CN114879483B - PI proportional parameter self-tuning method for airborne SAR large-bearing eccentric one-axis platform - Google Patents

PI proportional parameter self-tuning method for airborne SAR large-bearing eccentric one-axis platform Download PDF

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CN114879483B
CN114879483B CN202210673418.3A CN202210673418A CN114879483B CN 114879483 B CN114879483 B CN 114879483B CN 202210673418 A CN202210673418 A CN 202210673418A CN 114879483 B CN114879483 B CN 114879483B
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parameter
feedback value
current angle
speed
angle feedback
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CN114879483A (en
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朱文超
倪田荣
许泉欣
张武琨
邱建朋
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CETC 38 Research Institute
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CETC 38 Research Institute
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.

Abstract

The invention discloses a self-tuning method for PI proportion parameters of an airborne SAR large-bearing eccentric one-axis platform, which comprises the following steps: reading a current angle feedback value and an instruction angle of a shaft platform; calculating an angle error E S based on the instruction angle and the current angle feedback value; when D is less than or equal to E S < -G/2|, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, a current angle feedback value and an integral parameter; when the absolute value of G/2 is smaller than or equal to D and smaller than or equal to D, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value and a current angle feedback value integral parameter; when the condition that the ratio of the position to the speed is- |G/2| < E S < |G/2| is met, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on the position integral parameter and the speed integral parameter; and re-reading the current angle feedback value and the command angle of the one-axis platform when E S < D x a DEG or E S > D x b DEG is satisfied.

Description

PI proportional parameter self-tuning method for airborne SAR large-bearing eccentric one-axis platform
Technical Field
The invention relates to the technical field of recorded radars, in particular to a self-tuning method for PI proportional parameters of an airborne SAR large-bearing eccentric one-axis platform.
Background
The synthetic aperture radar (SYNTHETIC APERTURE RADAR, SAR) is an active earth observation system, can be installed on flight platforms such as airplanes, satellites, spacecraft and the like, can observe the earth all the time and all the weather, and has certain earth surface penetration capacity.
The airborne SAR is used as a high-resolution two-dimensional imaging radar, and clear imaging of the airborne SAR requires that an antenna keeps stable inertial space under the environments of swing, airflow disturbance and the like of the carrier and always stabilizes in a fixed inertial space direction. When the attitude of the carrier is changed, the structural form of the stable platform supporting antenna can be adopted, and the change of the carrier is compensated by reverse motion by a method of driving the antenna to rotate by the stable platform, so that the azimuth and pitching direction of the antenna beam are stable.
According to the quantity of the rotating shafts, the stabilizing platforms can be classified into four-axis, three-axis, two-axis and one-axis platforms. The azimuth axis of the two-axis platform is omitted by the one-axis platform, and the pitching pointing angle of the antenna is regulated only by using the pitching axis in a mechanical rotation mode, so that the pitching pointing angle of the wave beam is changed. The airborne SAR large-bearing eccentric one-axis platform has three structural characteristics:
(1) The envelope of the supported antenna is large in size, heavy in weight and has a certain eccentric moment.
(2) The on-board environment requires a small size and light weight of the spindle support structure.
(3) And respectively setting a left mechanical limit and a right mechanical limit at the positions of-95 degrees and +95 degrees. Wherein, the left mechanical limit refers to the mechanical limit of the left direction of the aircraft nose visual angle; the right mechanical limit refers to the mechanical limit in the right direction of the aircraft nose viewing angle.
The three characteristics severely restrict the rotation stability of the antenna load and reduce the control precision of the platform. The method is characterized by comprising the following three aspects:
(1) The small-size and light-weight rotating shaft supporting structure can cause weaker rigidity and strength of the whole rotating shaft, and the characteristics of large antenna load size, heavy weight and eccentricity can finally aggravate the phenomenon of unstable rotation.
(2) The characteristics of systematic rollback and follow-up tracking will continue to amplify the instability.
(3) When the antenna load is at different positions, the eccentric moment has different influences on the rotation stability. Furthermore, the overload environment of the aircraft will again amplify the effect of the eccentric moment.
(4) The unstable rotation characteristic of antenna load will greatly weaken the life-span of motor, speed reducer, drive mechanism, will produce a large amount of interference signals simultaneously, makes main control chip unable normal work.
In the related art, the Chinese patent application with the publication number of CN113359876A discloses a control method and a device for a large bearing eccentric one-axis platform of an airborne SAR radar, and the position speed double closed loop PI control method and the speed single PI control method are adopted to compensate angle errors and speed errors, so that the actual feedback value of an angle sensor is closer to an angle instruction value in the operation process of the platform, the speed errors are compensated in the adjustment process, the platform is subjected to angle compensation more stably, the stability of the large bearing eccentric one-axis platform is ensured in the whole process, and the stability of the operation process of the airborne SAR radar provided with the large bearing eccentric one-axis platform is ensured.
However, the above document does not give a scheme for determining the control parameters in the PI control algorithm. For airborne SAR radar in large bearing eccentric one-axis platform environment, the dynamic change angle of roll angle is about [ -3 °, +3 ° ] in actual flight. If the overload coefficient of the aircraft is considered, the interval [ -6 degrees, +6 degrees ] is the motion compensation interval of the large bearing eccentric one-axis platform. When the angle error is within [ -6 °, +6° ], the position-speed PI closed-loop control system is required to have the control characteristics of quick response, small overshoot and high precision, and then a self-tuning scheme of system control parameters (position proportion, position integral, speed proportion and speed integral) needs to be designed.
The Chinese patent application with publication number of CN109062033A discloses a parameter self-tuning method of a PID system, which effectively prevents oscillation of system output waves near a target value or a deviation value in the self-tuning process, and the excitation application of a control object is stopped only when a system sampling value reaches the target value, so that the system output waves can always reach the control target value, and the PID control parameters calculated by a controller are more accurate.
The invention discloses a self-tuning method and a device for PID parameters based on machine learning, which continuously performs machine learning through equipment, automatically tunes PID control parameters of an electronic expansion valve, respectively tunes a set of control parameters in different environment modes, realizes automatic matching of optimal control parameters in different environments, and always maintains an optimal running state.
The Chinese patent application with publication number CN113946172A discloses a parameter self-tuning PID temperature control method, which comprises the steps of performing self-tuning before the maximum heating temperature, performing secondary tuning judgment after historical data exist in the system, calculating a secondary tuning target temperature, and comparing with the current temperature. If the target temperature is higher than the current temperature, calculating by using the PID parameter after self-tuning to obtain the PWM duty ratio in a control period; if the target temperature is smaller than the current temperature, the target temperature is not in accordance with the secondary setting condition, and then the PID parameter calculated by the first setting is used for operation to obtain the PWM duty ratio in one control period, so that the heating power is output faster and more accurately.
However, the above methods do not consider the influence of the eccentric moment of each position on the control accuracy, the response speed, the adjustment time, the oscillation frequency and the amplitude, and are not suitable for the stability control of the airborne SAR radar with a large bearing eccentric-axis platform.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a PI proportional parameter self-tuning method and a PI proportional parameter self-tuning system suitable for an airborne SAR large-bearing eccentric one-axis platform.
The invention solves the technical problems by the following technical means:
on one hand, the invention provides a PI proportional parameter self-tuning method for an airborne SAR large-bearing eccentric one-axis platform, which comprises the following steps:
Reading a current angle feedback value and an instruction angle of a shaft platform;
when the instruction angle and the current angle feedback value are normal, calculating a current angle error based on the instruction angle and the current angle feedback value;
When the current angle error E S is in an interval of-6 degrees less than or equal to E S < -G/2|, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter;
When the current angle error E S is in the interval |G/2| < E S is smaller than or equal to 6 degrees, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter;
When the current angle error E S is in a section-G/2 < E S < |G/2|, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a position integral parameter and a speed integral parameter, wherein G is a platform rotation angle precision requirement;
And when the current angle error E S is in the interval E S < -6 DEG or E S >6 DEG, re-reading the current angle feedback value and the instruction angle of the one-axis platform.
The invention considers the influence of the eccentric moment of each position on the control precision, the response speed, the adjustment time, the oscillation frequency and the amplitude, and is suitable for the stability control of the airborne SAR radar provided with the large bearing eccentric one-axis platform.
Further, when the instruction angle and the current angle feedback value are both normal, calculating a current angle error based on the instruction angle and the current angle feedback value includes:
when the instruction angle is in a range of minus 90 degrees and plus 90 degrees, and the current angle feedback value is in a range of minus 95 degrees and plus 95 degrees, determining that the instruction angle and the current angle feedback value are normal;
and obtaining the current angle error based on the difference between the instruction angle and the current angle feedback value.
Further, when the current angle error E S is within the interval-6 ° -E S < - |g/2|, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference and a minimum difference of a position proportion and a position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter, including:
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP1＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP1+Pki
Pvp＝ΔP1/F1+Pvi
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP2＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP2+Pki
Pvp＝ΔP2/F2+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w R is the first angle feedback value, and represents the angle feedback value when the antenna is limited to freely rotate from the right mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 1、F2、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
Further, when the current angle error E S is within the interval |g/2| < E S is less than or equal to 6 °, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference and a minimum difference of a position proportion and a position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter, including:
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP3＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WL)|；
Pkp＝ΔP3+Pki
Pvp＝ΔP3/F3+Pvi
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP4＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WL)|；
Pkp＝ΔP4+Pki
Pvp＝ΔP4/F4+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w L is the second angle feedback value, which represents the angle feedback value when the antenna is limited to freely rotate from the left mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 3、F4、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
Further, when the current angle error E S is in the interval- |g/2| < E S < |g/2|, calculating a position proportional parameter and a speed proportional parameter of the PI control system based on the position integral parameter and the speed integral parameter, where the formula is as follows:
Pkp＝Pki+2
Pvp＝Pvi+1
Wherein, P ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
Further, the method further comprises:
In a ground joint test environment, adjusting the difference value delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from-70 degrees to-90 degrees for a plurality of times, and recording the maximum angular acceleration H 1 in the rotation process of the platform;
When the maximum angular acceleration H 1 is equal to the minimum value required by the minimum angular acceleration index, taking the current corresponding Δp as the Δp min;
In a ground joint test environment, adjusting the difference delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from 90 degrees to 70 degrees for a plurality of times, and recording the maximum angular acceleration H 2 in the rotation process of the platform;
And when the maximum angular acceleration H 2 is equal to the maximum value required by the minimum angular acceleration index, taking the current corresponding delta P as the delta P max.
Further, the position integral parameter P ki takes a positive integer in the interval [30000, 30005 ]; the value of the speed integral parameter P vi is a positive integer in the interval [20000, 20003 ].
Further, the reduced power value F 1、F5 takes on values in the interval [1.5,3.5], and the reduced power value F 2 takes on values in the interval [3,5 ].
Further, the reduced power value F 3、F5 takes on values in the interval [1.5,3.5], and the reduced power value F 4 takes on values in the interval [3,5 ].
In addition, the invention also provides a PI proportional parameter self-tuning system of the airborne SAR large-bearing eccentric one-axis platform, which comprises the following components:
the first reading module is used for reading the current angle feedback value and the instruction angle of the one-axis platform;
The angle error calculation module is used for calculating the current angle error based on the instruction angle and the current angle feedback value when the instruction angle and the current angle feedback value are normal;
The first parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section D x a degrees less than or equal to E S < -I G/2|;
the second parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section |G/2| < E S is less than or equal to D;
The third parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on the position integral parameter and the speed integral parameter when the current angle error E S is in a section-G/2| < E S < |G/2|, wherein G is a platform corner precision requirement;
The second reading module is used for re-reading the current angle feedback value and the instruction angle of the one-axis platform when the current angle error E S is in the interval E S < -6 degrees or E S >6 degrees.
The invention has the advantages that:
(1) The invention considers the influence of the eccentric moment of each position on the control precision, the response speed, the adjustment time, the oscillation frequency and the amplitude, and is suitable for the stability control of the airborne SAR radar provided with the large bearing eccentric one-axis platform.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a PI proportional parameter self-tuning method for an airborne SAR large-load eccentric one-axis platform in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for self-tuning PI scaling parameters of an axle platform according to one embodiment of the invention;
FIG. 3 is a block diagram of a position closed loop-velocity closed loop system in accordance with an embodiment of the present invention;
Fig. 4 is a block diagram of a PI scaling parameter self-tuning system for an on-board SAR large-load eccentric-axle platform according to another embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, a first embodiment of the present invention provides a PI scale parameter self-tuning method for an airborne SAR large-load eccentric one-axis platform, which includes the following steps:
s10, reading a current angle feedback value and an instruction angle of the one-axis platform.
It should be noted that, in this embodiment, every T seconds, the current angle feedback value and the command angle of the one-axis platform are read, and the specific value of T is not specifically limited in this embodiment.
And S20, calculating a current angle error based on the instruction angle and the current angle feedback value when the instruction angle and the current angle feedback value are normal.
S30, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section D x a degrees less than or equal to E S < -I G/2|.
And S40, calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section |G/2| < E S |D b degrees.
S50, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on the position integral parameter and the speed integral parameter when the current angle error E S is in a section-G/2-E S -G/2, wherein G is a platform rotation angle precision requirement.
G is the precision requirement of the platform rotation angle, and is generally [ -0.5 degrees, +0.5 degrees ].
S60, when the current angle error E S is in a section E S < D a DEG or E S > D b DEG, the current angle feedback value and the instruction angle of the one-axis platform are read again, D is an overload coefficient of the airplane, and [ a, b ] is a dynamic change angle of the roll angle during actual flight.
The invention considers the influence of the eccentric moment of each position on the control precision, the response speed, the adjustment time, the oscillation frequency and the amplitude, and is suitable for the stability control of the airborne SAR radar provided with the large bearing eccentric one-axis platform. The method comprises the following steps:
(1) When the absolute value of the angle error is larger than D.times.b degrees, the system has low requirements on each performance index of the response speed, and the requirements can be met only by using a speed closed loop and fixed control parameters;
(2) When the absolute value of the angle error is less than or equal to d×b degrees, various performance indexes of the system, including control accuracy, response speed, adjustment time, oscillation frequency and amplitude, must be satisfied. When the current angle of the antenna is positioned at a position with larger eccentricity, if the same group of parameters are tried to control, the actual control result is as follows:
1) If the parameter difference is large, the response speed is satisfied, the control precision is satisfied, but the overshoot is too large, the frequent oscillation condition is accompanied in the motion process, the oscillation frequency is large, and the amplitude is small.
2) If the parameter difference is small, the overshoot is reduced, the response speed is small, the control precision is reduced, a certain oscillation condition is accompanied in the motion process, the oscillation amplitude is large, and the frequency is small.
In one embodiment, the dynamic change angle of the roll angle is about [ -3 °, +3° ] when actually flying, and the real-time motion compensation interval for carrying the eccentric-axis platform is determined to be [ -6 °, +6° ] based on the overload coefficient of the aircraft.
In one embodiment, the step S20 specifically includes:
when the instruction angle is in a range of minus 90 degrees and plus 90 degrees, and the current angle feedback value is in a range of minus 95 degrees and plus 95 degrees, determining that the instruction angle and the current angle feedback value are normal;
and obtaining the current angle error based on the difference between the instruction angle and the current angle feedback value.
It should be understood that if the current angle feedback value is not within the interval of [ -95 °, +95° ] or the commanded angle is not within the interval of [ -90 °, +90° ], the flow is ended.
Note that, the current angle error E S＝CS-WS, where W S is the current angle feedback value, and C S is the command angle.
In one embodiment, as shown in fig. 2 to 3, the step S30 includes the following steps:
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP1＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP1+Pki
Pvp＝ΔP1/F1+Pvi
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP2＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP2+Pki
Pvp＝ΔP2/F2+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w R is the first angle feedback value, and represents the angle feedback value when the antenna is limited to freely rotate from the right mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 1、F2、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
It should be noted that, in this embodiment, the control manner adopted when the current angle error E S is within the interval d×a° less than or equal to E S < - |g/2| can ensure that the three indexes of overshoot, adjustment time and response speed are balanced (balance refers to an acceptable range), thereby meeting the control precision requirement, and greatly reducing the oscillation frequency and the oscillation amplitude in the motion process
In one embodiment, the step S40 specifically includes the following steps:
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP3＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WL)|；
Pkp＝ΔP3+Pki
Pvp＝ΔP3/F3+Pvi
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP4＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WL)|；
Pkp＝ΔP4+Pki
Pvp＝ΔP4/F4+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w L is the second angle feedback value, which represents the angle feedback value when the antenna is limited to freely rotate from the left mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 3、F4、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter respectively; the |·| is the operator of the absolute function, sin (·) is the operator of the sine function, cos (·) is the operator of the cosine function.
It should be noted that, in this embodiment, the control manner adopted when the current angle error E S is in the interval |g/2| < E S is less than or equal to d×b°, on the premise that the three indexes of overshoot, adjustment time and response speed are balanced (balance refers to an acceptable range), the requirement of control precision is satisfied, and meanwhile, the oscillation frequency and the oscillation amplitude are greatly reduced in the motion process.
In one embodiment, the position proportional parameter and the speed proportional parameter of the PI control system are expressed as follows:
Pkp＝Pki+c
Pvp＝Pvi+d
wherein, P ki is a position integral parameter, P vi is a speed integral parameter, c and d are the minimum units of control parameters, and P kp、Pvp is a position proportional parameter and a speed proportional parameter respectively.
Specifically, in practical application, if the control parameters are positive integers, the values of d and c are respectively 1 and 2; if the control parameter is a decimal, d and c are respectively 0.1 and 0.2.
It should be noted that when the angle error E S is in the interval- |g/2| < E S < |g/2|, the accuracy is proved to be satisfied. At this time, the driving output value should be reduced, so as to reduce the dynamic adjustment force, and finally ensure the static precision of the driving output value, and the preferred method for reducing the driving output is to reduce the difference value between the position closed-loop parameter and the speed closed-loop parameter.
In this embodiment, the interval division of the current angle error is performed according to a strategy of fast and accurate adjustment and static precision maintenance, and the strategy can ensure adjustment speed, adjustment precision and overshoot control, and also can ensure that the oscillation phenomenon of the motion process and the static process is minimum.
In an embodiment, the method further comprises:
In a ground joint test environment, adjusting the difference value delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from-70 degrees to-90 degrees for a plurality of times, and recording the maximum angular acceleration H 1 in the rotation process of the platform;
When the maximum angular acceleration H 1 is equal to the minimum value required by the minimum angular acceleration index, taking the current corresponding Δp as the Δp min;
In a ground joint test environment, adjusting the difference delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from 90 degrees to 70 degrees for a plurality of times, and recording the maximum angular acceleration H 2 in the rotation process of the platform;
And when the maximum angular acceleration H 2 is equal to the maximum value required by the minimum angular acceleration index, taking the current corresponding delta P as the delta P max.
The range of-70 degrees to-90 degrees or 90 degrees to 70 degrees is the range of maximum theoretical eccentricity of the antenna. The angular acceleration is constituted by vector sum of the driving output moment and gravity, and the maximum angular acceleration is generated in the movement process of which the movement direction is consistent with the gravity direction. The place with the greatest influence of gravity on the angular acceleration is the place with the greatest eccentricity, namely, 90 degrees to 70 degrees. The minimum angular acceleration results from movement in a direction opposite to the direction of gravity. The place with the greatest influence of gravity on the angular acceleration is the place with the greatest eccentricity, namely-70 degrees to-90 degrees.
The maximum difference determines the maximum response speed of the antenna under the same angle error condition. If above this value, a large oscillation will occur during the antenna movement.
In one embodiment, P kp、Pki、Pvp、Pvi is a position proportional parameter, a position integral parameter, a speed proportional parameter, a speed integral parameter, respectively; p ki and P vi should be set as basic values, and the value of the position integral parameter P ki is a positive integer in the interval [30000, 30005 ]; the value of the speed integral parameter P vi is a positive integer in the interval [20000, 20003 ].
It should be noted that, according to the antenna control model analysis, the basic value of the position integral parameter is 30000; the basic value of the speed integral parameter is 20000, and the parameter interval is obtained by debugging according to the actual working condition of the antenna.
In one embodiment, the scaled-down multiple value F 1、F3、F5 takes on values in the interval [1.5,3.5], and the scaled-down multiple value F 2、F4 takes on values in the interval [3,5 ].
In addition, as shown in fig. 4, a second embodiment of the present invention proposes a PI scaling parameter self-tuning system for an airborne SAR large-load eccentric one-axis platform, the system comprising:
The first reading module 10 is used for reading the current angle feedback value and the instruction angle of the one-axis platform;
The angle error calculation module 20 is configured to calculate a current angle error based on the instruction angle and the current angle feedback value when the instruction angle and the current angle feedback value are both normal;
The first parameter setting module 30 is configured to calculate a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of a position proportion and a position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is within a range d×a° less than or equal to E S < - |g/2|;
A second parameter setting module 40, configured to calculate a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of a position proportion and a position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a interval |g/2| < E S |db°;
the third parameter setting module 50 is configured to calculate, when the current angle error E S is in a range- |g/2| < E S < |g/2|, a position proportion parameter and a speed proportion parameter of the PI control system based on a position integral parameter and a speed integral parameter, where G is a platform rotation angle accuracy requirement;
The second reading module 60 is configured to re-read the current angle feedback value and the command angle of the one-axis platform when the current angle error E S is in a section E S < dax° or E S > dax b°.
In one embodiment, the angle error calculation module 20 is configured to:
when the instruction angle is in a range of minus 90 degrees and plus 90 degrees, and the current angle feedback value is in a range of minus 95 degrees and plus 95 degrees, determining that the instruction angle and the current angle feedback value are normal;
and obtaining the current angle error based on the difference between the instruction angle and the current angle feedback value.
In one embodiment, the first parameter setting module 30 includes:
the first setting unit is configured to, when the current angle feedback value is within the range of [ -95 °, W L ], set:
ΔP1＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP1+Pki
Pvp＝ΔP1/F1+Pvi
the second setting unit is configured to, when the current angle feedback value is within the range of [ W R, +95° ], set:
ΔP2＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP2+Pki
Pvp＝ΔP2/F2+Pvi
the third setting unit is configured to, when the current angle feedback value is within the (W L,WR) interval range, set:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w R is the first angle feedback value, and represents the angle feedback value when the antenna is limited to freely rotate from the right mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 1、F2、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
In one embodiment, the second parameter tuning module 40 includes:
a fourth setting unit, configured to, when the current angle feedback value is within the range of [ W R, +95° ], set:
ΔP3＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WL)|；
Pkp＝ΔP3+Pki
Pvp＝ΔP3/F3+Pvi
a fifth setting unit, configured to, when the current angle feedback value is within the range of [ -95 °, W L ], set:
ΔP4＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WL)|；
Pkp＝ΔP4+Pki
Pvp＝ΔP4/F4+Pvi
A sixth setting unit, configured to, when the current angle feedback value is within the (W L,WR) interval range, set:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w L is the second angle feedback value, which represents the angle feedback value when the antenna is limited to freely rotate from the left mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 3、F4、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, P kp、Pvp is a position proportional parameter, a speed proportional parameter, an operator of absolute value function, sin (·) is an operator of sine function, cos (·) is an operator of cosine function, respectively.
In one embodiment, the third parameter setting module 50 is configured to calculate a position ratio parameter and a speed ratio parameter of the PI control system, where the formula is as follows:
Pkp＝Pki+c
Pvp＝Pvi+d
wherein, P ki is a position integral parameter, P vi is a speed integral parameter, c and d are the minimum units of control parameters, and P kp、Pvp is a position proportional parameter and a speed proportional parameter respectively.
In an embodiment, the system further comprises:
the minimum difference determining module is used for adjusting the difference delta P between the position proportional parameter and the position integral parameter under the ground joint test environment, enabling the platform to rotate from-70 degrees to-90 degrees for a plurality of times, and recording the maximum angular acceleration H 1 in the rotation process of the platform; when the maximum angular acceleration H 1 is equal to the minimum value required by the minimum angular acceleration index, taking the current corresponding Δp as the Δp min;
The maximum difference determining module is used for adjusting the difference delta P between the position proportional parameter and the position integral parameter under the ground joint test environment, enabling the platform to rotate from 90 degrees to 70 degrees for many times, and recording the maximum angular acceleration H 2 in the rotation process of the platform;
And when the maximum angular acceleration H 2 is equal to the maximum value required by the minimum angular acceleration index, taking the current corresponding delta P as the delta P max.
It should be noted that, other embodiments of the PI ratio parameter self-tuning system or implementation methods of the airborne SAR large-load eccentric-axis platform PI ratio parameter self-tuning system of the present invention may refer to the above method embodiments, and are not repeated herein.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (10)

1. The PI proportional parameter self-tuning method for the large-bearing eccentric one-axis platform of the airborne SAR is characterized by comprising the following steps of:
Reading a current angle feedback value and an instruction angle of a shaft platform;
when the instruction angle and the current angle feedback value are normal, calculating a current angle error based on the instruction angle and the current angle feedback value;
When the current angle error E S is in a section D x a degrees less than or equal to E S < -G/2|, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter;
When the current angle error E S is in a section |G/2| < E S is smaller than or equal to D b degrees, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter;
When the current angle error E S is in a section-G/2 < E S < |G/2|, calculating a position proportion parameter and a speed proportion parameter of a PI control system based on a position integral parameter and a speed integral parameter, wherein G is a platform rotation angle precision requirement;
And when the current angle error E S is in a section E S < D x a degree or E S > D x b degree, the current angle feedback value and the instruction angle of the one-axis platform are read again, D is an overload coefficient of the airplane, and [ a, b ] is a dynamic change angle of the roll angle during actual flight.
2. The method for self-tuning PI scaling parameters of an airborne SAR large-load eccentric-axis platform according to claim 1, wherein said calculating a current angle error based on said command angle and said current angle feedback value when said command angle and said current angle feedback value are both normal comprises:
when the instruction angle is in a range of minus 90 degrees and plus 90 degrees, and the current angle feedback value is in a range of minus 95 degrees and plus 95 degrees, determining that the instruction angle and the current angle feedback value are normal;
and obtaining the current angle error based on the difference between the instruction angle and the current angle feedback value.
3. The method for self-tuning PI scaling parameters of an airborne SAR large-load eccentric-axis platform according to claim 1, wherein when the current angle error E S is within a range D x a° corresponding to E S < - |g/2|, calculating the position scaling parameters and the speed scaling parameters of the PI control system based on the maximum and minimum differences of the position scaling and the position integration, the first angle feedback value, and the current angle feedback value, the position integration parameters, and the speed integration parameters, comprises:
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP1＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP1+Pki
Pvp＝ΔP1/F1+Pvi
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP2＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WR)|·[1-|cos(WS-WR)|];
Pkp＝ΔP2+Pki
Pvp＝ΔP2/F2+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w R is the first angle feedback value, and represents the angle feedback value when the antenna is limited to freely rotate from the right mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 1、F2、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
4. The method for self-tuning PI scaling parameters of an airborne SAR large-load eccentric-axis platform according to claim 1, wherein when the current angle error E S is within a range |g/2| < E S +.ltoreq.d.b°, calculating the position scaling parameters and the speed scaling parameters of the PI control system based on the maximum and minimum differences of the position scaling and the position integration, the second angle feedback value, and the current angle feedback value, the position integration parameters, and the speed integration parameters, comprising:
if the current angle feedback value is within the range of [ W R, +95° ], then the following are:
ΔP3＝ΔPmin+(ΔPmax-ΔPmin)·|sin(WS-WL)|；
Pkp＝ΔP3+Pki
Pvp＝ΔP3/F3+Pvi
if the current angle feedback value is within the range of [ -95 degrees, W L ] interval, the following steps are included:
ΔP4＝ΔPmax+(ΔPmin-ΔPmax)·|sin(WS-WL)|；
Pkp＝ΔP4+Pki
Pvp＝ΔP4/F4+Pvi
if the current angle feedback value is within the (W L,WR) interval range, then there are:
Pkp＝Pki+ΔPmax
Pvp＝Pvi+ΔPmax/F5
Wherein W S is the current angle feedback value; w L is the second angle feedback value, which represents the angle feedback value when the antenna is limited to freely rotate from the left mechanical limit and stays at the balance position; Δp max is the maximum difference between the position ratio and the position integral; Δp min is the minimum difference between the position ratio and the position integral; f 3、F4、F5 is a reduction number; p ki is a position integral parameter, P vi is a speed integral parameter, and P kp、Pvp is a position proportional parameter and a speed proportional parameter, respectively.
5. The method for self-tuning PI scaling parameters of an on-board SAR large-load eccentric-axle platform according to claim 1, wherein when the current angle error E S is in the interval- |g/2| < E S < |g/2|, the position scaling parameters and the speed scaling parameters of the PI control system are calculated based on the position integration parameters and the speed integration parameters, and the formula is as follows:
Pkp＝Pki+c
Pvp＝Pvi+d
wherein, P ki is a position integral parameter, P vi is a speed integral parameter, c and d are the minimum units of control parameters, and P kp、Pvp is a position proportional parameter and a speed proportional parameter respectively.
6. The airborne SAR large-load eccentric-axle platform PI scaling parameter self-tuning method of claim 3 or 4, further comprising:
In a ground joint test environment, adjusting the difference value delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from-70 degrees to-90 degrees for a plurality of times, and recording the maximum angular acceleration H 1 in the rotation process of the platform;
When the maximum angular acceleration H 1 is equal to the minimum value required by the minimum angular acceleration index, taking the current corresponding Δp as the Δp min;
In a ground joint test environment, adjusting the difference delta P between the position proportional parameter and the position integral parameter, enabling the platform to rotate from 90 degrees to 70 degrees for a plurality of times, and recording the maximum angular acceleration H 2 in the rotation process of the platform;
And when the maximum angular acceleration H 2 is equal to the maximum value required by the minimum angular acceleration index, taking the current corresponding delta P as the delta P max.
7. The method for self-tuning PI scaling parameters of an airborne SAR large-load eccentric-axis platform according to claim 3, 4 or 5, wherein said position integral parameter P ki is a positive integer within the interval [30000, 30005 ]; the value of the speed integral parameter P vi is a positive integer in the interval [20000, 20003 ].
8. The method for self-tuning PI scaling parameters of an airborne SAR large load eccentric-axis platform according to claim 3, wherein said scaled-down multiple F 1、F5 takes on values in interval [1.5,3.5] and said scaled-down multiple F 2 takes on values in intervals [3,5 ].
9. The method for self-tuning PI scaling parameters of an airborne SAR large load eccentric-axis platform according to claim 4, wherein said scaled-down multiple value F 3、F5 takes on values in interval [1.5,3.5], and said scaled-down multiple value F 4 takes on values in intervals [3,5 ].
10. An airborne SAR large-bearing eccentric one-axis platform PI ratio parameter self-tuning system, comprising:
the first reading module is used for reading the current angle feedback value and the instruction angle of the one-axis platform;
The angle error calculation module is used for calculating the current angle error based on the instruction angle and the current angle feedback value when the instruction angle and the current angle feedback value are normal;
The first parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a first angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section D x a degrees less than or equal to E S < -I G/2|;
the second parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on a maximum difference value and a minimum difference value of position proportion and position integral, a second angle feedback value, the current angle feedback value, a position integral parameter and a speed integral parameter when the current angle error E S is in a section |G/2| < E S is less than or equal to D;
The third parameter setting module is used for calculating a position proportion parameter and a speed proportion parameter of the PI control system based on the position integral parameter and the speed integral parameter when the current angle error E S is in a section-G/2| < E S < |G/2|, wherein G is a platform corner precision requirement;
The second reading module is configured to re-read the current angle feedback value and the command angle of the one-axis platform when the current angle error E S is in a section E S < dax a° or E S > dax b°.
CN202210673418.3A 2022-06-15 2022-06-15 PI proportional parameter self-tuning method for airborne SAR large-bearing eccentric one-axis platform Active CN114879483B (en)

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