CN114489156B - High-precision control strategy based on three-axis turntable - Google Patents
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Abstract
The invention provides a high-precision control strategy based on a three-axis turntable, which comprises the steps of firstly collecting the angular position, the angular speed and the current feedback value of a motor of the three-axis turntable; designing a three-ring main controller of the three-axis turntable: current negative feedback, rate negative feedback and position feedback are introduced into the turntable control system, and current feedback closed loop, rate PID closed loop and position PID closed loop control based on the three-axis turntable are respectively designed; on the basis of a three-ring main controller of the three-axis turntable, adopting alternate least square method fitting to approximate the friction torque of the motor; optimizing an initial matrix and a determining factor of the alternating least square method by using a genetic algorithm to obtain an optimal value; and (3) superposing the initial matrix and the determination factor which are obtained by the genetic algorithm and are initialized at random, the rotating speed value output by the alternating least square method and the output value of the PID, and then controlling the motor. The invention improves the system precision of the three-axis turntable.
Description
Technical Field
The invention relates to the field of turntable control, in particular to a high-precision control strategy based on a three-axis turntable.
Background
The turntable is used as high-precision simulation test equipment, an automatic tracking platform, gesture-adjusting positioning equipment and the like, is widely applied to the fields of aerospace, national defense and the like in China, and is complex modern equipment integrating machines, electricity and light. The turntable is used as calibration test equipment of semi-physical simulation, inertial measurement unit and the like in the fields of aviation and aerospace, plays a key role in the development process of the aircraft, can simulate various attitude angle movements of the aircraft, reproduces various dynamics characteristics during the movements, and repeatedly tests the guidance system, the control system and the corresponding component performances of the aircraft to obtain full experimental data. The turntable is used as an automatic tracking platform, is more and more widely applied to various national defense weaponry, and can realize quick response in specific occasions, quickly capture a sighting target and perform accurate striking. The turntable is used as gesture-adjusting positioning equipment, is more applied to gesture adjustment and short-distance transfer in high-end ground assembly test of various satellites, radars, remote sensing cameras and the like, has large load and high positioning precision, and needs to be suitable for various special environments.
With the rapid development of the fields of high-end equipment such as aerospace, weapon equipment and the like, the performance requirements of the equipment are continuously improved, and the performance requirements of corresponding turntable test equipment are also required to be continuously improved. In a turntable servo system, various nonlinear factors which are widely existed, such as dead zone, backlash, saturation, friction and other factors, influence the control performance of the turntable servo control system, directly influence the performance of the turntable, make the establishment of an accurate mathematical model of the turntable control system become extremely difficult, greatly increase the control difficulty of the turntable, and enable static models such as an early Coulomb model, a Bingham model, a Stribeck model, an Armstrong model and the like to approximately fit the real friction force, but cannot reflect the dynamic characteristics of the friction.
Disclosure of Invention
The invention aims to provide a high-precision control strategy based on a three-axis turntable so as to solve the control problem of the three-axis turntable.
The technical solution for realizing the purpose of the invention is as follows:
A high precision control strategy based on a three-axis turntable, comprising the steps of:
step 1, acquiring the angular position, the angular speed and the current feedback value of a motor of a three-axis turntable;
Step 2, designing a three-ring main controller of the three-axis turntable: current negative feedback, rate negative feedback and position feedback are introduced into the turntable control system, and current feedback closed loop, rate PID closed loop and position PID closed loop control based on the three-axis turntable are respectively designed to realize three-loop main control of the whole three-axis turntable;
step 3: the friction force compensation sub-controller of the alternating least square is designed: on the basis of a three-ring main controller of the three-axis turntable, adopting alternate least square method fitting to approximate the friction torque of the motor;
Step 4: optimizing an initial matrix and a determining factor of the alternating least square method by using a genetic algorithm to obtain an optimal value;
And 5, superposing the initial matrix and the determination factor which are obtained by the genetic algorithm and are initialized at random, and the rotating speed value output by the alternating least square method and the output value of the PID, and then controlling the motor.
Compared with the prior art, the invention has the remarkable advantages that:
According to the invention, the friction moment is fitted through the alternate least square method, and the friction moment is compensated in a targeted manner, so that the turntable can run at a lower speed more stably; and the optimal parameters of the alternating least square method are screened through a genetic algorithm, so that the system accuracy is improved. The invention adds a real-time subsystem RTSS by utilizing a good extensible architecture of Windows, modifies and extends a hardware abstraction layer HAL, and improves the real-time performance of a control system by a Windows+RTX platform.
Drawings
FIG. 1 is a control block diagram of a three-axis turntable;
FIG. 2 is a schematic diagram of RTX;
FIG. 3 is a hierarchy architecture diagram of control software;
fig. 4 is an overall flowchart of the realtem procedure.
Detailed Description
The invention is further described with reference to the drawings and specific embodiments.
The embodiment provides a high-precision control strategy based on a three-axis turntable, which uses a control method of a three-axis turntable three-ring main controller plus an alternating least square friction force compensation auxiliary controller, designs a hardware system and control software of the three-axis turntable according to the actual control condition of the three-axis turntable, realizes the high-precision control strategy based on the three-axis turntable by combining the actual condition, and has the control structure diagram shown in figure 1, and the specific steps of the invention are as follows:
Step 1: building a three-axis turntable control system: the three-axis turntable control system consists of an inner ring control system, an intermediate ring control system and an outer ring control system, is uniformly controlled and managed by an industrial personal computer, and completes the work of real-time control calculation, management of a control unit, fault detection, related protection, man-machine interaction and the like; the three-axis turntable control system comprises the following components:
The control system consists of an inner ring control system, an intermediate ring control system and an outer ring control and compensation control system, and is uniformly controlled and managed by an industrial personal computer. The industrial personal computer configures the CPU as I7 and 3.4GHz main frequency and is matched with the 8G memory to complete the work of real-time control calculation, management of a control unit, fault detection, related protection, man-machine interaction and the like. Each shaft control system consists of a numerical control unit, a power amplification unit, an angle measurement unit and a motor. The numerical control unit and the power amplifier unit complete the control of the motors of all shafts, and the angle measuring unit consists of an angular velocity sensor, a circular grating, a reading head and corresponding angle measuring lines thereof, and collects the angular position and the angular velocity of the turntable. Meanwhile, the power amplification module and the AD conversion module collect current feedback values of the motor.
Step 2: designing a three-ring main controller of the three-axis turntable: current negative feedback, rate negative feedback and position feedback are introduced into the turntable control system, and current feedback closed loop, rate PID closed loop and position PID closed loop control based on the three-axis turntable are respectively designed to realize three-loop main control of the whole three-axis turntable;
The main controller of the three-ring PID three-axis turntable is designed as follows:
The system shafts can realize various operation modes: angular position, angular velocity, rocking, etc., the current loop plays an important role in reducing the electrical time constant, widening the system frequency band, reducing the dead zone of the driving component; the speed loop plays roles of further widening the frequency band of the system, improving the speed response speed, and inhibiting the influence of motor torque fluctuation, dry friction and the like on the system; the position ring accomplishes precision position and precision rate control. The system introduces current negative feedback, speed negative feedback and position feedback, and because the power amplifier introduces current negative feedback, on one hand, the maximum current of the motor is limited, and more importantly, the current negative feedback is introduced, so that the voltage of the control motor is in direct proportion to the moment of the control motor, and the acceleration is directly controlled through the control voltage. The introduction of the velocity ring can increase the damping of the system, improve the open loop gain of the whole system, and enable the position ring to have higher servo rigidity and better dynamic performance.
In order to reduce the overshoot of the system, wherein the current loop, the speed loop and the position loop are all controlled by PID (proportion integration differentiation), the algorithm introduces a logic function, and the output sampling point value of the regulator is as follows:
Wherein K p,Ki,Kd is the proportional coefficient, integral coefficient and differential coefficient of PID algorithm, e (j) is the systematic error of j moment, e (K) is the systematic error of K moment, wherein the systematic error of speed loop is the difference between actual speed and feedback speed, the systematic error of position loop is the difference between actual position and feedback position, K l is integral switch coefficient, A is integral threshold, when the deviation is large, the integral term is not active, when the deviation is within the threshold, the integral algorithm is introduced, thus not only reducing overshoot, but also enabling the integral control to reach the expected effect.
Step 3: the friction force compensation sub-controller of the alternating least square is designed: on the basis of a three-ring main controller of the three-axis turntable, in order to compensate the shafting friction of the three-axis turntable, an alternate least square fitting method is adopted to approximate the friction moment of the system;
the design of the friction force compensation sub-controller designed for the alternating least square in the step 3 is as follows:
Step 3.1, acquiring angular positions, angular rates, angular position errors, angular rate errors, currents, corresponding friction torque and rotation speed value data of different angles of a turntable in an open loop process in a stable state;
step 3.2, acquiring angular position, angular velocity, angular position error, angular velocity error and current data when the current closed loop operates; the current friction moment and the rotating speed are used as subsequent values to be solved;
Step 3.3, selecting an initial matrix X m×k、Yk×n and a determination factor k of an alternate least square method, wherein m is the number of rows of the hybrid matrix, and n is the number of columns of the hybrid matrix;
Step 3.4, the data acquired in the step 3.1 and the step 3.2 are formed into a sample data mixing matrix R m×n, and the friction moment and the rotating speed value to be solved in the step 3.2 are replaced by default values;
step 3.5, constructing a square error loss function of the mixed matrix, wherein the square error loss function is as follows:
L＝∑(Rui-XuYi T)2+λ(|Xu|2+|Yi|2) (3)
Wherein R ui represents the score of the ith sample on the ith turntable operation data, X u represents the preference implicit characteristic vector of the sample u, wherein u is more than or equal to 1 and less than or equal to m, Y i represents the preference implicit characteristic vector of the ith turntable operation data, wherein i is more than or equal to 1 and less than or equal to n, and lambda is an overfitting prevention coefficient.
Step 3.6, let the bias of the square error loss function be 0, and respectively solve X m×k and Y k×n to obtain:
wherein X m×k＝∑Xu,Yk×n＝∑Yi; i is an identity matrix.
Step 3.7, reconstructing a mixing matrix by using the following formula, wherein the reconstructed mixing matrix replaces the numerical values of the friction torque and the rotating speed value with default values in the previous step 3.3, so that the current friction torque and rotating speed value can be obtained:
Rm×n≈Xm×k×Yk×n (6)
Step 4: optimizing an initial matrix and a determining factor of the alternating least square method by using a genetic algorithm to obtain an optimal value;
Step 4.1, selecting an initial population, and setting the parameter range of the initial population according to a set value: setting the initial matrix of the initial population and the optimal solution parameter range of the determination factors as [0, 100], [0,7], and randomly generating the initial population with the scale of 200 in the set range.
Step 4.2, selecting a fitness function: the fitness function judges fitness of an individual by judging characteristics of the individual, the fitness of the individual is used as a quality standard for evaluating the alternating least square method parameter, and the dynamic deviation of the moment of the system and the performance index of the motor rotation speed deviation are used as objective functions, so that the fitness function is described as follows:
Where e 1 (t) is torque deviation, e 2 (t) is rotational speed deviation, ω 1、ω2 is a weight constant corresponding to the deviation, and t is time.
And 4.3, selecting a genetic operator, and determining a population which is inherited from the parent population to the next generation by using a roulette selection method. The roulette selection method uses the ratio of the fitness value fitness of the individuals in the whole population to the fitness value of the whole population to determine the probability of being selected, and the formula is as follows:
Where P i' is the probability that individual i' is genetically selected, f j is the overall fitness value of all individuals superimposed, and f i' is the fitness value of individual i.
Step 4.4, crossing and mutation operation, wherein the genetic algorithm is used for mutually exchanging partial genes of two paired individuals in a certain mode through the crossing operation, setting the crossing probability to be 0.74, and adopting a two-point crossing algorithm, so that two new individuals are formed. Meanwhile, in order to improve the local searching capability, the mutation probability is set to be 0.06, and a mutation operation is adopted to change some gene values of an individual so as to generate a new individual.
Step 4.5, repeating the steps 4.2, 4.3 and 4.4 until a new population is generated, and obtaining an initial matrix and determining a factor optimal solution.
Step 5, replacing the initial matrix and the determining factors which are randomly initialized in the step 3.3 with the initial matrix and the determining factors which are obtained by the genetic algorithm; and (3) circularly steps 3.2 to 3.7, superposing the rotating speed value output by the alternating least square method and the output value of the PID, and then controlling the motor.
The embodiment also provides a design method of the control software of the three-axis turntable, wherein the turntable control software is special control software for the turntable, and the control software is required to have a general function and a convenient and friendly interface on one hand, and also has strong instantaneity on the other hand, and has the functions of turntable control task scheduling, data storage, user interaction interface and communication; the design flow of the control software of the three-axis turntable is as follows:
In order to meet the requirements of real-time control and real-time communication of a system, the control and communication software is operated on a Windows platform, labwindows/CVI development software is adopted, a thread mechanism is used, and the threads mainly complete man-machine interface functions such as network communication, command interpretation, graphic drawing, digital display and the like.
The turntable control software (hereinafter referred to as control software) is turntable-specific control software. The control software is required to have general functions, a convenient and friendly interface and strong real-time performance. Meanwhile, the turntable control task scheduling, data storage, user interaction interface and communication functions are also considered. The control software is real-time control software running on Windows XP (SP 3) operating system. Because real-time control requires high time stability of interrupt cycles, it is not possible to provide sufficiently accurate timing and interrupts for a Windows system based on a messaging mechanism. In order to improve the real-time performance of the Windows operating system, the invention uses the Windows platform real-time extension product RTX of Intervalzero company to form a Windows+RTX platform, and the architecture of the RTX is shown in figure 2.
RTX in order to realize real-time features under Windows operating system, a real-time subsystem RTSS is added by utilizing a good extensible architecture of Windows, and a hardware abstraction layer HAL is modified and extended. Through the extended real-time HAL, RTSS uses own interrupt management mode, interrupt is isolated between Windows thread and RTSS thread, all RTSS thread scheduling priority is higher than all Windows scheduling, and RTSS thread can directly access I/O device.
The method comprises the steps of developing a turntable real-time measurement and control software system based on RTX, and firstly, dividing each function of software correctly and effectively according to operation characteristics. The software system supports real-time data input and output and control quantity calculation; the software must provide a good user interface, which can conveniently input data and commands, clearly display the running condition and know the running parameters and states. In order to achieve good operation control characteristics, a layered measurement and control software system is constructed according to a general development model of RTX. The display and control parts of the control console and the user interface have weak real-time or non-real-time characteristics, and various resources (such as GUI support) of the Win32 system are needed to be utilized, belonging to the non-real-time part (Win 32 process). In a specific period of the system, acquisition and output of real-time data states need to be completed, so that related port operations need to be performed on hardware besides real-time calculation, and the tasks belong to a real-time part (RTSS process). Thus, the control software architecture of the present system can be divided into two layers: the layered architecture system diagram of the control software is shown in figure 3.
WinTCS was developed using Visual c++2008 from microsoft corporation and run on Windows platform. The C++ language is flexible and changeable, has powerful functions, is simple and convenient to realize, is easy to carry out modularized inheritance, and is convenient to maintain. And realtem. Rtss is developed by using the language C and operates in a strongly real-time RTX environment. WinTCS and realtem. Rtss are two relatively independent processes, which communicate by triggering an event, and exchange data in a shared memory manner, so as to coordinate work and improve the reliability of the system.
In the bottom layer real-time control part, the hardware timed interrupt is used for triggering sampling control, the period can be 200 mu s or 500 mu s according to the precision and performance requirements, the sampling control function is completed in the timed interrupt processing thread, and the whole flow of the bottom layer real-time program is shown in figure 4.
In an application program, a user issues various commands to the program, and various selections are made to expect the application program to perform correctly according to the user's intention. The application program also feeds back the running state to the user at any time in the execution process, and the common mode is to display the running state on an interface by using graphics and numbers or prompt the running state by using sound. The functions of the part are realized in the upper layer weak real-time part of the control software, and a user can input information through operating a terminal such as a keyboard, a mouse and the like.
When the three-axis turntable is in loss or has larger error, the upper computer starts a fault diagnosis mode by using RS232 serial port communication and RS422 communication.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but is intended to cover any modifications or equivalent variations according to the technical spirit of the present invention, which fall within the scope of the present invention as defined by the appended claims.
Claims (3)
1. The high-precision control strategy based on the three-axis turntable is characterized by comprising the following steps of:
step 1, acquiring the angular position, the angular speed and the current feedback value of a motor of a three-axis turntable;
Step 2, designing a three-ring main controller of the three-axis turntable: current negative feedback, rate negative feedback and position feedback are introduced into the turntable control system, and current feedback closed loop, rate PID closed loop and position PID closed loop control based on the three-axis turntable are respectively designed to realize three-loop main control of the whole three-axis turntable;
the current feedback closed loop, the speed PID closed loop and the position PID closed loop are all PID control of integral separation, and the output sampling point value of the regulator is as follows:
Wherein K p,Ki,Kd is the proportional coefficient, integral coefficient and differential coefficient of PID algorithm, e (j) is the systematic error of j moment, e (K) is the systematic error of K moment, wherein the systematic error of the speed loop is the difference between the actual speed and the feedback speed, the systematic error of the position loop is the difference between the actual position and the feedback position, K l is the integral switch coefficient, A is the integral threshold;
Step 3: the friction force compensation sub-controller of the alternating least square is designed: on the basis of a three-ring main controller of the three-axis turntable, adopting alternate least square method fitting to approximate the friction torque of the motor; the method comprises the following specific steps:
Step 3.1, acquiring angular positions, angular rates, angular position errors, angular rate errors, currents, corresponding friction torque and rotation speed value data of different angles of a turntable in an open loop process in a stable state;
step 3.2, acquiring angular position, angular velocity, angular position error, angular velocity error and current data when the current closed loop operates; the current friction moment and the rotating speed are used as subsequent values to be solved;
Step 3.3, selecting an initial matrix X m×k、Yk×n and a determination factor k of an alternate least square method, wherein m is the number of rows of the hybrid matrix, and n is the number of columns of the hybrid matrix;
Step 3.4, the data acquired in the step 3.1 and the step 3.2 are formed into a sample data mixing matrix R m×n, and the friction moment and the rotating speed value to be solved in the step 3.2 are replaced by default values;
step 3.5, constructing a square error loss function of the mixed matrix, wherein the square error loss function is as follows:
L＝∑(Rui-XuYi T)2+λ(|Xu|2+|Yi|2) (3)
Wherein R ui represents the score of the ith sample on the ith turntable operation data, X u represents the preference implicit characteristic vector of the sample u, wherein u is more than or equal to 1 and less than or equal to m, Y i represents the preference implicit characteristic vector of the ith turntable operation data, wherein i is more than or equal to 1 and less than or equal to n, and lambda is an overfitting prevention coefficient;
Step 3.6, let the bias of the square error loss function be 0, and respectively solve X m×k and Y k×n to obtain:
Wherein X m×k＝∑Xu,Yk×n＝∑Yi; i is an identity matrix;
Step 3.7, reconstructing a mixing matrix by using the following formula, wherein the reconstructed mixing matrix replaces the numerical values of the friction torque and the rotating speed value with default values in the previous step 3.3 to obtain the current friction torque and rotating speed value:
Rm×n≈Xm×k×Yk×n (6)；
Step 4: optimizing an initial matrix and a determining factor of the alternating least square method by using a genetic algorithm to obtain an optimal value; the method comprises the following specific steps:
step 4.1, setting an initial matrix and determining a factor optimal solution parameter range, and randomly generating an initial population in the set range;
Step 4.2, selecting a fitness function, and taking the dynamic deviation of the moment and the performance index of the motor rotation speed deviation as an objective function; the fitness function is selected as follows:
Where e 1 (t) is torque deviation, e 2 (t) is rotational speed deviation, ω 1、ω2 is a weight constant corresponding to the deviation, and t is time;
step 4.3, selecting a genetic operator, and determining a population which is inherited from a parent population to the next generation;
Step 4.4, mutually exchanging partial genes of two paired individuals in a certain mode through crossing operation, setting crossing probability, and adopting a two-point crossing algorithm to form two new individuals; setting variation probability, and changing the gene value of part of the individual by adopting variation operation to generate a new individual;
Step 4.5, repeating the steps 4.2, 4.3 and 4.4 until a new population is generated, and obtaining an initial matrix and determining factor optimal solution;
And 5, superposing the initial matrix and the determination factor which are obtained by the genetic algorithm and are initialized at random, and the rotating speed value output by the alternating least square method and the output value of the PID, and then controlling the motor.
2. The three-axis turntable-based high precision control strategy of claim 1, wherein step 4.3 employs a roulette selection method to determine the population inherited from a parent population to the next generation, and uses the ratio of individual fitness values fitness to overall fitness values in the overall population to determine the probability of being selected, as follows:
Where P i' is the probability that individual i' is genetically selected, f j is the overall fitness value of all individuals superimposed, and f i' is the fitness value of individual i.
3. The three-axis turntable-based high precision control strategy according to claim 1 or 2, characterized in that its control software is designed as follows:
A real-time subsystem RTSS is added by utilizing a good extensible architecture of Windows, a hardware abstraction layer HAL is modified and extended, the RTSS uses an own interrupt management mode through the extended real-time HAL, interrupts are isolated between Windows threads and RTSS threads, the scheduling priority of all RTSS threads is higher than that of all Windows, and the RTSS threads can directly access I/O equipment.
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