CN116185083A - Data weighted fusion tracking control method of airborne photoelectric tracking aiming system - Google Patents

Data weighted fusion tracking control method of airborne photoelectric tracking aiming system Download PDF

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CN116185083A
CN116185083A CN202310264639.XA CN202310264639A CN116185083A CN 116185083 A CN116185083 A CN 116185083A CN 202310264639 A CN202310264639 A CN 202310264639A CN 116185083 A CN116185083 A CN 116185083A
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tracking
delay
loop
tracking control
control loop
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吴玉敬
张慧
李超
刘长亮
刘能歌
田杰
胥青青
卜忠红
雷霏霖
赵创社
刘建伟
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Xian institute of Applied Optics
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Abstract

The invention belongs to the technical field of image tracking control and discloses a data weighted fusion tracking control method of an airborne photoelectric tracking and aiming system. Compared with the traditional classical PID control, the method introduces more input information, effectively widens the control bandwidth of a video tracking control loop, and improves the response speed of the photoelectric tracking aiming system to the target motion.

Description

Data weighted fusion tracking control method of airborne photoelectric tracking aiming system
Technical Field
The invention belongs to the technical field of image tracking control, and relates to a data weighted fusion tracking control method of an airborne photoelectric tracking and aiming system.
Background
The airborne photoelectric tracking and aiming system is an important photoelectric device installed on multiple platforms and can complete the tasks of searching, identifying, aiming, tracking, laser ranging and irradiating of a day/night battlefield target. The image tracking function is one of important functions of the photoelectric tracking aiming system, and the performance of the image tracking function largely determines success and failure of a target tracking striking task.
The video tracking function loop of the photoelectric tracking aiming system is a complete function loop formed by a video tracker, a servo control unit, a control handle, a display and an operator. The operator selects and tracks the target by observing the display and controlling the handle, the video tracker generates a tracking wave gate to capture and sleeve the target, and the servo control unit guides the photoelectric tracking aiming system to continuously and stably follow and point to the target according to the tracking deviation output by the video tracker.
The video tracking control loop of the current typical airborne photoelectric tracking sighting system adopts 30Hz frame frequency input, the bandwidth of the tracking control loop is greatly limited due to delay caused by video sampling and tracking processing, and the bandwidth of the tracking control loop can only reach 1-2Hz by adopting the traditional classical PID control, so that the photoelectric tracking sighting system cannot achieve ideal effects on the tracking response capability of a quick maneuvering target or the inhibition capability of external disturbance, and the requirement of the current airborne photoelectric tracking sighting system on the quick and accurate tracking of the maneuvering target cannot be met.
Disclosure of Invention
Object of the invention
The purpose of the invention is that: the data weighted fusion tracking control method of the airborne photoelectric tracking aiming system can effectively improve the bandwidth of a video tracking control loop and realize quick response to a quick maneuvering target.
(II) technical scheme
In order to solve the technical problems, the invention provides a data weighted fusion tracking control method of an airborne photoelectric tracking and aiming system, which comprises the following steps:
and firstly, measuring delay of a video tracking control loop and generating a model.
Setting the loop delay as tau 0 The loop delay model is G τ (s) establishing a delay model and obtaining an approximate linearization model as follows:
Figure BDA0004132697910000021
the implementation process of the first step is specifically as follows:
step 1.1: and measuring the delay of the video tracking control loop.
The real-time performance of the output signal of the angular position sensor of the photoelectric tracking sighting system is higher, if the condition is assumed to be t 0 The output value of the moment angular position sensor is X, and the video tracker is at t 1 And if the angular position output at the moment is also X, the tracking delay is calculated as follows:
τ 0 ＝t 1 -t 0
step 1.2: and (5) establishing a delay model and linearizing.
The transfer function of the delay model is known according to the control system theory and is expressed as follows:
Figure BDA0004132697910000022
wherein s identifies the differential operator;
in order to design by adopting a linear control theory method, taylor expansion is adopted, meanwhile, a pad formula is adopted for tail cutting treatment, and a second-order approximate linearization model of a delay link is finally obtained, namely formula (1).
And secondly, reconstructing and generating a high-bandwidth tracking control loop according to the tracking control loop delay model and the tracking control loop model.
The implementation process of the second step is specifically as follows: :
step 2.1: reconstructing a delay-free estimated angular position signal.
To obtain the angular position of the tracking sighting system under inertial control, it is obtained here by integration of an inertial angular velocity sensor (i.e. gyro). Assuming no delay to estimate the angular position signal as
Figure BDA0004132697910000031
Figure BDA0004132697910000032
Wherein omega is g Measuring angular velocity for the gyroscope;
step 2.2: reconstructing the delayed angular position estimation signal according to the actual measurement delay model. The signal is obtained by the angular position signal superposition time delay model in the step 1.1 as follows:
Figure BDA0004132697910000033
step 2.3: according to the tracking deviation output by the video tracker, the reconstructed non-delay estimated angular position in the step 2.1 and the reconstructed non-delay closed loop control loop with the delay estimated angular position in the step 2.2, the tracking deviation output by the tracker is delta theta, and the estimated tracking deviation output after reconstruction can be expressed as follows:
Figure BDA0004132697910000034
step 2.4: the reconstruction loop tracking controller command is generated. To obtain high bandwidth reconfiguration tracking control loop commands, a suitable controller is applied here as follows:
Figure BDA0004132697910000035
in the above formula, K is a loop gain coefficient, and Q(s) is a loop low-pass filter.
Thirdly, generating a speed feedforward control command according to the tracking deviation and the reconstruction delay loop, wherein the speed feedforward control command is as follows:
Figure BDA0004132697910000036
here, K v Is the gain of the feedforward controller, Q v (s) is a differential filter. The target speed angular position signal is obtained by the sum of the tracking deviation and the reconstruction delay loop, and the target speed signal is obtained by a differential filter.
Fourthly, discretizing the output of the reconstruction high-bandwidth tracking control loop and the feedforward control output, and generating a reconstruction command; the conventional bilinear transformation is adopted to obtain a discrete reconstruction tracking control loop, and if the control period of the tracking control loop is T, the transfer function is transformed from an s domain to a z domain for discretization to obtain a digital controller
Figure BDA0004132697910000041
And->
Figure BDA0004132697910000042
The following is shown: />
Figure BDA0004132697910000043
Figure BDA0004132697910000044
And fifthly, weighting, merging and outputting the reconstructed high-bandwidth tracking control loop command and the feedforward control command with the original forward tracking control loop command. If the tracking control command of the original tracking control loop is assumed to be U 0 The control command generated by the weighted fusion tracking is as follows:
Figure BDA0004132697910000045
in the above formula, alpha is a weighting coefficient which is dynamically adjusted according to the tracking deviation.
In the step, the control command output by the original tracking control loop and the reconstructed tracking control loop output command are subjected to weighted summation and are output together with the feedforward control command, so that the gyro data and the tracking deviation input data are fused to form a new tracking control output.
(III) beneficial effects
Most of the current tracking control systems mostly adopt a traditional PID control method, and final control parameters and control effects are obtained through a certain parameter setting method, and as tracking deviation is used as a unique input source, data delay is increased along with the reduction of frame frequency, and the bandwidth of a tracking loop cannot obtain satisfactory effects; compared with the traditional PID control, the weighted fusion tracking control method based on the tracking deviation and the gyroscopic signal introduces more measurement data, and the tracking delay is used as a part of disturbance to be corrected by reconstructing the tracking control loop, so that higher performance is obtained; the method comprises the steps of firstly measuring the total delay of a video tracking control loop to obtain a linearized delay model, then reconstructing a high-bandwidth tracking control loop by combining tracking deviation data and gyro data, generating a discretized reconstruction loop control command, and finally carrying out weighted fusion on the original tracking control loop and the reconstructed tracking control loop output command to obtain a final tracking control command, thereby realizing high-bandwidth video tracking control.
Compared with the prior art, the invention has the following beneficial effects:
(1) Compared with the prior art, the technical scheme of the invention can improve the tracking rapidity of the photoelectric stabilized platform to the maneuvering target and improve the disturbance isolation capability of the video tracking control loop, thereby providing possibility for continuous and stable tracking of the photoelectric tracking aiming system to the rapid target.
(2) The technical scheme of the invention can lead the bandwidth of the tracking control loop of the photoelectric tracking aiming system to reach 5Hz, and the tracking control performance is more ideal.
(3) The technical scheme of the invention can be realized by software, does not need to increase extra hardware resources, and has higher realizability.
(4) The technical scheme of the invention has higher universality and portability, and can be used on different types of photoelectric tracking platforms.
(5) The invention can improve the bandwidth of the tracking control loop of the photoelectric tracking aiming system and greatly improve the isolation capability of the tracking control loop to external disturbance.
Drawings
FIG. 1 is a schematic diagram of a video tracking control loop of a photoelectric tracking sighting system according to the technical scheme of the invention;
FIG. 2 is a schematic diagram of an implementation flow of the technical scheme of the present invention;
FIG. 3 is a weighted system curve;
figure 4 is a graph comparing the closed loop frequency response curve of the original classical PID control with the method according to the invention.
Detailed Description
To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.
Example 1
This embodiment is an optoelectronic tracking and aiming system on a helicopter of some type. The video tracking control loop composition diagram of the system is shown in fig. 1. The video tracker 1 in the photoelectric tracking aiming system generates tracking control deviation according to the target angular position and the current aiming line and sends the tracking control deviation to the tracking controller 2, the tracking controller 2 and the data weighted fusion tracking controller 3 designed by the patent generate a speed control command through an addition node 4 and send the speed control command to a speed control loop 5, and then the photoelectric tracking aiming system is driven to follow the target angular position. In order to realize the data weighted fusion tracking control function described in this patent, the implementation process is shown in fig. 2, and the following steps are executed:
the first step, a video tracking control loop delay model is measured and generated, wherein the loop delay is set as tau 0 The loop delay model is G τ (s)。
The first step further comprises:
step 1.1: and measuring the delay of the video tracking control loop. The real-time performance of the output signal of the angular position sensor of the photoelectric tracking sighting system is higher, if the condition is assumed to be t 0 The output value of the moment angular position sensor is X, and the video tracker is at t 1 And if the angular position output at the moment is also X, the tracking delay is calculated as follows:
τ 0 ＝t 1 -t 0
step 1.2: and (5) establishing a delay model and linearizing. The transfer function of the delay model is known according to the control system theory and is expressed as follows:
Figure BDA0004132697910000061
wherein s identifies the differential operator;
in order to design by adopting a linear control theory method, taylor expansion is adopted, meanwhile, a pad formula is adopted for tail cutting treatment, and a second-order approximate linearization model of a delay link is finally obtained as follows:
Figure BDA0004132697910000062
and secondly, reconstructing and generating a high-bandwidth tracking control loop according to the tracking control loop delay model and the tracking control loop model.
The second step further comprises:
step 2.1: reconstructing a delay-free estimated angular position signal. To obtain the angular position of the tracking sighting system in the inertial space, it is obtained here by integration of an inertial angular velocity sensor (i.e. gyro). Assuming no delay to estimate the angular position signal as
Figure BDA0004132697910000063
Figure BDA0004132697910000071
Wherein omega is g Measuring angular velocity for the gyroscope;
step 2.2: reconstructing the delayed angular position estimation signal according to the actual measurement delay model. The signal is obtained by the angular position signal superposition time-delay model in the step 1 as follows:
Figure BDA0004132697910000072
step 2.3: and (2) reconstructing a non-delay closed-loop control loop according to the tracking deviation output by the video tracker, the reconstructed non-delay estimated angular position in the step (1) and the reconstructed delayed estimated angular position in the step (2), wherein the tracking deviation output by the tracker is delta theta, and the reconstructed estimated tracking deviation can be expressed as:
Figure BDA0004132697910000073
step 2.4: a reconstruction loop tracking controller command is generated. To obtain high bandwidth reconfiguration tracking control loop commands, a suitable controller is applied here as follows:
Figure BDA0004132697910000074
where K is the loop gain factor, Q(s) is the loop low pass filter, and typically a typical first or second order low pass filter is selected to achieve both bandwidth and noise rejection.
And thirdly, generating a speed feedforward control command according to the tracking deviation and the reconstruction delay loop, acquiring a target speed angular position signal through the sum of the tracking deviation and the reconstruction delay loop, and acquiring a target speed signal through a differential filter. The speed feedforward control command is as follows:
Figure BDA0004132697910000075
k in the formula v Is the gain of the speed feedforward controller, Q v (s) is a differential filter, wherein the differential filter selects a first-order low-pass differentiator, and other differential controllers with better performance can also be used.
Fourthly, discretizing a reconstruction high-bandwidth tracking control loop and generating a reconstruction command; the conventional bilinear transformation is adopted to obtain a discrete reconstruction tracking control loop, and if the motion period of the tracking control loop is T, the transfer function is transformed from an s domain to a z domain for discretization to obtain a digital controller
Figure BDA0004132697910000076
And->
Figure BDA0004132697910000077
The following is shown:
Figure BDA0004132697910000081
Figure BDA0004132697910000082
and fifthly, weighting, fusing and outputting the command of the reconstructed high-bandwidth tracking control loop and the original forward tracking control loop. If the tracking control command of the original tracking control loop is assumed to be U 0 The control command generated by the weighted fusion tracking is as follows:
Figure BDA0004132697910000083
in the above formula, alpha is a weighting coefficient which is dynamically adjusted according to the tracking deviation. Here, α=0.2· (1+1/hash (c·Δθ)) is selected, and its typical characteristic is as shown in fig. 3, satisfying the characteristic of small deviation with small weight and large deviation with large weight.
In this step, the gyro data and the tracking deviation input data are fused and tracked by performing weighted summation on the control command output from the original tracking control loop and the reconstructed tracking control loop output command.
The foregoing is merely a preferred embodiment of the present invention, and fig. 4 illustrates a bandwidth comparison chart of an embodiment of an original system tracking control loop bandwidth and a tracking control loop after the method of the present invention is adopted, so that the method of the present invention can effectively improve the tracking control loop bandwidth. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principle of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention.

Claims (10)

1. The data weighted fusion tracking control method of the airborne photoelectric tracking aiming system is characterized by comprising the following steps of:
firstly, measuring delay of a video tracking control loop and generating a model;
secondly, reconstructing and generating a high-bandwidth tracking control loop according to the tracking control loop delay model and the tracking control loop model;
thirdly, generating a speed feedforward control command according to the tracking deviation and the reconstruction delay loop;
fourthly, discretizing the output of the reconstruction high-bandwidth tracking control loop and the feedforward control output, and generating a reconstruction command;
and fifthly, weighting, merging and outputting the reconstructed high-bandwidth tracking control loop command and the feedforward control command with the original forward tracking control loop command.
2. The method of claim 1, wherein in the first step, the loop delay is set to τ 0 The loop delay model is G τ (s) establishing a delay model and obtaining an approximate linearization model as follows:
Figure FDA0004132697900000011
3. the method for data weighted fusion tracking control of an on-board photoelectric tracking and aiming system according to claim 2, wherein in the first step, the process of measuring the delay of a video tracking control loop and generating a model is as follows:
step 1.1: measuring video tracking control loop delay
Let it be assumed that at t 0 The output value of the moment angular position sensor is X, and the video tracker is at t 1 And if the angular position output at the moment is also X, the tracking delay is calculated as follows:
τ 0 ＝t 1 -t 0
step 1.2: and (5) establishing a delay model and linearizing.
According to the control system theory, the delay model transfer function is expressed as follows:
Figure FDA0004132697900000012
wherein s identifies the differential operator;
and (3) adopting Taylor expansion, and adopting a pad formula to carry out tail cutting treatment, and finally obtaining a second-order approximate linearization model of the delay link, namely a formula (1).
4. The method for data weighted fusion tracking control of an on-board optical tracking sighting system of claim 3, wherein in the second step, the process of generating the high-bandwidth tracking control loop is as follows:
step 2.1: reconstructing a delay-free estimated angular position signal;
step 2.2: reconstructing a delayed angular position estimation signal according to the actual measurement delay model;
step 2.3: reconstructing a non-delay closed-loop control loop according to tracking deviation output by the video tracker, the reconstructed non-delay estimated angular position in the step 2.1 and the reconstructed delayed estimated angular position in the step 2.2;
step 2.4: the reconstruction loop tracking controller command is generated.
5. The method of claim 4, wherein in step 2.1, the angular position of the tracking sighting system is obtained by inertial angular velocity sensor integration, and the estimated angular position signal without delay is set as the inertial angular velocity sensor integration
Figure FDA0004132697900000021
Figure FDA0004132697900000022
Wherein omega is g Measuring angular velocity for the gyroscope;
in step 2.2, the delayed angular position estimation signal is obtained by adding the angular position signal in step 1.1 to the delay model as follows:
Figure FDA0004132697900000023
6. the method of claim 5, wherein in step 2.3, the tracker output tracking deviation is ΔθEstimated tracking bias output after reconstruction
Figure FDA0004132697900000024
Expressed as:
Figure FDA0004132697900000025
in step 2.4, to obtain high bandwidth reconfiguration tracking control loop commands, a suitable controller is applied:
Figure FDA0004132697900000031
in the above formula, K is a loop gain coefficient, and Q(s) is a loop low-pass filter.
7. The method of claim 6, wherein in the third step, a speed feedforward control command is generated according to the tracking deviation and the reconstruction delay loop, and the speed feedforward control command is as follows:
Figure FDA0004132697900000032
here, K v Is the gain of the feedforward controller, Q v (s) is a differential filter; and obtaining a target speed angular position signal through the sum of the tracking deviation and the reconstruction delay loop, and obtaining a target speed signal through a differential filter.
8. The method for data weighted fusion tracking control of an onboard photoelectric tracking and aiming system according to claim 7, wherein in the fourth step, a discrete reconstruction tracking control loop is obtained by using bilinear transformation, the control period of the tracking control loop is T, and the transfer function is transformed from s domain to z domain to be discretized to obtain a digital controller
Figure FDA0004132697900000033
And->
Figure FDA0004132697900000034
The following is shown:
Figure FDA0004132697900000035
Figure FDA0004132697900000036
9. the method of claim 8, wherein in the fifth step, the tracking control command of the original tracking control loop is set as U 0 The control command generated by the weighted fusion tracking is as follows:
Figure FDA0004132697900000037
in the above formula, alpha is a weighting coefficient which is dynamically adjusted according to the tracking deviation.
10. The method of claim 9, wherein in the fifth step, the gyro data and the tracking deviation input data are fused to form a new tracking control output by performing weighted summation on the control command output by the original tracking control loop and the reconstructed tracking control loop output command, together with the feedforward control command output.
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