CN114167718A - Control method and device of three-axis turntable, computer equipment and storage medium - Google Patents
Control method and device of three-axis turntable, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a control method, a control device, computer equipment and a storage medium of a three-axis turntable, wherein the method comprises the following steps: obtaining operation parameters of each frame in a target three-axis turntable; determining a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; determining a decoupling control law according to a nonlinear expression of a state space equation under the condition that the state space equation meets a decoupling condition; decoupling operation is carried out on the state space equation according to a decoupling control law to obtain a target state equation; and controlling the operation of the target three-axis rotary table based on the target state equation. The control method can avoid coupling influence among the shafts in the three-shaft rotary table, and improves control performance of the three-shaft rotary table.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for controlling a three-axis turntable, a computer device, and a storage medium.
Background
The inertial navigation technology reflects the height of the aerospace technology, and in the inertial navigation technology, the performance of inertial navigation elements (such as an accelerometer, a gyroscope and the like) of a navigation system directly determines the tracking performance and the positioning accuracy of the whole navigation system, so that the inertial navigation elements of the navigation system need to be subjected to strict detection and error evaluation before being put into use. The device for detecting the inertial navigation element of the navigation system is a rotary table, and the rotary table detects the performance of the inertial navigation element in a calibration mode of the inertial navigation element. Based on the continuous improvement of the precision requirement of the inertial navigation element at present, the corresponding turntable precision also provides higher requirement so as to be competent for the task of testing the performance of the inertial navigation element.
Common revolving stage is the triaxial revolving stage, and the triaxial revolving stage includes three frame, and when two or three frames of triaxial revolving stage rotated simultaneously, each frame not only can receive the effect of factors such as self moment angular velocity, still can receive the interference of other frames for the motion state of frame receives the influence, exists the dynamics coupling between the frame promptly. The dynamic coupling affects the control accuracy and the dynamic performance of a system for controlling the three-axis turntable, so that the influence of the coupling between the frames on the control accuracy and the dynamic performance of the control three-axis turntable needs to be considered in the process of controlling the three-axis turntable to calibrate the inertial navigation element.
Disclosure of Invention
The application provides a control method and device of a three-axis turntable, computer equipment and a storage medium, which can avoid coupling influence among frames in the three-axis turntable and improve the control performance of the three-axis turntable.
In a first aspect of the present application, a method for controlling a three-axis turntable is provided, where the method includes:
obtaining operation parameters of each shaft in a target three-shaft turntable;
determining a state space equation of the target three-axis turntable according to the operation parameters of each axis in the target three-axis turntable;
determining a decoupling control law according to a nonlinear expression of a state space equation under the condition that the state space equation meets a decoupling condition;
decoupling operation is carried out on the coupling state space equation according to a decoupling control law to obtain a target state equation;
and controlling the operation of the target three-axis rotary table based on the target state equation.
In a second aspect of the present application, there is provided a control device of a three-axis turntable, the device including:
the acquisition module is used for acquiring the operating parameters of each shaft in the target three-shaft turntable;
the first determining module is used for determining a state space equation of the target three-axis turntable according to the operating parameters of each axis in the target three-axis turntable;
the second determining module is used for determining a decoupling control law according to a nonlinear expression of the state space equation under the condition that the state space equation meets the decoupling condition;
the decoupling module is used for performing decoupling operation on the coupling state space equation according to a decoupling control law to obtain a target state equation;
and the control module is used for controlling the operation of the target three-axis rotary table based on the target state equation.
In a third aspect of the application, a computer device is provided, comprising a memory and a processor, the memory storing a computer program, the processor implementing the steps of the method of any one of the above when executing the computer program.
In a fourth aspect of the application, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method of any of the above.
The application provides a control method, a control device, computer equipment and a storage medium of a three-axis turntable, wherein the method comprises the following steps: obtaining operation parameters of each frame in a target three-axis turntable; determining a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; determining a decoupling control law according to a nonlinear expression of a state space equation under the condition that the state space equation meets a decoupling condition; decoupling operation is carried out on the state space equation according to a decoupling control law to obtain a target state equation; and controlling the operation of the target three-axis rotary table based on the target state equation. According to the method and the device, whether a state space equation established according to the operation parameters of each shaft in the target three-shaft rotary table meets the decoupling condition or not is determined, under the condition that the state space equation meets the decoupling condition, the state equation is decoupled based on a decoupling control law to obtain a target control equation finally controlling the target three-shaft rotary table to operate, the target control equation is used for controlling the target three-shaft rotary table to operate, coupling influence among frames in the three-shaft rotary table can be avoided, and the control performance of the three-shaft rotary table is improved.
Drawings
Fig. 1 is an application environment diagram of a control method of a three-axis turntable according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a control method of a three-axis turntable according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a control method of a three-axis turntable according to another embodiment of the present application;
FIG. 4 is a schematic view of an orthogonal state of a three-axis turret according to another embodiment of the present application;
FIG. 5 is a schematic view of a non-orthogonal state of a three-axis turret according to another embodiment of the present application;
fig. 6 is a schematic flow chart of a control method of a three-axis turntable according to another embodiment of the present application;
FIG. 7(a) is a graph of the output and tracking error of the roll axis of a three axis turret in one embodiment of the present application;
FIG. 7(b) is a graph of the output of the pitch axis of a three-axis turret and the tracking error in one embodiment of the present application;
FIG. 7(c) is a graph of the output of the azimuth axis and the tracking error of a three-axis turret in one embodiment of the present application;
FIG. 8(a) is a graph of the output and tracking error of the roll axis of the three-axis turret in a comparative example of the present application;
FIG. 8(b) is a graph of the output of the pitch axis of the three-axis turret and the tracking error in the comparative example of the present application;
FIG. 8(c) is a graph of output and tracking error for the azimuth axis of the three-axis turret in a comparative example of the present application;
fig. 9 is a block diagram of a control device of a three-axis turret according to an embodiment of the present disclosure;
fig. 10 is an internal structural diagram of a computer device in one embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The control method of the three-axis turntable can be applied to the application environment shown in fig. 1. Wherein, the motor 102 driving the target three-axis turntable to rotate is electrically connected with the server 104. And a data acquisition device for acquiring the operating parameters of each frame is arranged on the three-axis turntable. The data acquisition device is communicated with the server 104 through a network, the data acquisition device transmits acquired operation parameters of each frame to the server 104 through the network, the server 104 establishes a state space equation of the target three-axis turntable according to the operation parameters of each frame, determines whether to perform decoupling operation on the state equation by judging whether the state space equation meets decoupling conditions or not, determines a target decoupling control law according to the state space equation when the state space equation meets the decoupling conditions, decouples the state space equation according to the target decoupling control law to obtain a target control equation, and controls the operation of the target three-axis turntable based on the target control equation. Because the target control equation is subjected to decoupling processing, the coupling influence among frames in the three-axis turntable can be avoided, and the control performance of the three-axis turntable is improved. The server 104 may be implemented as a stand-alone server or a server cluster composed of a plurality of servers.
In one embodiment, as shown in fig. 2, a method for controlling a three-axis turntable is provided, which is described by taking the method as an example applied to the server in fig. 1, and includes the following steps:
and step S202, obtaining the operation parameters of each frame in the target three-axis rotary table.
Wherein, target triaxial revolving stage includes three axle: a roll axis, a pitch axis and an azimuth axis; three shafts are correspondingly provided with three rotatable frames: a roll frame, a pitch frame, and an azimuth frame. The operating parameters of the individual frames are, for example, the rotational angle, the rotational speed, the voltage, the torque, etc. The operating parameters of the individual frames can be detected by a detection device, which is arranged on the individual frame and can be, for example, a sensor, a detection circuit board, etc.
And S204, determining a state space equation of the target three-axis rotary table according to the operation parameters of each frame in the target three-axis rotary table.
The state space equation is a first order differential equation set which is used for describing the dynamic characteristic of the system when the system for analyzing and controlling the operation of the three-axis rotary table is used. The method can reflect the change of all independent variables of the system for controlling the operation of the three-axis turntable, thereby simultaneously determining the internal motion state of the system for controlling the operation of the three-axis turntable and conveniently processing the initial conditions. Therefore, when a system for controlling the operation of the three-axis rotary table is designed, the input quantity, the output quantity and the error quantity are not limited, and a powerful tool is provided for improving the system performance of the system for controlling the operation of the three-axis rotary table. In addition, the computer can be used for analysis design and real-time control, so that the method can be applied to nonlinear systems, time-varying systems, multi-input-multi-output systems, random processes and the like. After the operation parameters of each frame of the three-axis turntable are collected, determining a state space equation of the target three-axis turntable according to the operation parameters of each frame of the three-axis turntable and a kinetic equation of each frame; the angular velocity vector, the torque, and the like of each frame may also be determined based on the operation parameters of each frame, and the angular velocity vector, the torque, and the like may be calculated to obtain a state space equation, which is not limited in this application.
And S206, determining a target decoupling control law according to the state space equation under the condition that the state space equation meets the decoupling condition.
And continuously judging whether the state equation meets the decoupling condition or not according to the determined state space equation. The state space equation is determined to meet the decoupling condition when the state equation is a control equation with non-single input and single output. The target decoupling control law represents an algorithm of the control command and describes a functional relationship between the controlled state variables and the system input signals.
And S208, performing decoupling operation on the state space equation according to a target decoupling control law to obtain a target control equation.
The decoupling operation is to disassemble the state space equation according to a target decoupling control law to obtain a target control equation, and the target control equation can avoid the coupling influence among frames in the three-axis turntable.
And step S210, controlling the operation of the target three-axis rotary table based on the target control equation.
The server determines a new target control equation according to the steps, the target control equation does not have coupling influence among frames, the target three-axis rotary table is controlled to operate based on the target control equation, and control performance of the three-axis rotary table can be improved.
As described above, the present application provides a method for controlling a three-axis turret, the method including: obtaining operation parameters of each shaft in a target three-shaft turntable; determining a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; under the condition that the state space equation meets the decoupling condition, determining a target decoupling control law according to a nonlinear expression of the state space equation; decoupling operation is carried out on the state space equation according to a target decoupling control law to obtain a target state equation; and controlling the operation of the target three-axis rotary table based on the target state equation. According to the method and the device, whether a state space equation established according to the operation parameters of each shaft in the target three-shaft rotary table meets the decoupling condition or not is determined, under the condition that the state space equation meets the decoupling condition, the state equation is decoupled based on a decoupling control law to obtain a target control equation finally controlling the operation of the target three-shaft rotary table, the target control equation can avoid the coupling influence among frames in the three-shaft rotary table when the target three-shaft rotary table is controlled to operate, and the control performance of the three-shaft rotary table is improved.
In one embodiment, the present embodiment is an alternative method embodiment of generating a decoupling controller, the method comprising the steps of:
and generating a decoupling controller according to a preset time performance function and a state space equation, wherein the decoupling controller is used for controlling the tracking error of the target three-axis turntable within a preset time range and a preset space range.
The decoupling controller is designed by introducing a preset time performance function based on a decoupled target control equation and is used for ensuring that the tracking error of each frame of the target three-axis rotary table is constrained within a preset time and space range through the decoupling controller in the process of controlling the three-axis rotary table according to the target control equation.
Specifically, the method comprises the following steps: the concept of spatio-temporal constraint stability is first given.
Definition 1: consider the following nonlinear system:
where x (t) is a vector function. If for x (0) x0There are xi > 0 and 0 < T (x)0) Infinity, satisfies the following inequality
||x(t)||≤ξ，t≥T (2)
Wherein T (x)0) Representing the sampling time, the solution of equation (1) is stable to the spatio-temporal constraints.
Introduction 1: if there are functions V (x) > 0, V (0) ═ 0, there are three normality numbers m1＞0，0＜m2< 1 and 0 < m3Meet < ∞ < >
The system (1) is stable to spatio-temporal constraints.
Definition 2: if there is a smoothing function p (t) that satisfies the following three conditions,
1)ρ(t)＞0；
2)
3) for T ≧ TfExistence of
And is
Wherein
And TfRespectively, an arbitrarily small constant and sampling time;
it is a preset finite time performance function.
In the present application, the predetermined finite time performance function is selected as
Where i is 1, …, n, ρi，0，ρi，Ti，fIs a normal number. It is easy to verify that the function satisfies the spatio-temporal constraint stability condition of theorem 1.
Theorem one: in tight set omegaz：＝{zi∈R，|zi|+εi≤ρi≤ρi(0) I-1, …, n } wherein ziFor tracking error,. epsiloni> 0, if the decoupling controller parameter k is designediSatisfy the requirement of
The decoupling controller is designed to be of the form:
wherein
v＝ηnAnd v is the actual control law.
And (3) proving that: and selecting a transverse axis to analyze the space-time constraint stability, and verifying the space-time constraint stability of a longitudinal axis and a square axis in the same way. Defining a tracking error z1＝x1-η0，z2＝x2-η1Wherein eta0＝yidIs a reference signal, then z1Is a derivative of
The first step is as follows: according to theorem one, the virtual control law can be designed as
Consider the following Lyapunov function
Derived by derivation
Will control law η virtually1Can be substituted to obtain
The second step is that: consider the following Lyapunov function:
derived by derivation
Designing a real controller
Substitution (12) can give:
wherein
The integral of the two sides of the formula (13) from 0 to t
V2(t)≤V2(0)e-δt (14)
According to rhoi(t) is a property of zi＜PiThis means ziIs space-time constrained to be stable. Further, according to zi＝xi-ηi-1And
we have
This means that xiIs space-time constrained to be stable. Therefore, the requirement of theorem one is met, namely the decoupling controller ensures that the tracking error of each frame of the target three-axis rotary table is constrained within a preset time and space range.
The application provides a control method, wherein a decoupling controller is designed based on a decoupled target control equation in the control method, so that the tracking error of each frame of a target three-axis turntable is constrained within a preset time and space range. Therefore, the effect of accurately controlling the operation of each frame of the three-axis rotary table is achieved.
In one embodiment, as shown in fig. 3, this embodiment is an alternative method embodiment for determining the state-space equation of a target three-axis turntable, and the method embodiment includes the following steps:
and S302, establishing a dynamic equation of the target three-axis rotary table according to the operation parameters of each frame in the target three-axis rotary table.
And step S304, determining a state space equation of the target three-axis turntable according to the moment of each frame, the linear relation for controlling the voltage of each frame and the dynamic equation of the target three-axis turntable.
As shown in fig. 4, assuming that the initial state of the three-axis gantry frame is a completely orthogonal state, the coordinate system of each frame is: OX0Y0Z0Is an inertial frame, i.e. an initial orthogonal frame, OX1Y1Z1For a frame coordinate system, OX2Y2Z2For a coordinate system of a pitch frame, OX3Y3Z3Is a coordinate system of the orientation frame. When the three axes of the turntable rotate respectively by a certain angle, the three-axis turntable frame forms a non-orthogonal state as shown in figure 5, and the transverse rolling frame rotates around the rotating shaft OX thereof1Rotating by an angle alpha; the pitch frame (including the roll frame) being rotated about its rotation axis OY2Rotating by an angle beta; the azimuth frame (including the roll frame and the pitch frame) is rotated about its rotation axis OZ3Rotated through an angle gamma. Meanwhile, the angular velocities of the roll frame, the pitch frame and the azimuth frame are respectively
Angular acceleration is respectively
Defining the coordinate system relation between frames as follows:
(1)Po1as an initial coordinate system OX0Y0Z0Projected onto a frame coordinate system OX1Y1Z1The coordinate transformation matrix of (a) is,
(2)Po2as an initial coordinate system OX0Y0Z0Projection onto a Pitch frame coordinate System OX2Y2Z2The coordinate transformation matrix of (a) is,
(3)Po3as an initial coordinate system OX0Y0Z0Projection onto an orientation frame coordinate system OX3Y3Z3The coordinate transformation matrix of (a) is,
(4)P21as a pitch frame coordinate system OX2Y2Z2Projected onto a frame coordinate system OX1Y1Z1The coordinate transformation matrix of (a) is,
(5)P31as an orientation frame coordinate system OX3Y3Z3Projected onto a frame coordinate system OX1Y1Z1The coordinate transformation matrix of (a) is,
(6)P32as an orientation frame coordinate system OX3Y3Z3Projection onto a Pitch frame coordinate System OX2Y2Z2The coordinate transformation matrix of (2).
From fig. 5, the transition matrices can be derived as follows:
P31＝P21·P21 (19)
Po2＝P32·Po3 (20)
Po1＝P31·Po3＝P21·P32·Po3 (21)
from the above six equations can be derived:
the vector between each frame can be deduced at OX0Y0Z0As an inertial coordinate system, OX1Y1Z1For a frame coordinate system, OX2Y2Z2For a coordinate system of a pitch frame, OX3Y3Z3The relationship in the orientation frame coordinate system is:
for the convenience of the analytical study, we defined:
From FIG. 5, it can be seen that
Orientation frame relative OX0Y0Z0At an angular velocity
When rotating, the roll frame and the pitch frame are influenced by the azimuth frame and also relative to OX0Y0Z0A certain angular velocity is generated:
(1) the angular velocity vector of the roll frame relative to the inertial coordinate system is:
(2) the angular velocity vector of the pitching frame relative to the inertial coordinate system is:
(3) the angular velocity vector of the azimuth frame relative to the inertial coordinate system is:
for analytical research convenience, we define
For rolling frames around x respectively1，y1，z1The rotational inertia of the shaft;
for pitch frames respectively winding around x2，y2，z2The rotational inertia of the shaft;
for the azimuth frame respectively winding x3，y3，z3The moment of inertia of the shaft.
Assuming H is the moment of momentum of the rigid body, then
H＝Hxi+Hyj+Hzk＝Jxωxi+Jyωyj+Jzωzk (31)
According to the brother rotation theorem, the method comprises the following steps:
let M ═ Mx My Mz)TThe moment applied to a rigid body has, according to the momentum theorem:
the simultaneous components (32) and (33) have
And (28), (29), (30) and (34) are combined, and the dynamic equation of the target three-axis turntable is obtained as follows:
the moment of inertia is brought into the formula, and the simplified dynamic equation of the target three-axis turntable is obtained as follows:
because the output torque of the motor and the control voltage are in a linear relation, the following calculation results:
wherein U is1，U2，U3The voltage is controlled by a roll frame, a pitch frame and an azimuth frame respectively.
Substituting (37) into (35) to make
The state space equation of the target three-axis turntable is obtained as follows:
wherein the content of the first and second substances,
in one embodiment, this embodiment is an alternative method embodiment of determining the kinetic equation of a target three-axis turret: according to Mx、My、Mz、w1、w2And w3Determining a kinetic equation for a target three-axis turret, wherein MxFor the moment of the transverse roller frame in the target three-axis turntable, MyMoment of pitch frame in target three-axis turntable, MzIs the moment of the azimuth frame in the target three-axis turntable, w1Is the angular velocity vector, w, of the rolling frame in the target three-axis turntable relative to the inertial coordinate system2Is the angular velocity vector, w, of the pitch frame in the target three-axis turntable relative to the inertial coordinate system3Is the angular velocity vector of the azimuth frame in the target three-axis turntable relative to the inertial coordinate system.
The specific determination method is described above, and is not described herein again.
In one embodiment, the present embodiment is an optional method embodiment of determining whether a state space equation satisfies a decoupling condition, the method steps comprising:
and determining whether the state space equation meets a decoupling condition according to the control characteristics of the state space equation, wherein the control characteristics comprise single-input single-output control characteristics, single-input multi-output control characteristics, multi-input single-output control characteristics and multi-input multi-output control characteristics.
And when the control characteristic of the state space equation is non-single-input single-output, determining that the state space equation meets the decoupling condition.
In one embodiment, this embodiment is an alternative method embodiment of determining control characteristics of a state space equation, the method embodiment comprising the steps of:
the control characteristics of the state space equations are determined based on whether the speed coupling and/or the torque coupling are included in the state space equations.
From the above, the angular velocity vector of the roll frame relative to the inertial coordinate system is:
the angular velocity vector of the pitching frame relative to the inertial coordinate system is:
the angular velocity vector of the azimuth frame relative to the inertial coordinate system is:
then, according to the above formula, the angular velocity vector of the roll frame relative to the inertial frame is the angular velocity of the roll frame relative to the inertial frame caused by the rotation of the azimuth frame and the pitch frame and the angular velocity of the roll frame itself around OX1The superposition of the rotational speeds, the angular velocity vector representing the roll frame with respect to the inertial frame is then included due to the other framesThere is a rotational speed coupling of the angular velocity vector caused by the rotation of (i.e. the angular velocity vector of the roll cage with respect to the inertial frame.
The angular velocity vector of the pitching frame relative to the inertial coordinate system is the angular velocity of the pitching frame relative to the inertial coordinate system caused by the rotation of the azimuth frame and the rotation of the pitching frame around OY2The superposition of the rotation speeds, the angular velocity vector representing the pitch frame relative to the inertial coordinate system includes the angular velocity vector caused by the rotation of other frames, i.e. there is a rotational speed coupling of the pitch frame relative to the angular velocity vector of the inertial coordinate system.
The angular velocity vector of the orientation frame relative to the inertial coordinate system does not include the angular velocity vector caused by the rotation of other frames, i.e. there is no rotational speed coupling of the orientation frame relative to the angular velocity vector of the inertial coordinate system.
In summary, the state space equation includes velocity coupling, and then it can be determined that the control characteristic of the state space equation is a control characteristic of non-single input and single output, and the state space equation satisfies the decoupling condition.
Further, as can be seen from the above:
Mx、My、Mzincluding the moment of inertia due to the rotation of the other frames, i.e., there is a torque coupling of the roll frame, the pitch frame, and the azimuth frame.
In summary, the state space equation includes torque coupling, and then it can be determined that the control characteristic of the state space equation is a control characteristic that is not single-input single-output, and the state space equation satisfies the decoupling condition.
In one embodiment, as shown in fig. 6, this embodiment is an optional method embodiment for determining a target decoupling control law, and the method embodiment includes the following steps:
step S602, converting the state space equation into a nonlinear state space equation;
and step S604, determining a target decoupling control law according to the nonlinear state space equation and a preset initial decoupling control law.
As can be seen from the above, the state space equation is:
wherein the content of the first and second substances,
the nonlinear state space equation obtained by conversion is as follows:
for the convenience of derivation, Lie operator L is introduced, namely:
wherein
For equilibrium point x0The nonlinear system has a relative order riIf the following condition holds:
for all x (x belongs to x)0A field of (i) and i, j ∈ m, k < r)i-1And, all have:
matrix of m x m
At equilibrium point x0Is not unusual.
The system is in the initial control law: u ═ α (x) + β (x) v can be decoupled into a single-in single-out system, where:
from this, p (x), α (x), β (x) are calculated, and the target decoupling control law u ═ α (x) + β (x) v is obtained, that is:
therefore, the target control equation after the three-axis turntable is decoupled is as follows:
and finally, controlling the target three-axis turntable based on the target control equation.
For example, as shown in fig. 7(a) -7(c), the effect graphs of the tracking control performed on three axes of the three-axis turntable by the tracking controller and the decoupling controller provided by the present application are used as comparative examples of the present application, and as shown in fig. 8(a) -8(c), the effect graphs of the tracking control performed after the decoupling performed on three axes of the three-axis turntable by the prior art are used.
From fig. 7(a) -7(c), it can be seen that the control method of the three-axis turntable proposed in the present application can ensure that the tracking error of each axis of the three-axis turntable is constrained within a given time and space range (the space constraint is in the range of-0.1 to 0.1, and the time constraint is converged within 1 second). It can be seen from fig. 8(a) -8(c) that the control method in the prior art cannot ensure that the tracking error of each axis of the three-axis turntable is limited in the given time and space, and the tracking error is large, and the tracking performance of each axis is greatly improved by performing tracking control after decoupling, because the influence of the coupling effect on each axis of the three-axis turntable is reduced after decoupling, the control of each axis of the three-axis turntable is easier, but the tracking error cannot be constrained in the given time and space. The decoupling control method for the three-axis turntable can perform error transformation by using a preset finite time performance function on the basis of decoupling, ensures that the tracking error of each axis of the three-axis turntable is constrained within a given time and space range, and greatly improves the transient and steady tracking performance of the three-axis turntable system.
It should be understood that although the steps in the flowcharts of fig. 2, 3, and 6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 3, and 6 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 9, there is provided a control apparatus 900 of a three-axis turret, including: an obtaining module 902, a first determining module 904, a second determining module 906, a decoupling module 908, and a control module 910, wherein:
an obtaining module 902, configured to obtain an operating parameter of each frame in a target three-axis turntable;
a first determining module 904, configured to determine a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable;
a second determining module 906, configured to determine a target decoupling control law according to the state space equation when the state space equation satisfies the decoupling condition;
a decoupling module 908, configured to perform decoupling operation on the state space equation according to a target decoupling control law to obtain a target control equation;
and a control module 910, configured to control operation of the target three-axis turntable based on a target control equation.
In one embodiment, the apparatus further comprises a generating module,
the generating module is used for generating a decoupling controller according to a preset time performance function and a state space equation, and the decoupling controller is used for controlling the tracking error of the target three-axis turntable within a preset time range and a preset space range.
In one embodiment, the first determining module 904 is further configured to
Establishing a dynamic equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; and determining a state space equation of the target three-axis turntable according to the moment of each frame, the linear relation for controlling the voltage of each frame and the dynamic equation of the target three-axis turntable.
In one embodiment, the first determination module 904 further comprises a setup unit,
a establishing unit for establishing according to Mx、My、Mz、w1、w2And w3Determining a kinetic equation for a target three-axis turret, wherein MxFor the moment of the transverse roller frame in the target three-axis turntable, MyMoment of pitch frame in target three-axis turntable, MzIs the moment of the azimuth frame in the target three-axis turntable, w1Is the angular velocity vector, w, of the rolling frame in the target three-axis turntable relative to the inertial coordinate system2Is the angular velocity vector, w, of the pitch frame in the target three-axis turntable relative to the inertial coordinate system3Is the angular velocity vector of the azimuth frame in the target three-axis turntable relative to the inertial coordinate system.
In one embodiment, the second determining module 906 is further configured to determine whether the state space equation satisfies the decoupling condition according to control characteristics of the state space equation, where the control characteristics include a single-input single-output control characteristic, a single-input multiple-output control characteristic, a multiple-input single-output control characteristic, and a multiple-input multiple-output control characteristic.
In one embodiment, the second determining module 906 is further configured to determine the control characteristic of the state space equation based on whether the speed coupling and/or the torque coupling are included in the state space equation.
In one embodiment, the second determining module 906 is further configured to convert the state space equation into a non-linear state space equation; and determining a target decoupling control law according to the nonlinear state space equation and a preset initial decoupling control law.
For specific definition of the control device of the three-axis turntable, reference may be made to the above definition of the control method of the three-axis turntable, and details are not described here. The respective modules in the control device of the three-axis turntable can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the operation parameter data of each frame. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of controlling a three-axis turret.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
obtaining operation parameters of each frame in a target three-axis turntable;
determining a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable;
under the condition that the state space equation meets the decoupling condition, determining a target decoupling control law according to the state space equation;
decoupling operation is carried out on the state space equation according to a target decoupling control law to obtain a target control equation;
and controlling the operation of the target three-axis rotary table based on the target control equation.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and generating a decoupling controller according to a preset time performance function and a state space equation, wherein the decoupling controller is used for controlling the tracking error of the target three-axis turntable within a preset time range and a preset space range.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
establishing a dynamic equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; and determining a state space equation of the target three-axis turntable according to the moment of each frame, the linear relation for controlling the voltage of each frame and the dynamic equation of the target three-axis turntable.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
according to Mx、My、Mz、w1、w2And w3Determining a kinetic equation for a target three-axis turret, wherein MxFor the moment of the transverse roller frame in the target three-axis turntable, MyMoment of pitch frame in target three-axis turntable, MzIs the moment of the azimuth frame in the target three-axis turntable, w1Is the angular velocity vector, w, of the rolling frame in the target three-axis turntable relative to the inertial coordinate system2Is the angular velocity vector, w, of the pitch frame in the target three-axis turntable relative to the inertial coordinate system3Is the angular velocity vector of the azimuth frame in the target three-axis turntable relative to the inertial coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and determining whether the state space equation meets a decoupling condition according to the control characteristics of the state space equation, wherein the control characteristics comprise single-input single-output control characteristics, single-input multi-output control characteristics, multi-input single-output control characteristics and multi-input multi-output control characteristics.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
the control characteristics of the state space equations are determined based on whether the speed coupling and/or the torque coupling are included in the state space equations.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
converting the state space equation into a nonlinear state space equation; and determining a target decoupling control law according to the nonlinear state space equation and a preset initial decoupling control law.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
obtaining operation parameters of each frame in a target three-axis turntable;
determining a state space equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable;
under the condition that the state space equation meets the decoupling condition, determining a target decoupling control law according to the state space equation;
decoupling operation is carried out on the state space equation according to a target decoupling control law to obtain a target control equation;
and controlling the operation of the target three-axis rotary table based on the target control equation.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and generating a decoupling controller according to a preset time performance function and a state space equation, wherein the decoupling controller is used for controlling the tracking error of the target three-axis turntable within a preset time range and a preset space range.
In one embodiment, the computer program when executed by the processor further performs the steps of:
establishing a dynamic equation of the target three-axis turntable according to the operation parameters of each frame in the target three-axis turntable; and determining a state space equation of the target three-axis turntable according to the moment of each frame, the linear relation for controlling the voltage of each frame and the dynamic equation of the target three-axis turntable.
In one embodiment, the computer program when executed by the processor further performs the steps of:
according to Mx、My、Mz、w1、w2And w3Determining a kinetic equation for a target three-axis turret, wherein MxFor the moment of the transverse roller frame in the target three-axis turntable, MyMoment of pitch frame in target three-axis turntable, MzIs the moment of the azimuth frame in the target three-axis turntable, w1Is the angular velocity vector, w, of the rolling frame in the target three-axis turntable relative to the inertial coordinate system2Is the angular velocity vector, w, of the pitch frame in the target three-axis turntable relative to the inertial coordinate system3Is the angular velocity vector of the azimuth frame in the target three-axis turntable relative to the inertial coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and determining whether the state space equation meets a decoupling condition according to the control characteristics of the state space equation, wherein the control characteristics comprise single-input single-output control characteristics, single-input multi-output control characteristics, multi-input single-output control characteristics and multi-input multi-output control characteristics.
In one embodiment, the computer program when executed by the processor further performs the steps of:
the control characteristics of the state space equations are determined based on whether the speed coupling and/or the torque coupling are included in the state space equations.
In one embodiment, the computer program when executed by the processor further performs the steps of:
converting the state space equation into a nonlinear state space equation; and determining a target decoupling control law according to the nonlinear state space equation and a preset initial decoupling control law.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of controlling a three-axis turret, the method comprising:
obtaining operation parameters of each frame in a target three-axis turntable;
determining a state space equation of the target three-axis rotary table according to the operation parameters of each frame in the target three-axis rotary table;
under the condition that the state space equation meets the decoupling condition, determining a target decoupling control law according to the state space equation;
decoupling operation is carried out on the state space equation according to the target decoupling control law to obtain a target control equation;
and controlling the operation of the target three-axis rotary table based on the target control equation.
2. The method of claim 1, further comprising:
and generating a decoupling controller according to a preset time performance function and the state space equation, wherein the decoupling controller is used for controlling the tracking error of the target three-axis rotary table within a preset time range and a preset space range.
3. The method of claim 1 or 2, wherein determining the state space equation for the target three-axis turret from the operating parameters of each frame in the target three-axis turret comprises:
establishing a dynamic equation of the target three-axis rotary table according to the operation parameters of each frame in the target three-axis rotary table;
and determining a state space equation of the target three-axis turntable according to the moment of each frame, the linear relation for controlling the voltage of each frame and the dynamic equation of the target three-axis turntable.
4. The method of claim 3, wherein establishing the equations of dynamics of the target three-axis turret from the operational parameters of each frame in the target three-axis turret comprises:
according to Mx、My、Mz、w1、w2And w3Determining a kinetic equation of the target three-axis turntable, wherein MxIs the moment, M, of the transverse rolling frame in the target three-axis rotary tableyIs the moment, M, of the pitching frame in the target three-axis turntablezIs the moment, w, of the azimuth frame in the target three-axis turntable1Is the angular velocity vector, w, of the rolling frame in the target three-axis rotary table relative to the inertial coordinate system2Is the angular velocity vector, w, of the pitching frame in the target three-axis turntable relative to the inertial coordinate system3And the angular velocity vector of the azimuth frame in the target three-axis rotary table relative to the inertial coordinate system is obtained.
5. The method according to claim 1 or 2, characterized in that the method further comprises:
and determining whether the state space equation meets a decoupling condition according to the control characteristics of the state space equation, wherein the control characteristics comprise single-input single-output control characteristics, single-input multi-output control characteristics, multi-input single-output control characteristics and multi-input multi-output control characteristics.
6. The method of claim 5, further comprising:
determining a control characteristic of the state space equation based on whether a speed coupling and/or a torque coupling is included in the state space equation.
7. The method of claim 1 or 2, wherein the determining a target decoupling control law according to the state space equation comprises:
converting the state space equation into a nonlinear state space equation;
and determining the target decoupling control law according to the nonlinear state space equation and a preset initial decoupling control law.
8. A control device for a three-axis turret, said device comprising:
the acquisition module is used for acquiring the operating parameters of each frame in the target three-axis turntable;
the first determining module is used for determining a state space equation of the target three-axis rotary table according to the operation parameters of each frame in the target three-axis rotary table;
the second determining module is used for determining a target decoupling control law according to the state space equation under the condition that the state space equation meets the decoupling condition;
the decoupling module is used for performing decoupling operation on the state space equation according to the target decoupling control law to obtain a target control equation;
and the control module is used for controlling the operation of the target three-axis rotary table based on the target control equation.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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