CN114040549B - Helicopter search lamp follow-up stable control system - Google Patents
Helicopter search lamp follow-up stable control system Download PDFInfo
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- CN114040549B CN114040549B CN202111391798.3A CN202111391798A CN114040549B CN 114040549 B CN114040549 B CN 114040549B CN 202111391798 A CN202111391798 A CN 202111391798A CN 114040549 B CN114040549 B CN 114040549B
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- 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 9
- 238000004891 communication Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 238000001914 filtration Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000004132 cross linking Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 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
- 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
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000087 stabilizing effect 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
- 229910052724 xenon Inorganic materials 0.000 description 1
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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 application provides a helicopter search lamp follow-up stable 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 application adopts the follow-up stable control system to ensure the stable output of the search lamp, and reduces the influence of helicopter vibration on the stability of the output light spot of the search lamp; and the follow-up function is realized by communication with external equipment of the helicopter, and the automatic adjustment of the light beam can be completed under the manual and follow-up modes by combining the image processing and the automatic dimming system, so that the illumination consistency of the illuminated search and rescue area is ensured, the operation difficulty of pilots is reduced, and the search and rescue efficiency is improved.
Description
Technical Field
The application belongs to the technical field of helicopter illumination, and particularly relates to a helicopter search lamp follow-up stable control system.
Background
The rescue helicopter is used as core equipment for aviation emergency rescue, has the advantages of rapidness, high efficiency and less limitation of geographic space, and can rapidly reach places where water and land are inaccessible to perform the works of searching and rescue, material transportation, aerial 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 a heavy weight in rescue work, and is a life guarantee. The high-power search and rescue lamp is used as necessary equipment for rescuing the helicopter, and is an important guarantee for developing night search and rescue tasks. The current phase searching lamp is mainly a xenon lamp searching lamp, the vertical and horizontal rotation functions are realized through the motor driving speed reducer, the product structure and the control logic are simple, the stability in use in a complex environment is ensured through pilot operation, and the pilot operation difficulty is increased.
Therefore, the application designs a helicopter search lamp follow-up stable control method, which realizes stable operation of products through the self-stable cradle head mechanism design, realizes automatic focusing of the search lamp through image processing and beam adjustment linkage control, ensures illumination consistency of an irradiated area, can realize the follow-up function of the search lamp and external crosslinking equipment of the helicopter through the 422 bus design, improves the service performance of the search lamp, reduces the operation difficulty of pilots, and improves the search rescue efficiency.
Disclosure of Invention
Aiming at the technical problems, the application provides a helicopter search lamp follow-up stable 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: 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 is used for collecting speed feedback and sending the speed feedback to the position loop;
and the position ring is arranged outside the speed ring and is used for adopting position adjustment information and sending the position adjustment 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;
and the triaxial gyroscope is used for preventing the helicopter search light from shaking.
Preferably, the motion data includes a three axis angular velocity and a three axis acceleration.
Preferably, the follow-up control includes:
the helicopter search lamp analyzes the rotation angle information required by solving the installation position information of the external follow-up device through the pitching and azimuth angle information of the external follow-up device and the height information of the helicopter, and achieves the consistency with the image visual angle of the external device.
Preferably, the image processing and automatic dimming system includes:
the data acquisition module is used for acquiring image information of the searched object and sending the image information to the non-uniform correction module;
and the non-uniformity correction module is connected with the data acquisition module and used for correcting the definition of the image and transmitting 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 is 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-back displacement of the optical component in the helicopter search lamp so as to realize the adjustment of the focal length.
The beneficial technical effects of the application are as follows:
the application aims at ensuring the stable output of the search lamp by adopting the follow-up stable control system, and reducing the influence of helicopter vibration on the stability of the output light spot of the search lamp. And the follow-up function is realized by communication with external equipment of the helicopter, and the automatic adjustment of the light beam can be completed under the manual and follow-up modes by combining the image processing and the automatic dimming system, so that the illumination consistency of the illuminated search and rescue area is ensured, the operation difficulty of pilots is reduced, and the search and rescue efficiency is improved.
Drawings
FIG. 1 is a diagram of a search light system control composition provided by an embodiment of the present application;
FIG. 2 is a search light stability control system provided by an embodiment of the present application;
FIG. 3 is a complementary filtering block diagram of a self-stabilizing control system provided by an embodiment of the present application;
FIG. 4 is an autofocus control system provided by an embodiment of the present application;
FIG. 5 is a graph showing the calculated relationship between the search light and the external follow-up device according to the embodiment of the present application.
Detailed Description
The application aims to solve the problems that the helicopter searching lamp at the present stage has simple control logic and single rotation and light beam adjustment, and can not realize functions of automatic focusing, crosslinking follow-up with external equipment such as a photoelectric platform, stable output and the like.
Referring to fig. 1-5, the technical scheme disclosed by the application is as follows: a helicopter search lamp follow-up stable control system mainly comprises a stable control system and a follow-up control system.
In the embodiment of the application, the stability control system consists 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, wherein the motor control system adopts a three-ring structural design of a current ring (moment feedback), a speed ring and a position ring from inside to outside, the functions of the current ring and the speed ring are to improve the rigidity of the system to inhibit the nonlinearity and 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, and the image processing system consists of a data acquisition, non-uniform correction and image processing module and is mainly used for realizing image capturing and background illumination testing of searched objects. The automatic dimming control system adopts a motor control design of a three-ring structure of a current ring (moment feedback), a speed ring and a position ring from inside to outside, and the light beam range is regulated in real time by communicating with the image processing system, so that the illumination stability of an illumination area is ensured, and the pilot can observe conveniently.
The helicopter searching lamp realizes the consistency with the image visual angle of the external equipment by analyzing the pitching and azimuth angle information of the external follow-up equipment and the height information of the helicopter sent by the upper computer and resolving the required rotation angle information of the installation position information of the external follow-up equipment, reduces the operation difficulty of pilots and improves the searching efficiency.
The application will be described in further detail below with reference to the accompanying drawings 1-5 by means of specific embodiments.
In other embodiments of the present application, a helicopter search light employing a servo-stabilized system control method is composed of a control unit, an action execution unit, and a load side, as shown in fig. 1. The control system adopts embedded microcomputer digital control as basic control loop, and is equipped with high-speed input/output interface circuit board as basic control component, and forms all-digital microcomputer digital control system together with servo driver and electric control device. The action executing unit consists of a direct current brushless motor, a control board, a driving 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 is compared with the signal according to a given value, and after comprehensive processing, a control instruction is sent out, and the control signal is sent into a driving circuit through a digital channel to control the rotation of the motor. The motor output acts on the load through the speed reducing mechanism, and a high-precision low Wen Bianma device is arranged at the end close to the load and used 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 stable control system of the search light adopts an overall stable design, and an inertial navigation system (built-in six-axis sensor) is installed on the azimuth and pitching frames, so that the motion data and the temperature data of a three-axis gyroscope (three-axis angular velocity) and three-axis acceleration can be detected simultaneously, and the inertial navigation system outputs complete 9-axis fusion calculation data to the application end through a main IIC interface by a digital motion processor, and the stable control system of the search light is as shown in fig. 2, and the anti-shake control system and the follow-up control are combined to control the motor output by adopting a three-ring structure design.
Wherein the gyroscope speed feedback employs a complementary filtering structure, as shown in fig. 3. The idea of complementary filtering is to integrate the advantages of the accelerometer and the gyroscope sensor into a whole to calculate the accurate angle. In the figure, the data read by the gyroscope is subjected to digital integration, high-pass filtering and low-pass filtering, then fusion calculation is carried out on the data read by the acceleration to obtain a current angle value, the angle and the acceleration are transmitted into a Kalman filter structure body through a Kalman filtering algorithm, and iteration is completed through Kalman filtering, so that the fused angle and angular velocity are obtained. The vibration interference cancellation of the electric mechanism is realized, the stable control of the load end in the inertial space is completed, and the self-stability is maintained.
In other embodiments of the present application, the autofocus system in the search light stabilization control system is comprised of an image processing and automatic dimming control system, as shown in fig. 4. The image processing mainly comprises a data acquisition module, a non-uniform correction module and an image processing module. The data acquisition module mainly realizes image acquisition and uploading of a search target, realizes image correction through a segmentation correction method of the non-uniform correction module, then solves the problems of non-uniformity of a system formed by a detector, a circuit, optics and the like and different scene observation effects through the image processing module, and feeds back an image processing result to the dimming control to adjust a light beam range so as to realize illumination consistency of an illuminated 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, different correction methods are selected for correction in sections according to actual use requirements, and finally uniform dimming is realized through the composite design of an image processing module and mechanical compensation type dimming control, so that the image position and the size stability in the zooming process of the product are ensured.
The helicopter search lamp provided by the application adopts the control method of the follow-up stabilizing system, so that the stable work output of the search lamp can be ensured, and the influence of helicopter vibration on the stability of the output light spot of the search lamp is reduced.
And moreover, the follow-up function is realized through communication with external equipment of the helicopter, and the automatic adjustment of the light beam can be completed under the manual and follow-up modes by combining with the image processing and automatic dimming system, so that the illumination consistency of the illuminated search and rescue area is ensured, the operation difficulty of pilots is reduced, and the search and rescue efficiency is improved.
Referring to fig. 5, the search light follows the rotation angle: θ 3 ＝arctan(L2/h1)，θ 4 ＝arctan(L5/L3)；
Wherein: l1=h1 tan (θ 1 )，L2＝L-L1，L4＝L1/sin(θ 1 )， L5＝L4*tan(θ 2 )；
h1 is height information, θ 1 And theta 2 And L is the distance between the search lamp and the follow-up equipment for reporting horizontal and vertical rotation angle information.
Claims (1)
1. A helicopter search light servo stability control system comprising: a stability control system and a follow-up control system;
the stability control system includes:
an automatic focusing system;
an anti-shake control system for preventing the helicopter search light from shaking;
wherein the automatic focusing system comprises an image processing and automatic dimming control system
The anti-shake control system includes:
a gyroscope control system;
the motor control system is used for adjusting the rotation angle of the search lamp;
wherein, search lamp follow-up rotation angle:
θ 3 =arctan(L2/h1)，θ 4 =arctan(L5/L3)；
wherein l1=h1×tan (θ 1 ），L2=L-L1，L3=，L4=L1/sin（θ 1 ），L5=L4*tan(θ 2 ) H1 is height information, θ 1 And theta 2 The reported horizontal and vertical rotation angle information is L which is the distance between the search lamp and the follow-up equipment;
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 is used for collecting speed feedback and sending the speed feedback to the position loop;
the position ring is arranged outside the speed ring and is used for adopting position adjustment information and sending the position adjustment information to the servo motor;
the gyro control system includes:
the six-axis sensor is used for detecting motion data and temperature data of the three-axis gyroscope;
the triaxial gyroscope is used for preventing the helicopter search light from shaking; the motion data comprises a triaxial angular velocity and a triaxial acceleration;
the follow-up control includes:
the helicopter searching lamp analyzes the rotation angle information required by resolving 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 height information of the helicopter, which are sent by the upper computer, so that the rotation angle information is consistent with the image visual angle of the external equipment;
the image processing and automatic dimming system includes:
the data acquisition module is used for acquiring image information of the searched object and sending the image information to the non-uniform correction module;
the non-uniform correction module is connected with the data acquisition module and used for correcting the definition of the image and transmitting the clear image to the image processing module;
the image processing and automatic dimming system further includes:
the image processing module is connected with the non-uniform correction module and is used for storing the clear image in a storage device;
the image processing and automatic dimming system further includes:
and the automatic dimming module is used for adjusting the front-back displacement of the optical component in the helicopter search lamp so as to realize the adjustment of the focal length.
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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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| 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 true CN114040549B (en) | 2023-11-28 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001186513A (en) * | 1999-12-24 | 2001-07-06 | Mitsubishi Electric Corp | Image pickup device |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE394681T1 (en) * | 2002-09-23 | 2008-05-15 | Captron Elect Gmbh | MEASURING AND STABILIZATION SYSTEM FOR MACHINE-CONTROLLED VEHICLES |
| FR2987151B1 (en) * | 2012-02-16 | 2014-09-26 | Thales Sa | HELICOPTER RESCUE ASSISTANCE SYSTEM |
-
2021
- 2021-11-19 CN CN202111391798.3A patent/CN114040549B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001186513A (en) * | 1999-12-24 | 2001-07-06 | Mitsubishi Electric Corp | Image pickup device |
| CN102420975A (en) * | 2011-11-01 | 2012-04-18 | 上海海事大学 | Anti-swaying device and method of sea-wrecking searching system |
| 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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