CN113985778B - Control system and method for vehicle-mounted photoelectric sensor - Google Patents
Control system and method for vehicle-mounted photoelectric sensor Download PDFInfo
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- CN113985778B CN113985778B CN202111259675.4A CN202111259675A CN113985778B CN 113985778 B CN113985778 B CN 113985778B CN 202111259675 A CN202111259675 A CN 202111259675A CN 113985778 B CN113985778 B CN 113985778B
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention relates to the technical field of photoelectric sensor control, in particular to a control system and method of a vehicle-mounted photoelectric sensor. The system comprises: the device comprises a controller, a driver, an encoder, a gyroscope and an inertial sensor; the controller is respectively connected with an external upper computer, a driver, an encoder, a gyroscope and an inertial sensor, the driver is connected with an external motor, and the controller, the driver, the encoder, the gyroscope and the inertial sensor are arranged on an external turntable; the controller is used for: receiving a control instruction sent by an upper computer, and controlling a driver to generate a first driving current according to the control instruction; receiving feedback information sent by an encoder, a gyroscope and an inertial sensor and used for feeding back the working state of the turntable, and controlling a driver to generate a second driving current according to the feedback information; the driver is used for sending the generated first driving current and second driving current to the motor. The scheme can ensure the pointing stability of the optical axis center of the photoelectric sensor during tracking the target.
Description
Technical Field
The embodiment of the invention relates to the technical field of photoelectric sensor control, in particular to a control system and method of a vehicle-mounted photoelectric sensor.
Background
In the detection and identification of low, slow and small targets, in order to facilitate the transfer and use of equipment, a servo turntable with a photoelectric sensor is arranged on a vehicle body, and the servo turntable controls the photoelectric sensor to realize target searching and tracking under the condition of movement of the vehicle body.
However, under the condition of vehicle body movement, due to shaking caused by the vehicle body movement, the speed and position accuracy deviation of the photoelectric sensor relative to the fixed base system under the inertial coordinate system is large, the optical axis center of the photoelectric sensor cannot be guaranteed to be directed to the target center (namely, the pointing stability is poor) during tracking, and the accuracy of target detection and identification is reduced.
Therefore, a control system and method of the vehicle-mounted photoelectric sensor are needed to solve the above technical problems.
Disclosure of Invention
In order to ensure the pointing stability of the optical axis center of the photoelectric sensor during target tracking, the embodiment of the invention provides a control system and method of a vehicle-mounted photoelectric sensor.
In a first aspect, an embodiment of the present invention provides a control system for a vehicle-mounted photoelectric sensor, including:
the device comprises a controller, a driver, an encoder, a gyroscope and an inertial sensor;
the controller is respectively connected with an external upper computer, the driver, the encoder, the gyroscope and the inertial sensor, the driver is connected with an external motor, and the controller, the driver, the encoder, the gyroscope and the inertial sensor are arranged on an external turntable;
the controller is used for: receiving a control instruction sent by the upper computer, and controlling the driver to generate a first driving current according to the control instruction; receiving feedback information sent by the encoder, the gyroscope and the inertial sensor and used for feeding back the working state of the turntable, and controlling the driver to generate a second driving current according to the feedback information;
the driver is used for sending the generated first driving current and the second driving current to the motor so as to control the motor to drive the turntable to move.
In one possible design, the controller includes a DSP chip and an FPGA chip;
the DSP chip is used for: receiving and analyzing a control instruction sent by the upper computer, and sending a first analysis result generated by analysis to the FPGA chip; receiving and analyzing the feedback information sent by the FPGA chip, and sending a second analysis result generated by analysis to the FPGA chip;
the FPGA chip is used for: performing digital-to-analog conversion on the received first analysis result, and sending a first analog signal generated by digital-to-analog conversion to the driver so as to enable the driver to generate the first driving current; and receiving the feedback information sent by the encoder, the gyroscope and the inertial sensor, performing digital-to-analog conversion on the received second analysis result, and sending a second analog signal generated by digital-to-analog conversion to the driver so as to enable the driver to generate the second driving current.
In one possible design, the motor includes a first motor for making a horizontal rotation and a second motor for making a pitch rotation;
the two drivers are arranged, one driver is connected with the first motor, and the other driver is connected with the second motor.
In one possible design, the feedback information sent by the encoder is position feedback information, and the feedback information sent by the gyroscope is angular velocity feedback information;
when the control instruction received by the controller is a tracking instruction, the controller is configured to: performing position loop control and speed inner loop control on the driver according to the position feedback information; and performing speed outer loop control on the driver according to the angular speed feedback information.
In one possible design, the feedback information sent by the inertial sensor is gesture feedback information;
when the control instruction received by the controller is a search instruction, the controller is configured to: generating pointing angle information according to the gesture feedback information and preset bypass feedback information, and sending the pointing angle information to the driver so that the driver controls the motor to drive the turntable to move to a pointing angle; the attitude feedback information comprises a yaw angle, a pitch angle and a roll angle of the vehicle body relative to the ground, the bypass feedback information comprises an azimuth angle, a pitch angle and a roll angle of a control system of the vehicle-mounted photoelectric sensor relative to the ground, and the pointing angle comprises an azimuth angle and a pitch angle of a control system of the vehicle-mounted photoelectric sensor relative to the vehicle body.
In one possible design, the controller generates the pointing angle information by the following formula:
wherein the geodetic coordinate system is an n-system, the vehicle body coordinate system is a b-system, the control system coordinate system is an a-system, the phi, the theta and the gamma are yaw angle, pitch angle and roll angle of the vehicle body relative to the earth in sequence, the A, P, R is azimuth angle, pitch angle and roll angle of the control system of the vehicle-mounted photoelectric sensor relative to the earth in sequence, and the alpha and the beta are azimuth angle and pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body in sequence;
from the above formula:
α＝arcsin(C 12 )
β＝arctan(-C 13 /C 11 )。
in a second aspect, an embodiment of the present invention further provides a method for controlling a vehicle-mounted photoelectric sensor, including:
the controller is utilized to receive a control instruction sent by the upper computer, and the driver is controlled to generate a first driving current according to the control instruction;
receiving feedback information sent by the encoder, the gyroscope and the inertial sensor and used for feeding back the working state of the turntable by using the controller, and controlling the driver to generate a second driving current according to the feedback information;
and the generated first driving current and the second driving current are sent to the motor by using the driver so as to control the motor to drive the turntable to move.
The beneficial effects are that:
the embodiment of the invention provides a control system and a control method of a vehicle-mounted photoelectric sensor, wherein feedback information for feeding back the working state of a turntable is received by a controller, the feedback information is sent by an encoder, a gyroscope and an inertial sensor, a driver is controlled to generate a second driving current according to the feedback information, and then the driver sends the second driving current to a motor so as to control the motor to drive the turntable to move. By the arrangement, the stable function of tracking and searching of the vehicle-mounted photoelectric sensor can be realized, the condition that the optical axis shakes due to instability of the base is improved, and the pointing stability of the optical axis center of the photoelectric sensor in tracking a target is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a control system of a vehicle-mounted photoelectric sensor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a four closed loop control algorithm provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of euler coordinate transformation according to an embodiment of the present invention.
Reference numerals:
10-an upper computer;
20-an electric motor;
1-a controller; 11-a DSP chip; 12-FPGA chip;
a 2-driver;
a 3-encoder;
4-gyroscopes;
5-inertial sensor.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a control system for a vehicle-mounted photoelectric sensor, including:
a controller 1, a driver 2, an encoder 3, a gyroscope 4, and an inertial sensor 5;
the controller 1 is respectively connected with an external upper computer 10, a driver 2, an encoder 3, a gyroscope 4 and an inertial sensor 5, the driver 2 is connected with an external motor 20, and the controller 1, the driver 2, the encoder 3, the gyroscope 4 and the inertial sensor 5 are arranged on an external turntable;
a controller 1 for: receiving a control instruction sent by the upper computer 10, and controlling the driver 2 to generate a first driving current according to the control instruction; receiving feedback information sent by the encoder 3, the gyroscope 4 and the inertial sensor 5 and used for feeding back the working state of the turntable, and controlling the driver 2 to generate a second driving current according to the feedback information;
and the driver 2 is used for sending the generated first driving current and second driving current to the motor 20 so as to control the motor 20 to drive the turntable to move.
In this embodiment, the controller 1 receives feedback information sent by the encoder 3, the gyroscope 4 and the inertial sensor 5 and used for feeding back the working state of the turntable, controls the driver 2 according to the feedback information to generate a second driving current, and then the driver 2 sends the second driving current to the motor to control the motor to drive the turntable to move. By the arrangement, the stable function of tracking and searching of the vehicle-mounted photoelectric sensor can be realized, the condition that the optical axis shakes due to instability of the base is improved, and the pointing stability of the optical axis center of the photoelectric sensor in tracking a target is ensured.
In one embodiment of the invention, the controller 1 comprises a DSP chip 11 and an FPGA chip 12;
a DSP chip 11 for: receiving and analyzing a control instruction sent by the upper computer 10, and sending a first analysis result generated by analysis to the FPGA chip 12; receiving and analyzing feedback information sent by the FPGA chip 12, and sending a second analysis result generated by analysis to the FPGA chip 12;
FPGA chip 12 for: performing digital-to-analog conversion on the received first analysis result, and sending a first analog signal generated by digital-to-analog conversion to the driver 2 so as to enable the driver 2 to generate a first driving current; receiving feedback information from the encoder 3, the gyroscope 4 and the inertial sensor 5, performing digital-to-analog conversion on the received second analysis result, and transmitting a second analog signal generated by digital-to-analog conversion to the driver 2, so that the driver 2 generates a second driving current.
In this embodiment, the controller 1 adopts a DSP chip 11 and an FPGA chip 12 as a servo control board for autonomous design of the control chip, the DSP chip 11 adopts a TMS320F2812 DSP chip based on TI company to implement a control algorithm of the turntable, and the FPGA chip 12 adopts a Cyclone II chip of Altera company to implement functions of digital communication and analog signal output and reading of external devices such as a code disc signal, an inertia signal, a gyro signal, a communication signal, and the like.
The DSP chip 11 realizes the servo control algorithm and specific function switching, the FPGA chip 12 is used for collecting information processing from the outside, sending the information processing to the DSP chip 11 for processing in an EMIF mode, and outputting the calculated control signal in real time at the same time, thereby meeting the requirement of accurately controlling the motor.
The program of the DSP chip 11 mainly includes four parts, namely system initialization, CPU timer interrupt, servo main program and specific algorithm implementation. The initialization comprises hardware and system initialization and servo operation environment initialization; the CPU timer interrupt generates 1ms flag bit and output collection, controller algorithm and other functions. The program of the FPGA chip 12 mainly comprises a code disc signal reading module, an inertia signal reading module, a gyro signal reading module, a communication module and the like, and the FPGA chip 12 is in a parallel processing mode, so that the real-time performance of the system is improved.
In one embodiment of the present invention, the motor 20 includes a first motor for performing horizontal rotation and a second motor for performing pitching rotation;
the drives 2 comprise two, one of the drives 2 being connected to a first motor and the other drive 2 being connected to a second motor.
In this embodiment, the controller 1 may perform the control function of the two-way driver 2, the encoder 3 is an incremental encoder, and the gyroscope 4 is an optical fiber gyroscope. The drivers 2 adopt a servo driver Accelnet R20 of the company Copley, and in this embodiment, two drivers 2 are adopted, each driver 2 is an integral body and is installed in the turntable, so as to drive the first motor and the second motor to work. The controller 1 uses the analog signal output by the digital-to-analog converter as a control command, transmits to the Copley servo driver 2, and receives the position information of the encoder 3 returned from the servo driver 2.
In one embodiment of the present invention, the feedback information sent by the encoder 3 is position feedback information, and the feedback information sent by the gyroscope 4 is angular velocity feedback information;
when the control instruction received by the controller 1 is a tracking instruction, the controller 1 is configured to: performing position loop control and speed inner loop control on the driver 2 according to the position feedback information; the speed outer loop control is performed on the drive 2 based on the angular velocity feedback information.
In this embodiment, tracking decoupling is mainly a servo system tracking algorithm, the servo tracking algorithm performs position feedback according to error data returned by a photoelectric sensor in real time, and a gyroscope feedback space angular velocity is used as a decoupling angular velocity for a velocity outer loop feedback, meanwhile, since a driver can set a velocity inner loop and a current loop, the velocity inner loop feedback is an encoder differential velocity for improving system rigidity, and thus a tracking decoupling algorithm based on a four-closed loop controller (as shown in fig. 2) is designed.
In one embodiment of the present invention, the feedback information sent from the inertial sensor 5 is gesture feedback information;
when the control instruction received by the controller 1 is a search instruction, the controller 1 is configured to: generating pointing angle information according to the gesture feedback information and the preset bypass feedback information, and sending the pointing angle information to the driver 2 so that the driver 2 controls the motor 20 to drive the turntable to move to the pointing angle; the attitude feedback information comprises a yaw angle, a pitch angle and a roll angle of the vehicle body relative to the ground, the bypass feedback information comprises an azimuth angle, a pitch angle and a roll angle of the control system of the vehicle-mounted photoelectric sensor relative to the ground, and the pointing angle comprises an azimuth angle and a pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body.
In this embodiment, the search decoupling algorithm is divided into an azimuth and a pitch, the azimuth keeps constant motion under a relative inertial system, the pitch axis needs to keep a stable pointing function under an inertial coordinate system, the controller 1 reads gesture feedback information of the inertial sensor 5 and preset bypass feedback information to generate a pointing angle, and then the controller 1 sends the pointing angle information to the driver 2, so that the driver 2 controls the motor 20 to drive the turntable to move to the pointing angle information, thereby realizing the pointing stable function under the inertial system.
As shown in fig. 3, in one embodiment of the present invention, the controller 1 generates the pointing angle information by the following formula:
wherein the geodetic coordinate system is an n-system, the vehicle body coordinate system is a b-system, the control system coordinate system is an a-system, the phi, the theta and the gamma are yaw angle, pitch angle and roll angle of the vehicle body relative to the earth in sequence, the A, P, R is azimuth angle, pitch angle and roll angle of the control system of the vehicle-mounted photoelectric sensor relative to the earth in sequence, and the alpha and the beta are azimuth angle and pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body in sequence;
from the above formula:
α＝arcsin(C 12 )
β＝arctan(-C 13 /C 11 )。
in this embodiment, by establishing a geodetic coordinate system, a vehicle body coordinate system and a control system coordinate system and converting the coordinate system according to euler coordinates, the azimuth angle and the pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body can be obtained, and then the controller 1 sends the pointing angle information (i.e. the azimuth angle and the pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body) to the driver 2, so that the driver 2 controls the motor 20 to drive the turntable to move to the pointing angle information, thereby realizing the pointing stabilization function under the inertial system.
In addition, the embodiment of the invention also provides a method applied to the control system of the vehicle-mounted photoelectric sensor of the embodiment, which comprises the following steps:
receiving a control command sent by the upper computer 10 by using the controller 1, and controlling the driver 2 to generate a first driving current according to the control command;
receiving feedback information for feeding back the working state of the turntable sent by the encoder 3, the gyroscope 4 and the inertial sensor 5 by using the controller 1, and controlling the driver 2 to generate a second driving current according to the feedback information;
the generated first driving current and second driving current are transmitted to the motor 20 by the driver 2 to control the motor 20 to drive the turntable to move.
It will be appreciated that the method has the same advantages as the control system described above based on the same inventive concept, and therefore the advantages of the method are not described in detail herein.
It is noted that relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of additional identical elements in a process, method, article or apparatus that comprises the element.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: various media in which program code may be stored, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A control system of an in-vehicle photoelectric sensor, characterized by comprising: a controller (1), a driver (2), an encoder (3), a gyroscope (4) and an inertial sensor (5);
the controller (1) is respectively connected with an external upper computer (10), the driver (2), the encoder (3), the gyroscope (4) and the inertial sensor (5), the driver (2) is connected with an external motor (20), and the controller (1), the driver (2), the encoder (3), the gyroscope (4) and the inertial sensor (5) are arranged on an external rotary table;
the controller (1) is configured to: receiving a control instruction sent by the upper computer (10), and controlling the driver (2) to generate a first driving current according to the control instruction; receiving feedback information sent by the encoder (3), the gyroscope (4) and the inertial sensor (5) and used for feeding back the working state of the turntable, and controlling the driver (2) to generate a second driving current according to the feedback information;
the driver (2) is used for sending the generated first driving current and the second driving current to the motor (20) so as to control the motor (20) to drive the turntable to move;
the motor (20) includes a first motor for performing horizontal rotation and a second motor for performing pitching rotation;
the drivers (2) comprise two drivers, wherein one driver (2) is connected with the first motor, and the other driver (2) is connected with the second motor;
the feedback information sent by the inertial sensor (5) is gesture feedback information;
when the control instruction received by the controller (1) is a search instruction, the controller (1) is configured to: generating pointing angle information according to the gesture feedback information and preset bypass feedback information, and sending the pointing angle information to the driver (2) so that the driver (2) controls the motor (20) to drive the turntable to move to a pointing angle; the bypass feedback information comprises an azimuth angle, a pitch angle and a roll angle of a control system of the vehicle-mounted photoelectric sensor relative to the ground, and the pointing angle comprises the azimuth angle and the pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body;
the controller (1) generates pointing angle information by the following formula:
wherein the geodetic coordinate system is an n-system, the vehicle body coordinate system is a b-system, the control system coordinate system is an a-system, the phi, the theta and the gamma are yaw angle, pitch angle and roll angle of the vehicle body relative to the earth in sequence, the A, P, R is azimuth angle, pitch angle and roll angle of the control system of the vehicle-mounted photoelectric sensor relative to the earth in sequence, and the alpha and the beta are azimuth angle and pitch angle of the control system of the vehicle-mounted photoelectric sensor relative to the vehicle body in sequence;
from the above formula:
α＝arcsin(C 12 )
β＝arctan(-C 13 /C 11 )。
2. control system of an in-vehicle photoelectric sensor according to claim 1, characterized in that the controller (1) comprises a DSP chip (11) and an FPGA chip (12);
the DSP chip (11) is used for: receiving and analyzing a control instruction sent by the upper computer (10), and sending a first analysis result generated by analysis to the FPGA chip (12); receiving and analyzing the feedback information sent by the FPGA chip (12), and sending a second analysis result generated by analysis to the FPGA chip (12);
the FPGA chip (12) is configured to: performing digital-to-analog conversion on the received first analysis result, and sending a first analog signal generated by digital-to-analog conversion to the driver (2) so as to enable the driver (2) to generate the first driving current; receiving the feedback information sent by the encoder (3), the gyroscope (4) and the inertial sensor (5), performing digital-to-analog conversion on the received second analysis result, and sending a second analog signal generated by digital-to-analog conversion to the driver (2) so as to enable the driver (2) to generate the second driving current.
3. The control system of the vehicle-mounted photoelectric sensor according to claim 1, wherein the feedback information sent from the encoder (3) is position feedback information, and the feedback information sent from the gyroscope (4) is angular velocity feedback information;
when the control instruction received by the controller (1) is a tracking instruction, the controller (1) is configured to: performing position loop control and speed inner loop control on the driver (2) according to the position feedback information; and performing speed outer ring control on the driver (2) according to the angular speed feedback information.
4. A method applied to the control system of the in-vehicle photoelectric sensor according to any one of claims 1 to 3, characterized by comprising:
receiving a control instruction sent by the upper computer (10) by using the controller (1), and controlling the driver (2) to generate a first driving current according to the control instruction;
receiving feedback information sent by the encoder (3), the gyroscope (4) and the inertial sensor (5) and used for feeding back the working state of the turntable by using the controller (1), and controlling the driver (2) to generate a second driving current according to the feedback information;
the generated first driving current and the generated second driving current are sent to the motor (20) by the driver (2) so as to control the motor (20) to drive the turntable to move.
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