum analysis according to on-orbit control errors to obtain the required bandwidth and phase margin of the on-orbit control system, calculating in a PID control parameter stability domain to obtain new P, I control parameters, further automatically adjusting the control parameters of the control system on the orbit, better adapting to the mechanism characteristics changed in space work, and improving the control precision and engineering practicability of the system.
The technical scheme of the invention is as follows:
an on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor comprises the following steps:
1) establishing a control system model, and obtaining an error between motion data and a curve motion instruction;
2) according to the error between the motion data and the curve motion command, Fourier change is carried out, and the power spectrum distribution of the error is obtained and used as the error power spectrum distribution of on-orbit measurement;
3) deconvoluting the control system model and the error power spectrum distribution measured in the on-orbit to obtain an error power spectrum before passing through the controller;
4) taking the frequency point of the system bandwidth as a starting point, gradually increasing the bandwidth of the control system model according to the frequency step length, and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
5) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 4) to obtain the control precision corresponding to the updated control system model;
6) repeating the steps 4) to 5) until the control precision corresponding to the updated control system model is firstly greater than A times of the required precision, and obtaining the bandwidth of the corresponding control system model as the forward bandwidth;
7) taking the frequency point of the system bandwidth as a starting point and taking 0.01Hz as a step length, gradually reducing the bandwidth of the control system model, and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
8) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 7) to obtain the control precision corresponding to the updated control system model;
9) repeating the steps 7) to 8) until the control precision corresponding to the updated control system model is greater than 0.9 times of the required precision for the first time, and obtaining the bandwidth of the corresponding control system model as the negative bandwidth;
10) acquiring central points of positive bandwidth and negative bandwidth as final system bandwidth of a control system model;
11) in the PID control parameter stable domain, calculating P, I control parameter ranges meeting the bandwidth required by the on-orbit control system and the phase margin required by the on-orbit control system, wherein the PID control parameter stable domain meets the requirement that the control system has enough phase angle margin, and a new two-dimensional range formed by P, I control parameters is obtained;
12) and calculating specific P, I control parameter values corresponding to the centroid positions of the new two-dimensional range.
The invention has the following beneficial effects:
1) in the scheme provided by the embodiment of the application, the current mechanism characteristic is obtained for the on-orbit controlled mechanism according to the movement of the specific movement instruction, the final bandwidth frequency at the on-orbit moment is obtained through the incremental and decremental changes of the bandwidth on the basis of the current mechanism characteristic, and then the two-dimensional centroid of the PI parameter meeting the final system bandwidth is obtained in the control parameter stable domain, so that the PI control parameter after self-setting according to the on-orbit movement result is obtained. The method can overcome the uncertainty of the change of the characteristics of the controlled mechanism by controlling the controlled mechanism with the on-orbit self-tuning PID control parameters, wherein the controlled mechanism is influenced by the space environment and has the changed characteristics.
2) The embodiment of the application avoids the problem that high-precision mechanism control is difficult to realize due to overlarge phase angle margin because better stability is still provided under the condition of mechanism load characteristic change caused by space influence when fixed system bandwidth and phase margin are adopted.
3) The embodiment of the application avoids the problem that the phase angle margin designed for realizing the control of the high-precision mechanism cannot adapt to the change of the characteristics of the space mechanism, so that the problem of jitter, divergence or failure occurs in the control of the rail mechanism.
4) The method and the device can realize the parameter setting of the mechanism on the track, and obviously reduce the cost of carrying out accurate and comprehensive simulation on the actual space states such as mechanics, thermal and micro-vibration environments and the like when the ground of the product is researched and debugged.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision servo control system of a space remote sensor according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an on-track automatic adjustment method for control parameters of a servo control system of a remote space sensor according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a two-dimensional stability range of P, I control parameters according to an embodiment of the present disclosure.
Detailed Description
In the solutions provided in the embodiments of the present application, the described embodiments are only a part of the embodiments of the present application, 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 application.
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The invention discloses an on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor, which comprises the following steps of:
1) establishing a control system model, and obtaining an error between motion data and a curve motion instruction;
2) according to the error between the motion data and the curve motion command, Fourier change is carried out, and the power spectrum distribution of the error is obtained and used as the error power spectrum distribution of on-orbit measurement;
3) deconvoluting the control system model and the error power spectrum distribution measured in the on-orbit to obtain an error power spectrum before passing through the controller;
4) taking a frequency point of the system bandwidth as a starting point, gradually increasing the bandwidth of the control system model according to a frequency step (the value range of the frequency step is 0.008-0.012 Hz, and the frequency step is equal to 0.01Hz in the embodiment of the invention), and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
5) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 4) to obtain the control precision corresponding to the updated control system model;
6) repeating the steps 4) to 5) until the control precision corresponding to the updated control system model is firstly greater than A times of the required precision (the value range of A is 0.85-0.95, and is 0.9 times in the embodiment of the invention), and obtaining the bandwidth of the corresponding control system model as the forward bandwidth;
7) taking the frequency point of the system bandwidth as a starting point and taking 0.01Hz as a step length, gradually reducing the bandwidth of the control system model, and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
8) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 7) to obtain the control precision corresponding to the updated control system model;
9) repeating the steps 7) to 8) until the control precision corresponding to the updated control system model is greater than 0.9 times of the required precision for the first time, and obtaining the bandwidth of the corresponding control system model as the negative bandwidth;
10) acquiring central points of positive bandwidth and negative bandwidth as final system bandwidth of a control system model;
11) in the PID control parameter stable domain, calculating P, I control parameter ranges meeting the bandwidth required by the on-orbit control system and the phase margin required by the on-orbit control system, wherein the PID control parameter stable domain meets the requirement that the control system has enough phase angle margin (the phase angle margin is generally not lower than 45 degrees), and a new two-dimensional range formed by P, I control parameters is obtained;
12) and calculating specific P, I control parameter values corresponding to the centroid positions of the new two-dimensional range.
The method for obtaining the error between the motion data and the curvilinear motion command in the step 1) comprises the following steps:
11) establishing a control system model, and determining PID control parameters for enabling the control system model to work in a steady state according to the generalized Hermite-Biehler theorem;
12) on-orbit control commands enable a controlled mechanism (such as a pointing mechanism, a scanning mechanism or an image stabilizing mechanism) to execute specific curvilinear motion commands, and the describing function of the curvilinear motion is more than five orders;
13) and measuring and recording actual motion data (including angle or displacement) of the controlled mechanism, and determining the error between the motion data and the curvilinear motion command.
Step 12) the curvilinear motion comprises: sinusoidal motion, triangular wave motion.
In order to understand the principle of the on-track automatic adjustment method of the control parameters of the high-precision servo control system of the space remote sensor, referring to fig. 1, the embodiment of the present application provides a schematic structural diagram of the high-precision servo control system of the space remote sensor. The high-precision servo control system of the space remote sensor comprises: a PID controller 11 and a controlled mechanism 12; the PID controller 11 is used for resolving and outputting a controlled mechanism control quantity according to an input control instruction, and sending the controlled mechanism control quantity to the controlled mechanism 12; the controlled mechanism 12 is used for driving the mechanism to move according to the input controlled mechanism control quantity.
In the solution provided in the embodiment of the present application, the control algorithm used by the controller includes a PID control algorithm, etc., and is not limited herein.
The method for automatically adjusting the control parameter of the servo control system of the remote space sensor in the on-track mode provided by the embodiment of the present application is further described in detail with reference to the drawings in the specification, and a specific implementation manner of the method may include the following steps (a flow of the method is shown in fig. 2):
step 201, designing a control system aiming at the existing controlled mechanism on the ground, designing a corresponding PID controller according to the design bandwidth and the phase margin, and setting PID control parameters.
Step 202, establishing a control system model, and determining a PID control parameter stable domain which enables the control system to work in a steady state according to the generalized Hermite-Biehler theorem and the inference thereof.
Specifically, in the solution provided in the embodiment of the present application, there are various ways to determine the PID control parameter stable region for enabling the control system to operate in the steady state according to the generalized Hermite-Biehler theorem and its inference, and a preferred way is described below as an example.
In one possible implementation, a method of determining a PID control parameter stability domain that causes the control system to operate in a steady state includes: determining the value range of the control parameter P; determining a linear inequality set of the control parameter I according to the generalized Hermite-Biehler theorem and the deduction thereof; solving the linear inequality group to obtain P, I two-dimensional stable range corresponding to the value of the specific control parameter P; and traversing all the values of the control parameter P in the value range of the control parameter P to obtain a two-dimensional stable range of the P, I control parameter which enables the control system to work in a steady state.
Step 203, on-track, the controlled mechanism is enabled to execute specific curvilinear motion (generally a motion curve with more than five orders) through a control command, actual motion data of the controlled mechanism is measured and recorded, an error between the motion data and the control command is calculated, and the error is subjected to Fourier transform to obtain error power spectrum distribution.
Specifically, in the solution provided in the embodiment of the present application, the control instruction controls the controlled mechanism to execute a specific curvilinear motion, which is generally a motion curve with more than five orders, and includes but is not limited to a sinusoidal motion, a triangular wave motion, and the like. The method for measuring and recording the actual movement data of the controlled mechanism comprises but is not limited to a position sensor, an image sensor and the like.
And 204, deconvoluting a control system model designed in ground development and the error power spectrum distribution measured in the on-orbit to obtain an error power spectrum before passing through the controller.
In step 205, for the control system model designed on the ground, the bandwidth is increased by a certain increment (for example, 0.01Hz), and then the control system model is convolved with the error power spectrum calculated by deconvolution before passing through the controller.
Step 206, judge whether the convolution result is less than 0.9 times of the required precision.
Specifically, in the solution provided in the embodiment of the present application, the requirement accuracy is generally determined according to a specific task requirement.
Step 207, if not, increasing the system bandwidth by a certain increment (for example, 0.01Hz), and returning to step 203;
step 208, if the current system bandwidth is smaller than the required bandwidth of the on-track control system, determining that the current system bandwidth is the required bandwidth of the on-track control system, and counting P, I control parameter ranges meeting the required bandwidth of the on-track control system and the required phase margin of the on-track control system in the PI control parameter stable domain to obtain a new two-dimensional range formed by P, I control parameters;
and 209, calculating a specific P, I control parameter value corresponding to the centroid position of the new two-dimensional range, taking the specific P, I control parameter value as a new P, I control parameter required after the mechanism characteristic is changed, and completing the on-orbit self-tuning of the PID control parameter.
In the scheme provided by the embodiment of the application, the load mechanism controlled by the space remote sensor high-precision servo control system which runs in an orbit actually executes specific curvilinear motion, the error of the actual motion and the control instruction of the controlled mechanism is calculated, the error is subjected to spectrum analysis to determine the bandwidth required by the in-orbit control system and the phase margin required by the in-orbit control system, and the P, I control parameter range and the specific numerical value which meet the bandwidth required by the in-orbit control system and the phase margin are obtained by combining the stable PID control parameter stability domain of the control system in the ground environment, so that the in-orbit self-tuning of the PID control parameters is completed. Therefore, in the scheme provided by the embodiment of the application, the P, I control parameter range and the specific value meeting the bandwidth and the phase margin of the control system required by the control system load mechanism running on the rail actually and the PID control parameter stability domain enabling the control system to be in a stable PID control parameter stability domain in the ground environment are determined, so that the determined new P, I control parameter value is better adapted to the load mechanism with changed characteristics in the rail environment, and the control accuracy and the practicability of the scheme are improved.
For understanding the principle of the P, I method for automatically adjusting the control parameter on track, referring to fig. 3, an exemplary diagram of P, I two-dimensional stable range of the control parameter is provided in the embodiment of the present application. P, I the two-dimensional stability range of the control parameters includes: the control parameters are determined to be P, I in a two-dimensional stable range 31 determined on the ground, P, I specific values of the control parameters are determined on the ground 32, P, I two-dimensional stable range 33 is determined on the rail, and P, I specific values of the control parameters are determined on the rail 34.
Wherein:
the P, I control parameter two-dimensional stable range 31 determined on the ground is a linear inequality group of the control parameter I determined according to the generalized Hermite-Biehler theorem and the deduction thereof; solving the linear inequality group to obtain P, I two-dimensional stable range corresponding to the value of the specific control parameter P; and traversing all the values of the control parameter P in the value range of the control parameter P to obtain a two-dimensional stable range of the P, I control parameter which enables the control system to work in a steady state.
The specific value 32 of the control parameter P, I determined at the surface is determined by adjusting the design bandwidth and the phase margin.
The P, I control parameter two-dimensional stable range 33 determined on the track is that the controlled mechanism executes specific curve motion (generally a motion curve with more than five orders) through a control command on the track, actual motion data of the controlled mechanism is measured and recorded, the error between the motion data and the control command is calculated, and the error is subjected to Fourier transform to obtain error power spectrum distribution; deconvoluting a control system model designed in ground development and the error power spectrum distribution measured in an on-orbit manner to obtain an error power spectrum before passing through a controller; and (3) continuously increasing the bandwidth by a certain increment (for example, 0.01Hz) aiming at a control system model designed on the ground, then convolving the bandwidth with the error power spectrum calculated by deconvolution before passing through the controller, and when the result is less than 0.9 times of the required precision, the corresponding bandwidth is the bandwidth required by the on-orbit control system. And the phase margin required by the on-track control system is the same as usual (typically-135 °); and statistically determining the two-dimensional stability range 31 of the P, I control parameters determined on the ground to meet the bandwidth and the phase margin required by the on-orbit control system.
The specific values 34 of the on-track determined P, I control parameters were determined by calculating the specific values of the on-track determined P, I control parameter two-dimensional stability range 33 for the specific P, I control parameters.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. An on-orbit automatic adjustment method for control parameters of a servo control system of a space remote sensor is characterized by comprising the following steps:
1) establishing a control system model, and obtaining an error between motion data and a curve motion instruction;
2) according to the error between the motion data and the curve motion command, Fourier change is carried out, and the power spectrum distribution of the error is obtained and used as the error power spectrum distribution of on-orbit measurement;
3) deconvoluting the control system model and the error power spectrum distribution measured in the on-orbit to obtain an error power spectrum before passing through the controller;
4) taking the frequency point of the system bandwidth as a starting point, gradually increasing the bandwidth of the control system model according to the frequency step length, and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
5) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 4) to obtain the control precision corresponding to the updated control system model;
6) repeating the steps 4) to 5) until the control precision corresponding to the updated control system model is firstly greater than A times of the required precision, and obtaining the bandwidth of the corresponding control system model as the forward bandwidth;
7) taking a frequency point of the system bandwidth as a starting point, gradually reducing the bandwidth of the control system model according to the frequency step length, and obtaining the control system model corresponding to the updated system bandwidth as the updated control system model;
8) convolving the updated control system model with the error power spectrum before passing through the controller according to the step 7) to obtain the control precision corresponding to the updated control system model;
9) repeating the steps 7) to 8) until the control precision corresponding to the updated control system model is firstly greater than B times of the required precision, and obtaining the bandwidth of the corresponding control system model as the negative bandwidth;
10) acquiring central points of positive bandwidth and negative bandwidth as final system bandwidth of a control system model;
11) in the PID control parameter stable domain, calculating P, I control parameter ranges meeting the bandwidth required by the on-orbit control system and the phase margin required by the on-orbit control system, wherein the PID control parameter stable domain meets the requirement that the control system has enough phase angle margin, and a new two-dimensional range formed by P, I control parameters is obtained;
12) and calculating specific P, I control parameter values corresponding to the centroid positions of the new two-dimensional range.
2. The method for automatically adjusting the control parameters of the servo control system of the space remote sensor according to claim 1, wherein the method for obtaining the error between the motion data and the curvilinear motion command in the step 1) comprises the following steps:
11) establishing a control system model, and determining PID control parameters for enabling the control system model to work in a steady state according to the generalized Hermite-Biehler theorem;
12) on-orbit control commands enable the controlled mechanism to execute specific curvilinear motion commands, and the describing function of the curvilinear motion is more than five orders;
13) and measuring and recording the actual motion data of the controlled mechanism, and determining the error between the motion data and the curvilinear motion command.
3. The on-orbit automatic adjustment method for the control parameters of the servo control system of the space remote sensor according to claim 2, wherein the curvilinear motion of the step 12) comprises the following steps: sinusoidal motion, triangular wave motion.
4. The on-track automatic adjustment method for the control parameters of the servo control system of the space remote sensor according to claim 2 or 3, wherein the frequency step ranges from 0.008 Hz to 0.012Hz in the steps 2) and 7).
5. The method for automatically adjusting the control parameters of the servo control system of the space remote sensor according to claim 4, wherein the frequency step in the steps 2) and 7) is equal to 0.01 Hz.
6. The on-orbit automatic adjustment method for the control parameters of the servo control system of the space remote sensor according to claim 5, wherein the value range of A in the step 6) is 0.85-0.95.
7. The on-orbit automatic adjustment method for the control parameters of the servo control system of the space remote sensor according to claim 6, wherein the value range of B in the step 9) is 0.85-0.95.
8. The method of claim 7, wherein step 11) the phase angle margin is not less than 45 °.
9. The on-orbit automatic adjustment method for the control parameters of the space remote sensor servo control system according to claim 8, wherein the controlled mechanism in the step 12) comprises: a pointing mechanism, a scanning mechanism, or an image stabilization mechanism.
10. The method of claim 9, wherein the motion data in step 13) comprises an angle or a displacement.
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