WO2014016989A1 - 協調制御装置、協調制御方法および協調制御プログラムが格納された記録媒体 - Google Patents
協調制御装置、協調制御方法および協調制御プログラムが格納された記録媒体 Download PDFInfo
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- WO2014016989A1 WO2014016989A1 PCT/JP2013/001974 JP2013001974W WO2014016989A1 WO 2014016989 A1 WO2014016989 A1 WO 2014016989A1 JP 2013001974 W JP2013001974 W JP 2013001974W WO 2014016989 A1 WO2014016989 A1 WO 2014016989A1
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- angle
- directing means
- directivity
- position information
- target
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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
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/64—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image
- G02B27/644—Imaging systems using optical elements for stabilisation of the lateral and angular position of the image compensating for large deviations, e.g. maintaining a fixed line of sight while a vehicle on which the system is mounted changes course
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/112—Line-of-sight transmission over an extended range
Definitions
- the present invention relates to a cooperative control device, a cooperative control method, and a cooperative control program, and in particular, applies kinematics to a pointing angle error of a second directing means in two directing means used for receiving an optical signal from an opposite station.
- the directivity angle of the first directivity means can reach the target angle of the first directivity means.
- the present invention relates to a cooperative control device, a cooperative control method, and a cooperative control program capable of canceling a pointing angle error of a two-directional means.
- Non-Patent Document 1 In the related technology described in “Coordinated control algorithm of on-board tracking control system in optical space communication” of Non-Patent Document 1 (Daisuke Shimizu et al., 49th Airplane Symposium), optical space communication is performed with the opposite station.
- the first directing means for example, a gimbal
- the second directing means installed for fine tracking on the first directing means as the directing means that enables the optical signal from the opposite station to be tracked and received.
- FPM Fine Pointing Mechanism
- the kinematic / geometric conversion formula of the following formula (1) is set between the pointing angle error ⁇ of the second pointing means, the pointing angle ⁇ g of the first pointing means, and the target angle ⁇ ′ g.
- the following relationship is established.
- ⁇ second pointing means pointing angle error
- the directivity angle error ⁇ of the second directivity means is converted into the directivity angle error ( ⁇ ′ g ⁇ g ) of the first directivity means using the equation (1).
- Expression (1) is calculated for each predetermined calculation cycle of a CPU (Central Processing Unit).
- Non-Patent Document 1 As shown by the solid line l1 in Fig. 5, toward the directional angle of the first directing means from theta g the target angle of theta 'g of the first directing means rotation
- the pointing angle error ⁇ of the second pointing means also starts to be eliminated.
- the first directivity angle of the directing means can not reach the initial target angle a was the theta 'g, so that would calm state of being rotated until the theta "g.
- the error of the directivity angle of the second directivity means is changed from ⁇ to '0' and is not canceled, and is ⁇ ". Therefore, the error ⁇ of the directivity angle of the second directivity means is canceled.
- An object of the present invention is to provide a cooperative control device, a cooperative control method, and a cooperative control program that can reliably cancel the pointing angle error of the second directing means.
- the cooperative control device, the cooperative control method, and the cooperative control program according to the present invention mainly adopt the following characteristic configuration.
- the cooperative control apparatus is a cooperative control that controls two directional means, ie, a first directional means and a second directional means, provided as directional means used for receiving an optical signal from an opposite station.
- a device Position information acquisition means for acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station;
- Directivity angle generating means for calculating an angle; By applying kinematics to the directional angle error of the second directional means, the target angle based on the position information of the first directional means calculated by the directional angle generating means is set as the directional angle error of the second directional means.
- Conversion means for converting to a target angle using the kinematics of the first directing means for removing; In a coordinated control device comprising at least The target error angle of the first directing means obtained by subtracting the target angle based on the position information of the first directing means from the target angle using the kinematics of the first directing means converted by the converting means.
- Integrating means for integrating It is possible to remove the pointing angle error of the second directing means by adding the target error angle of the first directing means accumulated by the integrating means to the target angle based on the position information of the first directing means. Adding means for outputting as a target angle at the time of cooperative control of the first directing means; Is further provided.
- the coordinated control method is a coordinated control in which two directional units, a first directional unit and a second directional unit, provided as a directional unit used for receiving an optical signal from the opposite station are coordinated and controlled.
- a method A position information acquisition step of acquiring both the position information of the own station and the opposite station or the position information and the attitude information of the own station and the opposite station; Using both the position information of the own station and the opposite station acquired in the position information acquisition step or the position information and the attitude information of the own station and the opposite station, the target based on the position information of the first directing means
- a directivity angle generation step for calculating an angle;
- the target angle based on the position information of the first pointing means calculated by the pointing angle generation step is set to the pointing angle error of the second pointing means.
- a cooperative control method having at least A target error angle of the first directing means obtained by subtracting a target angle based on the position information of the first directing means from a target angle using the kinematics of the first directing means converted by the conversion step.
- An integration step to integrate It is possible to add the target error angle of the first directing means accumulated in the integrating step to the target angle based on the position information of the first directing means to remove the directivity angle error of the second directing means.
- the cooperative control program according to the present invention is characterized in that at least the cooperative control method described in (2) is implemented as a program executable by a computer.
- the cooperative control device According to the cooperative control device, the cooperative control method, and the cooperative control program of the present invention, the following effects can be achieved.
- kinematics is applied to the directivity angle error of the second directivity means.
- the target angle of the first directing means is calculated. Therefore, the directivity angle of the first directivity means can be surely reached the target angle of the first directivity means, and the directivity angle error of the second directivity means can be canceled reliably.
- FIG. 3 is a calculation flowchart for explaining an example of a calculation operation of a target angle at the time of cooperative control in the cooperative control device of FIG. 1. It is explanatory drawing for demonstrating the effect of the integration in the integrator of the cooperative control apparatus of FIG.
- FIG. 4 is an explanatory diagram for explaining an example of the influence of the change of the calculation cycle on the integration operation in the integrator of the cooperative control apparatus of FIG. 1, and the calculation cycle that is halved to (1/2) of the calculation cycle of the explanatory diagram of FIG. 3. Operation when set to.
- the cooperative control device may be implemented as a cooperative control program that can be executed by a computer, or cooperative control.
- the program may be recorded on a computer-readable recording medium.
- the first directivity is used as a directing means that enables the optical signal from the opposite station to be tracked and received.
- directing means for example, a gimbal
- FPM Fine Pointing Mechanism
- the present invention obtains the directivity angle error of the first directivity means by applying kinematics to the directivity angle error of the second directivity means, and further obtains the obtained first directivity.
- the directivity angle of the first directing means can be made to reach the target angle of the first directing means Is the main feature.
- the present invention employs the following mechanism. First, using the position information of the own station and the opposite station, calculate the target angle based on the position information of the first directing means, and then apply kinematics to the calculated target angle based on the position information of the first directing means And it converts into the target angle using the kinematics of the 1st directing means for removing the directivity angle error of the 2nd directing means.
- the target error angle of the first directing means obtained by subtracting the target angle based on the position information of the first directing means from the converted target angle using the kinematics of the first directing means is sequentially integrated every calculation cycle.
- the main feature is the operation of outputting as a target angle at the time of cooperative control of the pointing means.
- FIG. 1 is a block diagram illustrating an example of a block configuration of a cooperative control device according to an embodiment of the present invention.
- the cooperative control device 100 shown in FIG. 1 is described by taking an example of performing optical space communication between the own station 1 and the opposite station 2, and the block configuration of the cooperative control device 100 on the opposite station 2 side is as follows. In the following description, only the necessary blocks are described, and other blocks are not shown.
- the cooperative control device 100 includes a first directing means 3, a second directing means 4, a first directing means angle sensor 5, a second directing means angle sensor 6, a light receiving sensor 7, Own station position information acquisition unit 8, second controller 9, second driver 10, first controller 11, first driver 12, laser generator 13, opposite station position information acquisition unit 14, pointing angle generator based on position information 15, a converter 16, an integrator 17, and an adder 18. That is, the cooperative control apparatus 100 performs the first directivity as a directing means that enables the optical signal from the laser generator 13 of the opposite station 2 to be tracked and received when performing optical space communication with the opposite station 2.
- means 3 for example, directing means for rough control such as gimbal
- second directing means 4 for example, FPM: Fine Pointing Mechanism
- the first directing means 3 and the second directing means 4 are coordinated using the calculation results of the directivity angle generator 15, the accumulator 17, and the adder 18 based on the position information. And is configured to be controlled.
- the second directing means 4 is means for rotating a mirror that receives light for optical communication generated by the laser generator 13 on the opposite station 2 side about two axes, and the first directing means 3 is the second directing means 4. Is means for further rotating the shaft about two axes.
- the first directing means angle sensor 5 is a means for detecting the rotation angle of the first directing means 3, and is configured using, for example, a resolver.
- the rotation angle of the first directing means 3 detected by the first directing means angle sensor 5 is input to the first controller 11 as the current angle of the first directing means 3.
- the second directing means angle sensor 6 is means for directly detecting the tilt (rotation angle) of the mirror in the second directing means 4 and is attached to the second directing means 4.
- the own station position information acquisition unit 8 is a means for acquiring the position information of the own station 1 (for example, position information based on GPS (Global Positioning System)).
- the opposite station position information acquisition unit 14 is means for transmitting the position information on the own station 1 side acquired by the own station position information acquisition unit 8 on the own station 1 side to the opposite station 2 as opposite station position information.
- the opposite station position information acquisition unit 14 on the opposite station 2 side transmits the position information of the opposite station 2 to the own station 1 as the opposite station position information.
- the pointing angle generator 15 based on the position information uses the opposite station position information acquired from the opposite station position information acquisition unit 14 on the opposite station 2 side and the own station position information acquired by the own station position information acquisition unit 8. This is means for generating a target angle based on position information of the first directing means 3.
- the first controller 11 outputs the target angle based on the position information of the first directing means 3 output through the adder 18 from the directivity angle generator 15 based on the position information, or the first directing means 3 by the adder 18.
- the target angle using the kinematics of the first directing means 3 obtained by adding the target angle based on the position information and the integration result from the integrator 17 and the angle detected by the first directing means angle sensor 5 ( Phase compensation is performed, a control signal for the first directing means 3 is generated and output to the first directing means 3 via the first driver 12, and the first directing means 3 is output.
- the light for optical communication generated from the laser generator 13 on the opposite station 2 side is incident on the mirror of the second directing means 4 and reflected to the light receiving sensor 7 (for example, a four-divided light receiving element). Will be guided.
- the second controller 9 sets the target angle of the second directing means 4 to 0 degree, selects either the output of the light receiving sensor 7 or the output of the second directing means angle sensor 6, and then selects the second directivity A current angle that is an error in the pointing angle of the means 4 is generated, and a phase compensation is performed from the target angle of the second pointing means 4 and the current angle of the second pointing means 4 to generate a control signal for the second pointing means 4 And it is a means for directing the 2nd directing means 4 to the target angle (in this case, 0 degree
- the converter 16 detects the mirror tilt (rotation angle) detected by the second directing means angle sensor 6, that is, the directivity angle error of the second directing means 4 and the first directing means angle sensor 5. Based on the rotation angle of the first directing means 3, in order to remove the directivity angle error of the second directing means 4, the kinematics is applied to the directivity angle error of the second directing means 4, thereby indicating the directivity by position information.
- This is a conversion means for converting the target angle based on the position information of the first directing means 3 generated by the angle generator 15 into the target angle using the kinematics of the first directing means 3.
- the accumulator 17 calculates the position of the first directing means 3 generated by the directivity angle generator 15 based on position information from the target angle using the kinematics of the first directing means 3 converted by the converter 16. It is an accumulating means for sequentially accumulating a target error angle obtained by subtracting the target angle based on information for each predetermined calculation cycle.
- the adder 18 adds the integration result integrated by the integrator 17 to the target angle based on the position information of the first directing means 3 output from the directivity angle generator 15 based on the position information.
- the first controller 11 11 is output.
- the rotation angles of the two axes of the first directing means 3 that are the outputs of the first directing means angle sensor 5 are AZ (azimuth) axis ⁇ and EL (elevation) axis ⁇
- directivity angle generation based on position information is performed.
- the target angles ⁇ g and ⁇ g of the first directing means 3 generated by the vessel 15 are given by the following expressions (2) and (3).
- the target angles ⁇ g and ⁇ g of the first directing means 3 given by the expressions (2) and (3) are referred to as “target angles based on position information” in the present embodiment.
- variables a, b, and c are determined by the target vectors from the local station position information to the opposite station position information shown in the following equations (4) and (5), as described in Non-Patent Document 1. Defined.
- the second controller 9 uses the output of the light receiving sensor 7 to control the second directing means 4 at 0 degrees for both axes. At the same time, it is assumed that the output of the second directing means angle sensor 6 is 0 degrees for both axes.
- the optical axis of the light emitted from the laser generator 13 of the opposite station 2 is shifted, the mirror of the second directing means 4 is tilted, and the second directivity
- the rotation angles of the two axes which are the outputs of the means angle sensor 6, have changed from 0 degrees to ⁇ degrees ( ⁇ 0) on the X axis and from 0 degrees to ⁇ degrees ( ⁇ 0) on the Y axis.
- the biaxial rotation angle of the second directing means 4 (that is, the directivity angle error) can be canceled by the kinematic formulation between the first directing means 3 and the second directing means 4.
- the target angles ⁇ ′ g and ⁇ ′ g of the first directing means 3 are given by the following equations (6) and (7) as described in Non-Patent Document 1.
- the target angles ⁇ ′ g and ⁇ ′ g of the first directing means 3 given by the equations (6) and (7) are referred to as “target angles using kinematics” in the present embodiment.
- the directivity angle of the first directing means 3 cannot reach the target angle, and the directivity angle error ⁇ of the second directing means 4 cannot be canceled.
- the equation (2) The integrator 17 for integrating the target error angle obtained by subtracting the “target angles ⁇ g , ⁇ g according to position information” of the first directing means 3 given by the equation (3) is provided.
- An adder 18 for adding the integration results of the integrator 17 to the target angles ⁇ g , ⁇ g ”based on the position information is provided.
- the target angles ⁇ ′ a , ⁇ ′ a at the time of cooperative control of the first directing means 3 are “target angles ⁇ g , ⁇ g based on position information” as shown in the following formulas (10) and (11).
- ⁇ ′ gsum and ⁇ ′ gsum are added by the adder 18 with the integration results ⁇ ′ gsum and ⁇ ′ gsum given by the equations (8) and (9).
- the “target angles ⁇ ′ g and ⁇ ′ g using kinematics” of the first directing means 3 given by the equations (6) and (7) are calculated by the converter 16 shown in FIG.
- the integration results ⁇ ′ gsum and ⁇ ′ gsum that are output and given by the equations (8) and (9) are calculated and output by the integrator 17 shown in FIG. 1, and are expressed by the equations (10) and (11).
- the given target angles ⁇ ′ a and ⁇ ′ a during the cooperative control of the first directing means 3 are calculated by the adder 18 shown in FIG. 1 and output.
- FIG. 2 is a calculation flowchart for explaining an example of a calculation operation of the target angle at the time of cooperative control in the cooperative control device 100 of FIG.
- step S1 it is confirmed whether or not the cooperative control device 100 is turned on (step S1).
- step S1 the power is turned on (YES in step S1)
- step S2 the above-described equation (12) is calculated.
- step S2 the integration results ⁇ ′ gsum and ⁇ ′ gsum in the integrator 17 are initialized (step S2).
- step S3 the above-described equations (2) and (3) are calculated to calculate “target angles ⁇ g , ⁇ g based on position information” (step S3).
- step S4 As a command input from the user, an instruction for cooperative control of coarse control and fine control is input, and it is confirmed whether or not the cooperative control is on (step S4). If the cooperative control is not turned on (NO in step S4), the calculation in step S5 is skipped and the process proceeds to step S6. If the cooperative control is turned on (YES in step S4), The calculation of step S5 is executed.
- step S5 When the process proceeds to step S5, first, the above-described equations (6) and (7) are calculated to calculate “target angles ⁇ ′ g and ⁇ ′ g using kinematics”. 8) The target error obtained by subtracting “target angle ⁇ ′ g , ⁇ ′ g using kinematics” ⁇ “target angle ⁇ g , ⁇ g based on position information” by calculating Equation (9) The angle is integrated every calculation period, and thereafter, the calculations of Expressions (10) and (11) are performed, and the expressions (8) and (9) are further added to “target angles ⁇ g and ⁇ g based on position information”. Are added to calculate the target angles ⁇ ′ a , ⁇ ′ a during the cooperative control of the first directing means 3 (step S5).
- step S6 the calculation related to the time shown in the following equation (13) is performed, the calculation cycle is updated (step S6), and then the process returns to step S3.
- ⁇ t represents a time interval giving a predetermined calculation cycle.
- the target angle of the first directing means 3 is obtained by the calculation of Expressions (10) and (11).
- the target angles ⁇ ′ a , ⁇ ′ a at the time of cooperative control of the directing means 3 are set, and when the cooperative control is off, the target angles of the first directing means 3 are set to target angles ⁇ g , ⁇ g based on position information.
- FIG. 3 is an explanatory diagram for explaining the effect of integration in the integrator 17 of the cooperative control apparatus 100 of FIG. 1.
- the second pointing means It is assumed that only the X axis ⁇ of 4 affects the EL axis angle ⁇ of the first directing means 3.
- the horizontal axis indicates time
- the vertical axis indicates angle
- the calculation cycle is from the first cycle to the sixth cycle. 6 cycles are shown.
- upward-sloping stepped straight shown by one-dot chain line l4 in FIG. 3 is a trajectory of the target angle theta 'a when coordinated control of the first directing means 3, upper right shown by the solid line l1 in Fig. 3
- This curve is the locus of the directivity angle of the first directing means 3
- the sawtooth curve shown by the long broken line 12 in FIG. 3 is the locus of the directivity angle of the second directivity means 4.
- the directivity angle of the second directing means 4 (that is, the directivity angle error) is ⁇
- the directivity angle of the first directing means 3 is the same as that described above. It is assumed that ⁇ g shown in Equation (3).
- the integration operation is performed once by the above-described formulas (7), (9), and (11) in the first cycle.
- the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is set to an angle given by the following equation (14). That is, the integration processing result of the first period in the integrator 17 is the input directivity angle ⁇ of the second directivity means 4 and the first directivity for removing the directivity angle error ⁇ of the second directivity means 4.
- oriented second directing means 4 is a accumulation result of the accumulator 17 to directivity angle theta g by the position information of the first directing means 3
- the angle ⁇ will be added.
- the directivity angle ⁇ of the second directing means 4 is given by the following equation (15).
- theta 'a is the target angle at the time of cooperative control after integration of the first time after turning on the cooperative control.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”. Therefore, the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (14) remains in the first period.
- the directivity angle of the first directing means 3 moves toward the target angle ⁇ ′ a given by the equation (16), thereby completing the calculation cycle of the third cycle.
- the directivity angle during the cooperative control of the first directing means 3 is the target angle during the cooperative control of the first directing means 3 given by equation (16).
- theta ' will reach the a, thereby, as indicated by the long dashed line l2 in FIG. 3, the directivity angle ⁇ of the second directing means 4 is canceled,' it becomes 0 '.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”. Therefore, the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (16) remains in the third period.
- directivity angle of the first directing means 3 by moving toward the target angle theta 'a given by equation (17), terminating the operation cycle of the fifth cycle
- the directivity angle during the cooperative control of the first directing means 3 is the target angle during the cooperative control of the first directing means 3 given by the equation (17).
- theta ' will reach the a, thereby, as indicated by the long dashed line l2 in FIG. 3, the directivity angle ⁇ of the second directing means 4 is canceled,' it becomes 0 '.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”. Therefore, the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is the one-dot chain line 14 of FIG. As shown by, the angle calculated by the equation (17) remains in the fifth period.
- the directivity angle error of the first directing means 3 obtained by applying kinematics to the directivity angle error of the second directivity means 4 to the directivity angle of the first directivity means 3 determined from the position information.
- the first cycle formula (14) ⁇ the third cycle formula (16) ⁇ the fifth cycle of the target angle ⁇ ′ a during the cooperative control of the first directing means 3. Since the calculation formula is sequentially changed according to the formula (17) and the corresponding calculation cycle, the directivity angle of the first directing means 3 is set to the target angle ⁇ ′ a during the cooperative control of the first directivity means 3.
- the second directing means 4 can cancel the directivity angle error and set it to “0”.
- the first directing means 3 immediately responds to the rotation operation toward the target angle of the directivity angle of the first directing means 3.
- the target angle itself is also shifted, so that the original target angle of the first directing means 3 cannot be reached, and thus the directivity angle error of the second directing means 4 cannot be canceled.
- the problems of the prior art as described above can be solved reliably.
- FIG. 4 is an explanatory diagram for explaining an example of the influence of the change of the calculation cycle on the integration operation in the integrator 17 of the cooperative control apparatus 100 of FIG. 1, and FIG. 4A is a graph of the calculation cycle of the explanatory diagram of FIG. FIG. 4B shows an operation when the calculation cycle is set to the same calculation cycle as that of the explanatory diagram of FIG. 3.
- the horizontal axis of FIG. 4 indicates time, and the vertical axis indicates angle.
- the step-like straight line indicated by the alternate long and short dash line 14 is a locus of the target angle ⁇ ′a during the cooperative control of the first directing means 3.
- the curve indicated by the solid line 11 is a locus of the directivity angle of the first directing means 3
- the curve indicated by the long broken line 12 is the locus of the directivity angle of the second directivity means 4.
- FIG. 4B set to the same calculation cycle as the calculation cycle of the explanatory diagram of FIG. 3, in the first cycle and the second cycle from the time t0 to the time t2 in the case of FIG. A case where the directivity angle deviation occurs only once at time t0 is shown.
- the target angle theta 'a when coordinated control of the first directing means 3, by one of the cumulative operation at time t0 to be the beginning of the first cycle, the same as described in FIG. 3, a point in FIG. 4B As indicated by the chain line 14, the angle is given by the above-described equation (14).
- the directivity angle at the time of cooperative control of the first directing means 3 is expressed by the equation as shown by the solid line l1 in FIG. reaches the target angle theta 'a when coordinated control of the first directing means 3 given by (14), thereby, as indicated by the long dashed line l2 in FIG. 4B, the directivity angle ⁇ of the second directing means 4 Canceled to '0'.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”, so the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is As shown by a dashed line 14 in FIG. 4B, the angle calculated by the equation (14) remains in the first period.
- the directivity angle of the first directing means 3 is equal to the target angle ⁇ ′ a at the time of cooperative control of the first directing means 3, as described in FIG. Therefore, in the second period section, as indicated by the solid line l1 in FIG. 4B, the directivity angle of the first directivity means 3 does not change, and the angle at time t1 is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.
- the optical axis of the light emitted from the laser generator 13 of the opposite station 2 does not shift even after the second period.
- the directivity angle of the second directing means 4 remains “0”.
- the above-described equations (7), (9), and (11) are used.
- the integration operation is performed once, and the target angle ⁇ ′ a during the cooperative control of the first directing means 3 increases to the angle given by the above-described equation (14), as shown by the one-dot chain line 14 in FIG. 4A. . That is, the integration process result of the first 'period in the integrator 17 is the input directivity angle ⁇ of the second directing means 4, and the first directing angle error ⁇ for removing the second directing means 4 is removed.
- the second directing means 4 is a accumulation result of the accumulator 17 to directivity angle theta g by the position information of the first directing means 3
- the directivity angle ⁇ is added.
- the directivity angle ⁇ of the second directing means 4 is given by the above-described equation (15) as in the case of FIG.
- the directivity angle ⁇ of the second directing means 4 is different from the case of FIG. 3 at time t1 ′ at which the calculation period of the first ′ period ends, as shown by the long broken line l2 in FIG. 4A. It will remain at ( ⁇ / 2) without being canceled, that is, without decreasing to '0'.
- the calculation cycle is shortened to (1/2) in the case of FIG. 3, so that as shown by the solid line l1 in FIG.
- the directivity angle at the time of cooperative control of the first directing device 3 is the first directing device 3 given by the equation (14) in the first' cycle. once and reaches the target angle theta 'a when cooperative control.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”, so the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is As shown by the alternate long and short dash line 14, the angle calculated by the equation (19) remains in the second ′ period.
- the directivity angle of the first directing means 3 is the first directivity given by the equation (19) during the section of the third 'period, as shown by the solid line 11 in FIG. 4A. keeps changing as catch up with the target angle theta 'a when cooperative control means 3.
- the directivity angle of the first directing means 3 gradually becomes the target angle during the cooperative control of the first directing means 3. It will be to catch up with ⁇ 'a.
- the directivity angle of the second directing means 4 is canceled and becomes '0' at time t2 'when the calculation period of the second' cycle ends, as shown by the long broken line l2 in FIG. 4A.
- it continues to change by undershooting, and reaches the value of-( ⁇ / 2) at time t3' when the third 'cycle ends.
- the integration operation is further performed once according to the above-described equations (7), (9), and (11).
- the directivity angle of the second directing means 4 undershoots to ⁇ ( ⁇ / 2), so the target angle ⁇ ′ a during the cooperative control of the first directing means 3 Is given by the following equation (20) as shown by a one-dot chain line 14 in FIG. 4A, and in the case of FIG. 4B, the target angle at the time of cooperative control of the first directing means 3 given by equation (14) And the same angle.
- the directivity angle at the time of cooperative control of the first directing means 3 is given by the equation (20).
- target angle ⁇ at the time of cooperative control directing means 3 ' will be reaching the a, thereby, as indicated by the long dashed line l2 of Fig. 4A, the directivity angle ⁇ of the second directing means 4 is canceled,' 0 '.
- the integration operation is further performed once according to the above-described formulas (7), (9), and (11).
- the directivity angle of the second directing means 4 is “0”, so the target angle ⁇ ′ a during the cooperative control of the first directing means 3 is As indicated by a dashed line 14, the angle calculated by the equation (20) remains in the fourth ′ period.
- the directivity angle of the first directing means 3 the target angle ⁇ when coordinated control of the first directing means 3' time t4 since caught up with a
- the directivity angle of the first directing means 3 does not change, and the angle at time t4 ′ is maintained as it is. Therefore, the directivity angle of the second directing means 4 remains “0”.
- the optical axis of the light emitted from the laser generator 13 of the opposite station 2 is not shifted after the fifth ′ period, and the first directing means 3 since directivity angle is caught up with the target angle theta 'a when coordinated control of the first directing means 3, calculation cycle every equation (7), equation (9), repeated many times accumulated by equation (11)
- the directivity angle of the first directing means 3 does not change. Therefore, as shown by the long broken line 12 in FIG. 4A, the directivity angle of the second directing means 4 is It remains “0”.
- the solution to the convergence delay is the integration performed for each calculation cycle until the directivity angle of the first directing means 3 reaches the target angle ⁇ ′ during the cooperative control of the first directing means 3. This is to stop the integration operation in the device 17. That is, by stopping the integration operations, since it is unnecessary to target angle theta 'a first directing means 3 is overshoot, it is possible to eliminate the occurrence of convergence delay.
- the directivity angle generator 15 based on the position information of the cooperative control apparatus 100 shown in FIG. 1 uses only the position information of the own station 1 and the opposite station 2 and uses the first directivity.
- the target angle ⁇ g based on the position information of the means 3 is generated has been described, not only the position information between the own station 1 and the opposite station 2 but also the position information between the own station 1 and the opposite station 2
- attitude information between the own station 1 and the opposite station 2 may be taken into account. That is, the local station position information acquisition unit 8 and the counter station position information acquisition unit 14 which are position information acquisition means are not only the positional information of the local station 1 and the counter station 2 but also the attitudes of the local station 1 and the counter station 2. Information may also be acquired by the attitude sensor and supplied to the directivity angle generator 15 based on position information.
- the kinematic formula as shown in the above formula (1) By controlling to convert the directivity angle error of each of the plurality of axes of the directing means to cancel (remove) the directivity angle error into the directivity angle error of each of the multiple axes of the other directivity means, The same cooperative control as in the embodiment can be performed.
- the directing angle error is controlled to be converted into the directivity angle error of each of the remaining directing means from the directing means to cancel (remove) the directing angle error. Cooperative control can be implemented.
- the converter 16 and the integrator 17 make the second directivity.
- the kinematics is applied to the pointing angle error ⁇ of the means 4 to determine the pointing angle error of the first pointing means 3, and the calculated pointing angle error of the first pointing means 3 is set as the target error angle for each calculation cycle.
- the adder 18 since the calculating the target angle theta 'a when coordinated control of the first directing means 3, the directivity angle of the first directing means 3 first directing means 3 of reliably it is possible to reach the target angle theta 'a when coordination control can be reliably canceled directivity angle error ⁇ of the second directing means 4.
- the rotation axis of the first directing means 3 and the second directing means 4 is not only two axes but also a rotation axis composed of a plurality of three or more axes, the first directing means 3 and the second directing means 3
- the directional angle error can be canceled with higher accuracy.
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Abstract
Description
α:第二指向手段指向角度誤差
θg:対向局と自局との位置情報(例えば、GPS(Global Positioning System)により測位した位置情報)から求められる第一指向手段指向角度
θ'g:第二指向手段指向角度誤差αを第一指向手段指向角度誤差に運動学的に換算したものに対して第一指向手段指向角度θgを加算して得られる第一指向手段目標角度
α=θ'g-θg
として説明している。
本発明は、前述のごとき問題に鑑みてなされたものであり、光信号の受信用に用いる二つの指向手段において、第一指向手段の指向角度を第一指向手段の目標角度に確実に到達させ、第二指向手段の指向角度誤差を確実にキャンセルすることが可能な協調制御装置、協調制御方法および協調制御プログラムを提供することを、その目的としている。
自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を取得する位置情報取得手段と、
前記位置情報取得手段が取得した前記自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を用いて、前記第一指向手段の位置情報による目標角度を算出する指向角度生成手段と、
前記第二指向手段の指向角度誤差に運動学を適用することによって、前記指向角度生成手段により算出した前記第一指向手段の前記位置情報による目標角度を、前記第二指向手段の指向角度誤差を除去するための前記第一指向手段の運動学を用いた目標角度に換算する換算手段と、
を少なくとも備えた協調制御装置において、
前記換算手段により換算された前記第一指向手段の前記運動学を用いた目標角度から前記第一指向手段の前記位置情報による目標角度を減算して得られる前記第一指向手段の目標誤差角度を積算する積算手段と、
前記積算手段が積算した前記第一指向手段の前記目標誤差角度を、前記第一指向手段の前記位置情報による目標角度に加算して、前記第二指向手段の指向角度誤差を除去することが可能な前記第一指向手段の協調制御時の目標角度として出力する加算手段と、
をさらに備えていることを特徴とする。
自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を取得する位置情報取得ステップと、
前記位置情報取得ステップが取得した前記自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を用いて、前記第一指向手段の位置情報による目標角度を算出する指向角度生成ステップと、
前記第二指向手段の指向角度誤差に運動学を適用することによって、前記指向角度生成ステップにより算出した前記第一指向手段の前記位置情報による目標角度を、前記第二指向手段の指向角度誤差を除去するための前記第一指向手段の運動学を用いた目標角度に換算する換算ステップと、
を少なくとも有する協調制御方法において、
前記換算ステップにより換算された前記第一指向手段の前記運動学を用いた目標角度から前記第一指向手段の前記位置情報による目標角度を減算して得られる前記第一指向手段の目標誤差角度を積算する積算ステップと、
前記積算ステップが積算した前記第一指向手段の前記目標誤差角度を、前記第一指向手段の前記位置情報による目標角度に加算して、前記第二指向手段の指向角度誤差を除去することが可能な前記第一指向手段の協調制御時の目標角度として出力する加算ステップと、
をさらに有していることを特徴とする。
本発明の実施形態の説明に先立って、本発明の特徴についてその概要をまず説明する。本発明は、対向局と光空間通信を行う際に、前記非特許文献1の場合と同様に、対向局からの光信号を追尾して受光することを可能にする指向手段として、第一指向手段(例えばジンバル)と該第一指向手段上に精追尾用として設置した第二指向手段(例えばFPM:Fine Pointing Mechanism(精追尾機構))との二つの指向手段を備えている。ここで、本発明は、前記非特許文献1とは異なり、第二指向手段の指向角度誤差に運動学を適用して第一指向手段の指向角度誤差を求め、さらに、求められた第一指向手段の指向角度誤差を積算した結果を用いて、第一指向手段の目標角度を算出することによって、第一指向手段の指向角度を第一指向手段の目標角度に到達させることを可能にすることを主要な特徴としている。
次に、本発明による協調制御装置の実施形態についてその構成例を図1のブロック図を用いて説明する。図1は、本発明の実施形態に係る協調制御装置のブロック構成の一例を示すブロック図である。図1に示す協調制御装置100は、自局1と対向局2との間で光空間通信を行う場合を例にとって説明しており、対向局2側の協調制御装置100のブロック構成については、以下の説明において必要とするブロックのみを記載し、他のブロックについては記載を省略して示している。
次に、図1に示した協調制御装置100の動作の一例について図2の演算フローチャートを用いて説明する。図2は、図1の協調制御装置100における協調制御時の目標角度の演算動作の一例を説明するための演算フローチャートである。
以上に詳細に説明したように、本実施形態においては、次のような効果が得られる。
2 対向局
3 第一指向手段
4 第二指向手段
5 第一指向手段角度センサ
6 第二指向手段角度センサ
7 受光センサ
8 自局位置情報取得器
9 第二制御器
10 第二ドライバ
11 第一制御器
12 第一ドライバ
13 レーザ発生器
14 対向局位置情報取得器
15 位置情報による指向角度生成器
16 換算器
17 積算器
18 加算器
100 協調制御装置
l1 実線
l2 長破線
l3 短破線
l4 一点鎖線
Claims (10)
- 対向局からの光信号の受信用に用いる指向手段として備えた第一指向手段と第二指向手段との二つの指向手段を協調させて制御する協調制御装置であって、
自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を取得する位置情報取得手段と、
前記位置情報取得手段が取得した前記自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を用いて、前記第一指向手段の位置情報による目標角度を算出する指向角度生成手段と、
前記第二指向手段の指向角度誤差に運動学を適用することによって、前記指向角度生成手段により算出した前記第一指向手段の前記位置情報による目標角度を、前記第二指向手段の指向角度誤差を除去するための前記第一指向手段の運動学を用いた目標角度に換算する換算手段と、
前記換算手段により換算された前記第一指向手段の前記運動学を用いた目標角度から前記第一指向手段の前記位置情報による目標角度を減算して得られる前記第一指向手段の目標誤差角度を積算する積算手段と、
前記積算手段が積算した前記第一指向手段の前記目標誤差角度を、前記第一指向手段の前記位置情報による目標角度に加算して、前記第二指向手段の指向角度誤差を除去することが可能な前記第一指向手段の協調制御時の目標角度として出力する加算手段と、
を備えている協調制御装置。 - 前記積算手段は、あらかじめ定めた周期の演算周期毎に前記積算手段により前記第一指向手段の前記目標誤差角度の積算動作を実施することを特徴とする請求項1に記載の協調制御装置。
- 前記第一指向手段の指向角度が、前記第一指向手段の前記協調制御時の目標角度に到達するまでの間、前記積算手段における積算動作を停止することを特徴とする請求項1または請求項2に記載の協調制御装置。
- 前記第一指向手段および前記第二指向手段の回転軸は、2軸以上の複数軸からなり、前記換算手段において、前記第一指向手段および前記第二指向手段の二つの指向手段のうち、前記指向角度誤差を除去しようとする前記第二指向手段の複数軸それぞれの指向角度誤差を、前記第一指向手段の複数軸それぞれの指向角度誤差に運動学的定式化により換算することを特徴とする請求項1ないし請求項3のいずれかに記載の協調制御装置。
- 前記指向手段が、前記第一指向手段、前記第二指向手段の二つの指向手段ではなく、3つ以上の複数の指向手段からなり、前記換算手段において、前記複数の指向手段のうち、前記指向角度誤差を除去しようとする指向手段の指向角度誤差を残りの指向手段それぞれの指向角度誤差に運動学的定式化により換算することを特徴とする請求項1ないし請求項4のいずれかに記載の協調制御装置。
- 対向局からの光信号の受信用に用いる指向手段として備えた第一指向手段と第二指向手段との二つの指向手段を協調させて制御する協調制御方法であって、
自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を取得する位置情報取得ステップと、
前記位置情報取得ステップが取得した前記自局と前記対向局との位置情報あるいは該位置情報および自局と前記対向局との姿勢情報の双方を用いて、前記第一指向手段の位置情報による目標角度を算出する指向角度生成ステップと、
前記第二指向手段の指向角度誤差に運動学を適用することによって、前記指向角度生成ステップにより算出した前記第一指向手段の前記位置情報による目標角度を、前記第二指向手段の指向角度誤差を除去するための前記第一指向手段の運動学を用いた目標角度に換算する換算ステップと、
前記換算ステップにより換算された前記第一指向手段の前記運動学を用いた目標角度から前記第一指向手段の前記位置情報による目標角度を減算して得られる前記第一指向手段の目標誤差角度を積算する積算ステップと、
前記積算ステップが積算した前記第一指向手段の前記目標誤差角度を、前記第一指向手段の前記位置情報による目標角度に加算して、前記第二指向手段の指向角度誤差を除去することが可能な前記第一指向手段の協調制御時の目標角度として出力する加算ステップと、
を有している協調制御方法。 - 前記積算ステップは、あらかじめ定めた周期の演算周期毎に前記積算ステップにより前記第一指向手段の前記目標誤差角度の積算動作を実施することを特徴とする請求項6に記載の協調制御方法。
- 前記第一指向手段の指向角度が、前記第一指向手段の前記協調制御時の目標角度に到達するまでの間、前記積算ステップにおける積算動作を停止することを特徴とする請求項6または請求項7に記載の協調制御方法。
- 前記指向手段が、前記第一指向手段、前記第二指向手段の二つの指向手段ではなく、3つ以上の複数の指向手段からなり、前記換算ステップにおいて、前記複数の指向手段のうち、前記指向角度誤差を除去しようとする指向手段の指向角度誤差を残りの指向手段それぞれの指向角度誤差に運動学的定式化により換算することを特徴とする請求項6ないし請求項8のいずれかに記載の協調制御方法。
- 請求項6ないし請求項9のいずれかに記載の協調制御方法を、コンピュータによって実行可能なプログラムとして実施していることを特徴とする協調制御プログラムが格納された記録媒体。
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2013
- 2013-03-22 EP EP13822465.4A patent/EP2879313A4/en not_active Withdrawn
- 2013-03-22 JP JP2014526708A patent/JP5884909B2/ja active Active
- 2013-03-22 US US14/416,366 patent/US20150205273A1/en not_active Abandoned
- 2013-03-22 WO PCT/JP2013/001974 patent/WO2014016989A1/ja active Application Filing
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MOTOAKI SHIMIZU ET AL.: "A Cooperative Control Algorithm of the On Board Tracking Control System for Free-Space Optical Communications", 49TH AIRCRAFT SYMPOSIUM |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016111236A1 (ja) * | 2015-01-05 | 2016-07-14 | 日本電気株式会社 | 協調制御装置及び協調制御方法 |
JPWO2016111236A1 (ja) * | 2015-01-05 | 2017-12-07 | 日本電気株式会社 | 協調制御装置及び協調制御方法 |
EP3244228A4 (en) * | 2015-01-05 | 2018-10-10 | Nec Corporation | Collaborative control device and collaborative control method |
Also Published As
Publication number | Publication date |
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US20150205273A1 (en) | 2015-07-23 |
JP5884909B2 (ja) | 2016-03-15 |
EP2879313A1 (en) | 2015-06-03 |
JPWO2014016989A1 (ja) | 2016-07-07 |
EP2879313A4 (en) | 2016-04-27 |
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