CN114040549A - Helicopter search lamp follow-up stability control system - Google Patents
Helicopter search lamp follow-up stability control system Download PDFInfo
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- CN114040549A CN114040549A CN202111391798.3A CN202111391798A CN114040549A CN 114040549 A CN114040549 A CN 114040549A CN 202111391798 A CN202111391798 A CN 202111391798A CN 114040549 A CN114040549 A CN 114040549A
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- 238000012545 processing Methods 0.000 claims abstract description 28
- 238000012937 correction Methods 0.000 claims description 16
- 238000004364 calculation method Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 claims description 2
- 238000005286 illumination Methods 0.000 abstract description 8
- 238000004891 communication Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 8
- 238000001914 filtration Methods 0.000 description 7
- 230000006641 stabilisation Effects 0.000 description 5
- 238000011105 stabilization Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004132 cross linking Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 229910052724 xenon Inorganic materials 0.000 description 2
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000003702 image correction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/105—Controlling the light source in response to determined parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/165—Controlling the light source following a pre-assigned programmed sequence; Logic control [LC]
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B47/00—Circuit arrangements for operating light sources in general, i.e. where the type of light source is not relevant
- H05B47/10—Controlling the light source
- H05B47/175—Controlling the light source by remote control
- H05B47/18—Controlling the light source by remote control via data-bus transmission
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Circuit Arrangement For Electric Light Sources In General (AREA)
- Adjustment Of Camera Lenses (AREA)
Abstract
The invention provides a helicopter search lamp follow-up stability control system, which comprises: a stability control system and a follow-up control system; the stability control system includes: the motor control system is used for adjusting the rotation angle of the search lamp; an anti-shake control system for preventing the helicopter search light from shaking; the follow-up control system includes: a follow-up control, image processing and automatic dimming control system; the helicopter searching lamp adopts the follow-up stability control system, so that the work stable output of the searching lamp can be ensured, and the influence of the vibration of the helicopter on the stability of light spots output by the searching lamp is reduced; and the follow-up function is realized through communication with helicopter external equipment, and the automatic adjustment of light beams can be finished by the search lamp in manual and follow-up modes by combining with an image processing and automatic dimming system, so that the illumination consistency of an irradiated search and rescue area is ensured, the operation difficulty of a pilot is reduced, and the search and rescue efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of helicopter illumination, and particularly relates to a follow-up stability control system for a helicopter search lamp.
Background
The rescue helicopter serving as core equipment for aviation emergency rescue has the advantages of rapidness, high efficiency and less geographical space limitation, can quickly reach places inaccessible to water and land, and can perform the work of search rescue, material transportation, air command and the like. The rescue helicopter can reach a disaster center area (particularly a mountain area with a closed road) at the first time, is the most important part of rescue work, and is the guarantee of life. The high-power search and rescue lamp is an important guarantee for carrying out search and rescue tasks at night and is indispensable as an essential device of a rescue helicopter. The xenon lamp searching lamp is mainly used in the current stage, the vertical and horizontal rotation functions are achieved by driving the speed reducer through the motor, the product structure and the control logic are simple, the stability of the xenon lamp searching lamp used in a complex environment is guaranteed through pilot operation, and the operation difficulty of the pilot is increased.
Therefore, the invention designs a follow-up stable control method for a helicopter search lamp, which realizes stable operation of a product through a self-stabilizing holder mechanism design, realizes automatic focusing of the search lamp through image processing and light beam adjustment linkage control, ensures the illumination consistency of an irradiated area, can realize the follow-up function of the search lamp and external cross-linking equipment of the helicopter through a 422 bus design, improves the service performance of the search lamp, reduces the operation difficulty of a pilot, and improves the search and rescue efficiency.
Disclosure of Invention
In view of the above technical problems, the present invention provides a helicopter search light follow-up stability control system, comprising: a stability control system and a follow-up control system;
the stability control system includes:
the motor control system is used for adjusting the rotation angle of the search lamp;
an anti-shake control system for preventing the helicopter search light from shaking;
the follow-up control system includes: follow-up control, image processing and automatic dimming control system.
Preferably, the motor control system includes:
the current loop is used for collecting current feedback and sending the current feedback to the speed loop;
the speed loop is arranged outside the current loop and used for acquiring speed feedback and sending the speed feedback to the position loop;
and the position ring is arranged outside the speed ring and used for adopting position adjusting information and sending the position adjusting information to the servo motor.
Preferably, the anti-shake control system includes:
the six-axis sensor is used for detecting motion data and temperature data of the three-axis gyroscope;
a triaxial gyroscope for preventing the helicopter search light from fluttering.
Preferably, the motion data includes three-axis angular velocities and three-axis accelerations.
Preferably, the follow-up control includes:
the helicopter searching lamp analyzes the information of the pitching angle and the azimuth angle of the external follow-up equipment and the height information of the helicopter, which are sent by the upper computer, and the information of the rotating angle required by the calculation of the information of the installation position of the external follow-up equipment, so that the image visual angle of the helicopter searching lamp is consistent with that of the external equipment.
Preferably, the image processing and automatic dimming system includes:
the data acquisition module is used for acquiring image information of a searched object and sending the image information to the non-uniformity correction module;
and the non-uniform correction module is connected with the data acquisition module and used for correcting the definition of the image and sending the clear image to the image processing module.
Preferably, the image processing and automatic dimming system further comprises:
and the image processing module is connected with the non-uniformity correction module and used for storing the clear image in a storage device.
Preferably, the image processing and automatic dimming system further comprises:
and the automatic dimming module is used for adjusting the front and back displacement of the optical component in the helicopter searching lamp so as to realize the adjustment of the focal length.
The invention has the beneficial technical effects that:
the helicopter searching lamp adopts the follow-up stability control system, so that the work stable output of the searching lamp can be ensured, and the influence of the vibration of the helicopter on the stability of light spots output by the searching lamp is reduced. And the follow-up function is realized through communication with helicopter external equipment, and the automatic adjustment of light beams can be finished by the search lamp in manual and follow-up modes by combining with an image processing and automatic dimming system, so that the illumination consistency of an irradiated search and rescue area is ensured, the operation difficulty of a pilot is reduced, and the search and rescue efficiency is improved.
Drawings
Fig. 1 is a control composition diagram of a search light system provided by an embodiment of the invention;
fig. 2 is a search lamp stabilization control system provided in an embodiment of the present invention;
FIG. 3 is a diagram illustrating a complementary filtering structure of a self-stabilizing control system according to an embodiment of the present invention;
FIG. 4 is an autofocus control system provided by an embodiment of the present invention;
fig. 5 is a diagram of a calculation relationship between a search light and an external follow-up device according to an embodiment of the present invention.
Detailed Description
The invention aims to solve the problems that the control logic of the search lamp of the helicopter is simple, the rotation and light beam adjustment are single, and the functions of automatic focusing, cross-linking and follow-up with external equipment such as a photoelectric platform and the like, stable output and the like cannot be realized at the present stage.
Referring to fig. 1-5, the technical solution disclosed by the present invention is: a follow-up stability control system for a helicopter search lamp mainly comprises a stability control system and a follow-up control system.
In the embodiment of the application, the stabilization control system is composed of an anti-shake control system and an automatic focusing system. The anti-shake control system consists of a motor control system and a gyroscope control system, the motor control system adopts a three-ring structure design of a current ring (moment feedback), a speed ring and a position ring from inside to outside, the current ring and the speed ring have the functions of improving the rigidity of the system to inhibit the nonlinearity and the external disturbance of the system, and the precision of the control system is ensured by the position ring; the anti-shake control system adopts a gyroscope design, and external vibration interference control is compensated through the gyroscope, so that the stability of the product is kept.
The automatic focusing system consists of an image processing and automatic dimming control system, the image processing system consists of a data acquisition module, a non-uniform correction module and an image processing module, and the automatic focusing system is mainly used for realizing image capture and background illumination test of a searched object. The automatic dimming control system adopts a motor control design of a three-ring structure of a current ring (torque feedback), a speed ring and a position ring from inside to outside, and the automatic dimming control system is communicated with an image processing system to adjust the light beam range at any time, so that the illumination stability of an irradiation area is ensured, and the pilot can observe the automatic dimming control system conveniently.
The helicopter searching lamp realizes the consistency of the image visual angle with the external equipment by analyzing the information of the rotation angle required by the calculation of the installation position information of the external follow-up equipment through the pitching and azimuth angle information of the external follow-up equipment and the altitude information of the helicopter sent by the upper computer, reduces the operation difficulty of a pilot and improves the searching efficiency.
The invention will now be described in further detail by way of specific embodiments with reference to the accompanying figures 1-5.
In other embodiments of the present application, a helicopter searching lamp adopting a servo stabilization system control method is composed of a control unit, an action execution unit and a load end, as shown in fig. 1. The control system adopts embedded microcomputer digital control as a basic control loop, is provided with a high-speed input/output interface circuit board as a basic control component, and forms a full digital microcomputer digital control system together with a servo driver, an electric control device and the like. The action execution unit consists of a direct current brushless motor, a control board, a drive board, an angular position sensor and the like.
The angular position control loop is mainly realized by a control board, an angular position signal output by the angle sensor enters the control board through a conditioning circuit, the control board compares the given value with the signal, sends out a control instruction after comprehensive processing, and sends the control signal to a driving circuit through a digital channel to control the rotation of the motor. The output of the motor acts on a load through the speed reducing mechanism, and a high-precision low-temperature encoder is arranged at the end close to the load and serves as a feedback device, so that the precision control of the mechanism is improved.
In other embodiments of the present application, the anti-shake control system in the search light stability control system is designed in an overall stable manner, an inertial navigation system (with a built-in six-axis sensor) is installed on the azimuth frame and the pitching frame, and can simultaneously detect motion data and temperature data of a three-axis gyroscope (three-axis angular velocity) and three-axis acceleration, the inertial navigation system outputs complete 9-axis fusion calculation data to the application end through a main IIC interface, the search light stability control system is shown in fig. 2, and the anti-shake control system and the follow-up control are combined to control the output of the motor by adopting a three-loop structure design.
Wherein, the gyroscope speed feedback adopts a complementary filtering structure, as shown in fig. 3. The idea of complementary filtering is to integrate the advantages of an accelerometer and a gyroscope sensor into a single body to calculate an accurate angle. In the figure, data read by a gyroscope is subjected to digital integration, high-pass filtering and low-pass filtering, then fusion calculation is carried out, a current angle value is obtained, the angle and the acceleration are transmitted into a Kalman filter structural body through a Kalman filtering algorithm, iteration is completed through Kalman filtering, and then the fused angle and angular velocity are obtained. The vibration interference elimination of the electric mechanism is realized, the stable control of the load end on the inertial space is completed, and the self-stability is kept.
In other embodiments of the present application, the auto-focusing system in the search light stabilization control system is composed of an image processing and auto-dimming control system, as shown in fig. 4. The image processing module mainly comprises a data acquisition module, a non-uniformity correction module and an image processing module. The data acquisition module mainly realizes the acquisition and uploading of images of a search target, realizes image correction through a segmentation correction method of the non-uniform correction module, solves the problems of non-uniformity of a system composed of a detector, a circuit, optics and the like and observation effects of different scenes through the image processing module, and feeds back an image processing result to the dimming control for adjusting the light beam range to realize the illumination consistency of an irradiated area.
The sectional correction method integrates the advantages of a one-point correction method, a two-point correction method and a multi-point correction method, selects different correction methods for sectional correction according to actual use requirements, and finally realizes uniform dimming through the composite design of the image processing module and mechanical compensation type dimming control, so that the image position and size stability in the product zooming process is ensured.
The helicopter searching lamp provided by the invention can ensure the stable work output of the searching lamp by adopting a servo stabilization system control method, and reduces the influence of helicopter vibration on the stability of light spots output by the searching lamp.
And the follow-up function is realized through communication with helicopter external equipment, and the automatic adjustment of light beams can be completed by the search lamp in manual and follow-up modes by combining with an image processing and automatic dimming system, so that the illumination consistency of the irradiated search and rescue area is ensured, the operation difficulty of a pilot is reduced, and the search and rescue efficiency is improved.
Referring to fig. 5, the follow-up rotation angle of the search lamp: theta3＝arctan(L2/h1)，θ4＝arctan(L5/L3)；
Wherein: l1 ═ h1 ═ tan (θ)1)，L2＝L-L1，
L4＝L1/sin(θ1)， L5＝L4*tan(θ2)；
h1 is height information, θ1And theta2And L is the distance between the search lamp and the follow-up equipment.
Claims (8)
1. A helicopter search light follow-up stability control system comprising: a stability control system and a follow-up control system;
the stability control system includes:
the motor control system is used for adjusting the rotation angle of the search lamp;
an anti-shake control system for preventing the helicopter search light from shaking;
the follow-up control system includes: follow-up control, image processing and automatic dimming control system.
2. The helicopter search light follow-up stability control system of claim 1 wherein the motor control system comprises:
the current loop is used for collecting current feedback and sending the current feedback to the speed loop;
the speed loop is arranged outside the current loop and used for acquiring speed feedback and sending the speed feedback to the position loop;
and the position ring is arranged outside the speed ring and used for adopting position adjusting information and sending the position adjusting information to the servo motor.
3. The helicopter searching lamp follow-up stability control system of claim 1, wherein the anti-shake control system comprises:
the six-axis sensor is used for detecting motion data and temperature data of the three-axis gyroscope;
a triaxial gyroscope for preventing the helicopter search light from fluttering.
4. The helicopter search light follow-up stability control system of claim 3 wherein the motion data includes three-axis angular velocities and three-axis accelerations.
5. The helicopter search light follow-up stability control system of claim 1 wherein the follow-up control comprises:
the helicopter searching lamp analyzes the information of the pitching angle and the azimuth angle of the external follow-up equipment and the height information of the helicopter, which are sent by the upper computer, and the information of the rotating angle required by the calculation of the information of the installation position of the external follow-up equipment, so that the image visual angle of the helicopter searching lamp is consistent with that of the external equipment.
6. The helicopter searching lamp follow-up stability control system of claim 1, wherein the image processing and automatic dimming system comprises:
the data acquisition module is used for acquiring image information of a searched object and sending the image information to the non-uniformity correction module;
and the non-uniform correction module is connected with the data acquisition module and used for correcting the definition of the image and sending the clear image to the image processing module.
7. The helicopter searching lamp follow-up stability control system of claim 6, wherein the image processing and automatic dimming system further comprises:
and the image processing module is connected with the non-uniformity correction module and used for storing the clear image in a storage device.
8. The helicopter searching lamp follow-up stability control system of claim 7, wherein the image processing and automatic dimming system further comprises:
and the automatic dimming module is used for adjusting the front and back displacement of the optical component in the helicopter searching lamp so as to realize the adjustment of the focal length.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111391798.3A CN114040549B (en) | 2021-11-19 | 2021-11-19 | Helicopter search lamp follow-up stable control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111391798.3A CN114040549B (en) | 2021-11-19 | 2021-11-19 | Helicopter search lamp follow-up stable control system |
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| CN114040549B CN114040549B (en) | 2023-11-28 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001186513A (en) * | 1999-12-24 | 2001-07-06 | Mitsubishi Electric Corp | Image pickup device |
| US20050165517A1 (en) * | 2002-09-23 | 2005-07-28 | Stefan Reich | Optical sensing system and system for stabilizing machine-controllable vehicles |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| US20130215268A1 (en) * | 2012-02-16 | 2013-08-22 | Thales | Unknown |
| KR101812487B1 (en) * | 2016-07-20 | 2017-12-27 | 주식회사 숨비 | Offshore lifesaving system using drone |
| CN110022467A (en) * | 2019-05-14 | 2019-07-16 | 北京中星讯达科技有限公司 | A kind of photoelectric tracking monitoring system of integrated four kinds of light sources |
| CN209700967U (en) * | 2019-03-28 | 2019-11-29 | 屈鹏 | A kind of four axis aircraft camera anti-shake apparatus |
| CN112433509A (en) * | 2020-11-12 | 2021-03-02 | 安徽江机重型数控机床股份有限公司 | Shutdown anti-shake control method and system for numerical control machine tool |
-
2021
- 2021-11-19 CN CN202111391798.3A patent/CN114040549B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001186513A (en) * | 1999-12-24 | 2001-07-06 | Mitsubishi Electric Corp | Image pickup device |
| US20050165517A1 (en) * | 2002-09-23 | 2005-07-28 | Stefan Reich | Optical sensing system and system for stabilizing machine-controllable vehicles |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| US20130215268A1 (en) * | 2012-02-16 | 2013-08-22 | Thales | Unknown |
| KR101812487B1 (en) * | 2016-07-20 | 2017-12-27 | 주식회사 숨비 | Offshore lifesaving system using drone |
| CN209700967U (en) * | 2019-03-28 | 2019-11-29 | 屈鹏 | A kind of four axis aircraft camera anti-shake apparatus |
| CN110022467A (en) * | 2019-05-14 | 2019-07-16 | 北京中星讯达科技有限公司 | A kind of photoelectric tracking monitoring system of integrated four kinds of light sources |
| CN112433509A (en) * | 2020-11-12 | 2021-03-02 | 安徽江机重型数控机床股份有限公司 | Shutdown anti-shake control method and system for numerical control machine tool |
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| CN114040549B (en) | 2023-11-28 |
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