CN110231845B - Control method and composite control system for seeker stabilization platform - Google Patents
Control method and composite control system for seeker stabilization platform Download PDFInfo
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Abstract
The invention discloses a control method and a composite control system for a seeker stabilization platform, wherein the control method adopts three-loop control, namely a current loop, a speed loop and a position loop, for the seeker stabilization platform; the current loop is realized by adopting a brush motor PWM power driving chip, the speed loop is realized by a composite control strategy, and the composite control strategy comprises a Butterworth filter, a disturbance observer, a wave trap and an incomplete differential PID; the position loop is implemented using a small integral PI or proportional controller. The composite control system of the seeker stabilization platform adopts the control method of the seeker stabilization platform to realize the control of the seeker stabilization platform. The control method can effectively improve the noise immunity and the rapidity of the system and is easy to realize. In addition, the composite control system of the seeker stabilized platform has the advantages of simple structure and easiness in implementation.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a control method and a composite control system for a seeker stabilized platform.
Background
With the increasing demand of the current guidance system for accurately hitting the target, higher requirements are also put forward on the performance of a seeker photoelectric stable platform, and the seeker system is a device integrating light, machine and electric technologies and generally consists of a position marker and an electronic component. The position marker is positioned at the foremost end of the seeker, consists of a photoelectric stable platform and a detection system, and is a core component for realizing target detection, optical axis stabilization, follow-up and tracking of the guidance system. The photoelectric stabilization platform has the main function of isolating the disturbance of the missile by utilizing the space stabilization function of the inertial sensor, so that the optical axis of the photoelectric detector points stably. The ability to stabilize the platform to isolate disturbances is determined by the control accuracy of the platform servo system, and the maneuverability of the stabilized platform is determined by the rapidity of the platform servo system.
The current method commonly used in seeker stabilized platforms is PID control. The method is simple and effective in design, but in the face of disturbance of a complex environment, the PID disturbance rejection capability is limited, and in order to meet increasingly high tactical technical indexes, a corresponding controller needs to be designed to improve the rapidity and the disturbance rejection of the system.
Therefore, it is necessary to design a control method and a composite control system for a seeker stabilized platform, which have the advantages of simple structure and easy implementation, and also have rapidity and noise immunity.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a control method of a seeker stabilized platform, which adopts effective three-loop control of a current loop, a speed loop, a position loop and the like for the seeker stabilized platform so as to solve the problem of limited PID (proportion integration differentiation) interference rejection capability in the prior art.
The technical scheme of the invention is as follows: a control method for a seeker stabilization platform adopts three-loop control on the seeker stabilization platform, wherein the three loops are as follows: a current loop, a speed loop, and a position loop; the current loop is realized by adopting a brush motor PWM power driving chip, the speed loop is realized by a composite control strategy and comprises a Butterworth filter, a disturbance observer, a wave trap and an incomplete differential PID, and the position loop adopts a small integral PI or a proportional controller; the speed ring and the position ring are controlled by the following steps:
firstly, filtering a gyroscope by using a Butterworth filter;
secondly, identifying an open-loop system;
thirdly, designing a disturbance observer;
fourthly, adding a disturbance observer and then testing the frequency characteristic of the system;
fifthly, designing a wave trap; designing a wave trap according to the result of the frequency characteristic test of the system in the fourth step;
sixthly, adding a wave trap and then testing the frequency characteristic of the system;
seventhly, designing an incomplete differential PID controller; analyzing the frequency characteristic curve obtained in the sixth step, and designing an incomplete differential PID controller according to an analysis result;
eighthly, adding an incomplete differential PID controller and then testing the frequency characteristic of the speed closed-loop system;
designing a position ring controller; and the position ring adopts a small integral PI controller or a proportional controller, and the parameters of the controller are adjusted to obtain the system meeting the performance index.
Further, in the first step, a butterworth filter is designed according to the speed output steady-state error index of the stable platform of the seeker, and the butterworth filter adopts a second-order butterworth filter, analyzes the gyro filtering and determines the final cut-off frequency.
And further, in the second step, identifying the filtered open-loop system, acquiring system input and output data by adopting a frequency sweep method or a random noise method, processing the input and output data to obtain a frequency characteristic curve of the system, and identifying the system by utilizing a least square method based on a second-order linear transfer function model to obtain an open-loop system model.
Further, in the third step, designing a disturbance observer is realized by the following steps:
the method comprises the steps that firstly, noise and immunity are comprehensively considered, and a low-pass filter in the interference observer meeting requirements is obtained through repeated debugging;
secondly, obtaining a nominal model of the system according to the open-loop system model identified in the second step;
and step three, combining the system nominal model to finally obtain the interference observer meeting the requirements.
Further, in the fourth step, the sixth step and the eighth step, the frequency characteristic test is respectively performed on the system after the observer is added, the system after the trap is added and the closed-loop system of the speed after the incomplete differential PID controller is added, the frequency sweep method or the random noise method is adopted to obtain input and output data, and the input and output data are processed to obtain the frequency characteristic curve of the system.
Further, in the fifth step, referring to a system mechanical resonance suppression method, a wave trap is designed to suppress a convex hull region introduced by the system frequency characteristics after the disturbance observer is added.
Further, specific parameters of the wave trap determine the center frequency according to the highest point of the convex hull region.
Furthermore, the current loop is realized by hardware, and a current closed loop is realized according to a characteristic configuration coefficient of a hardware chip.
The invention also provides a composite control system of the seeker stabilization platform, which realizes the control of the seeker stabilization platform by the control method of the seeker stabilization platform, wherein the seeker stabilization platform adopts a pitching and yawing double-frame structure; and a detection system, a gyroscope and an angle sensor are arranged on the seeker stabilizing platform.
Furthermore, the detection system is installed on a stable platform of the seeker to serve as a load, the gyroscope is installed on the stable platform of the seeker to measure the angular speed of pitching and yawing, and the angle sensors are respectively installed on a pitching and yawing shaft to measure angular displacement.
The invention has the beneficial effects that: the invention provides a control method of a seeker stabilization platform, which adopts three-loop control such as an effective current loop, a speed loop, a position loop and the like for the seeker stabilization platform, can effectively improve the immunity and the rapidity of a system, and is easy to realize. In addition, the composite control system of the seeker stabilized platform has the advantages of being simple in structure and easy to achieve.
Drawings
FIG. 1 is a schematic diagram of a semi-active laser seeker system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a controller according to embodiment 1 of the present invention;
FIG. 3 is a block diagram of a controller according to embodiment 2 of the present invention;
FIG. 4 is a flow chart of a control method according to an embodiment of the present invention;
FIG. 5 is a comparison of Butterworth filters for embodiments of the present invention;
FIG. 6 is an open loop system identification curve according to an embodiment of the present invention;
FIG. 7 is an equivalent transformation of a disturbance observer according to an embodiment of the present invention;
FIG. 8 is a frequency characteristic of a system incorporating a disturbance observer according to an embodiment of the present invention;
FIG. 9 shows the frequency characteristics of the system after the wave trap is added in the embodiment of the present invention;
FIG. 10 is a velocity loop step response of an embodiment of the present invention;
FIG. 11 is a velocity closed loop frequency characteristic of an embodiment of the present invention;
FIG. 12 is a position closed loop step response of an embodiment of the present invention;
FIG. 13 is a diagram illustrating the relationship between isolation test platforms according to an embodiment of the present invention;
FIG. 14 is an isolation test output of an embodiment of the present invention.
In the figure, 10-optical system, 20-laser detector, 30-stable platform, 40-yaw motor, 50-angle sensor, 60-gyro, 70-speed loop, 80-incomplete integral PID controller, 90-wave trap, 100-second order Butterworth filter, 110-proportion controller, 120-potentiometer, 130-small integral PI controller.
Detailed Description
The invention will be described in further detail below with reference to the drawings and specific examples.
Example 1
A schematic diagram of a semi-active laser seeker system is shown in fig. 1, and includes an optical system 10, a laser detector 20, a stabilization platform 30, a yaw motor 40, and the like. Wherein the performance of the pitch frame in the electro-optically stabilized platform 30 is verified by employing the composite control system and control method set forth herein. The main indexes of the system are as follows: the maximum error of the speed steady state of the system is less than 0.2 degrees; the isolation degree of the system is less than or equal to 5% under the disturbance input of 1Hz at 7 degrees; the system speed loop 70 bandwidth is not less than 15 Hz.
The seeker stabilized platform 30 is of a pitching and yawing double-frame structure, and a detection system, a gyroscope 60 and an angle sensor 50 are mounted on the seeker stabilized platform 30. The detection system is mounted on the seeker stabilized platform 30 as a load, the gyroscope 60 is mounted on the seeker stabilized platform 30 for measuring the angular velocity of the pitch and yaw, and the angle sensors 50 are mounted on the pitch and yaw axes for measuring the angular displacement. Specifically, the gyro 60 is a MEMS gyro 60, and the angle sensor 50 is a potentiometer.
Specifically, the system is divided into a three-loop debug, i.e., a current loop, a speed loop 70, and a position loop. The current loop is realized by adopting a brush motor PWM power driving chip MSK4253, the current loop is realized by adopting hardware, and the current loop is realized according to the characteristic configuration coefficient of the hardware chip. After the system is assembled and connected with hardware, the driving chip is configured, and the bandwidth of a current loop is more than 1000 Hz.
Specifically, the bandwidth of the designed current loop reaches 1300 Hz.
As shown in fig. 2, the velocity loop 70 employs a composite control strategy including a butterworth filter, a disturbance observer, a trap 90, and an incomplete differential PID, and the position loop employs a proportional controller 110 (the black dashed line in the figure with an arrow part indicates a tracking mode specific to the seeker, and if the tracking mode is an instruction tracking mode, a potentiometer output and an instruction are used as a difference to generate a position controller control input, and if the tracking mode is an object tracking mode, a miss distance directly obtained by the laser detector 20 and data processing is used as an input to the position controller, where two modes are actually employed, and in the ninth step below, the position step response is an instruction tracking mode, and potentiometer feedback is employed, and in the isolation test, a detector processing mode, and potentiometer feedback is not employed). After the assembly work and the hardware wiring work of the system are completed, the control method of this embodiment is performed according to the flowchart shown in fig. 4 (the following methods all provide continuous models of the models, and in the debugging, a bilinear discretization method is required to perform discretization, and the sampling period is 1ms for the velocity loop 70 and 20ms for the position loop).
The speed loop 70 and the position loop are realized by the following steps:
firstly, filtering a gyro 60 by using a Butterworth filter; a butterworth filter is designed according to the speed output steady state error index of the seeker stabilization platform 30, and the second order butterworth filter 100 is adopted to analyze the filtering of the gyro 60 and determine the final cut-off frequency.
Specifically, the second order butterworth filter 100 is implemented in software. The butterworth filter is shown below:
wherein ω iscIs the cut-off frequency.
The cutoff frequency is selected to be 100Hz, and the steady state output of the system before and after filtering is finally obtained as shown in FIG. 5, so that the requirement that the maximum error of the steady state is less than 0.2 degrees/s is met.
Secondly, identifying an open-loop system; the filtered open-loop system is identified, the input and output data of the system can be obtained by adopting a frequency sweep method or a random noise method, and the input and output data are processed to obtain a frequency characteristic curve of the system. And identifying the system by using a least square method based on a second-order linear transfer function model to obtain an open-loop system model.
Specifically, a random noise method is adopted, the system inputs 10s of random noise with the amplitude of 0.3 DEG/s, the output value of the gyro 60 passing through the filter is collected, the input and the output are processed, the obtained baud graph of the system is shown as a curve (actually measured) in fig. 6, a second-order linear system and a least square method are adopted to identify the system, the identification curve is shown as a curve (fitted) in fig. 6, and the obtained nominal model of the system is
Thirdly, designing a disturbance observer; designing the disturbance observer is realized by the following steps:
the method comprises the steps that firstly, noise and immunity are comprehensively considered, and a low-pass filter in the interference observer meeting requirements is obtained through repeated debugging;
secondly, obtaining a nominal model of the system according to the open-loop system model identified in the second step;
and step three, combining the system nominal model to finally obtain the interference observer meeting the requirements.
Specifically, the interference observer is designed by using the basic idea of the interference observer proposed by c.j.kempf and the like and using an equivalent block diagram of the interference observer, as shown in fig. 6. The low-pass filter in the disturbance observer is designed by adopting a second-order linear model:
and finally determining the tau in the low-pass filter to be 0.005 by comprehensively considering the suppression capability on disturbance and the sensitivity on noise.
Since the disturbance observer can observe disturbances but is sensitive to noise, it needs to be designed with comprehensive consideration.
Fourthly, adding a disturbance observer and then testing the frequency characteristic of the system; the system added with the observer is subjected to frequency characteristic test, input and output data can be obtained by adopting a frequency sweep method or a random noise method, the input and output data are processed to obtain a frequency characteristic curve of the system, and the curve is analyzed and used for designing the wave trap 90.
Specifically, the model of the system after the disturbance observer is added is also changed, the frequency characteristic of the system is tested by adopting a random noise method, and the frequency characteristic response curve of the system obtained by the method according to the second step is shown in fig. 8, so that a convex area is formed in the system near a frequency point of 211.7 rad/s.
Fifthly, designing a wave trap 90; and (3) analyzing the frequency characteristics of the system by adopting the fourth step, so that the system frequency characteristics introduce a convex hull region due to the addition of the interference observer in the third step, the system needs to restrain the point, the trap 90 is designed to restrain the region by referring to a system mechanical resonance restraining method, and the specific parameters of the trap 90 determine the central frequency according to the highest point of the convex hull region.
In order to reduce the influence of the raised area on the system in the third step, the raised area is suppressed by means of a wave trap 90 with reference to the mechanical resonance suppression method. The trap 90 employs a dual T network trap 90:
the center frequency point of the double T network wave trap 90 is omegan＝211.7rad/s，Avf＝1。
The wave trap 90 is adopted to effectively restrain a system convex hull introduced by the disturbance observer, reduce the overshoot of the system and improve the bandwidth of the system.
Sixthly, adding the wave trap 90 and then testing the frequency characteristic of the system; the system added with the disturbance observer and the wave trap 90 is subjected to frequency characteristic test, input and output data can be obtained by adopting a frequency sweep method or a random noise method, the input and output data are processed to obtain a frequency characteristic curve of the system, and the curve is analyzed and used for designing an incomplete differential PID controller.
Specifically, the system frequency characteristic is tested by using a random noise method, and according to the second step, a frequency characteristic response curve of the system is obtained as shown in fig. 9. It can be seen that after the system adds the wave trap 90 in the region near the frequency point of 211.7rad/s, the system has no protrusions, which is better for the system control.
Seventhly, designing an incomplete differential PID controller; analyzing the frequency characteristic curve obtained in the sixth step, and designing an incomplete differential PID controller according to an analysis result; in order to improve the rapidity of the system, the P value in the PID needs to be increased, but the overshoot of the system is increased when the P value is increased, and the overshoot of the system can be effectively reduced by differentiation, so that the dynamic performance of the system is improved, and the incomplete differential PID is added.
Specifically, in order to improve the bandwidth of the system, an incomplete differential PID controller is adopted, and the transfer function of the incomplete differential PID controller is as follows:
the controller parameters are respectively proportional coefficient kp＝0.062，ki＝0.5，kd0.0002 and 500N. The step response of the system is as shown in fig. 10, the system rise time is 24ms, the overshoot is 3%, and the requirement is met.
Eighthly, adding an incomplete differential PID controller and then testing the frequency characteristic of the speed closed-loop system; the frequency characteristic test of the speed closed-loop system can be carried out by adopting a frequency sweep method or a random noise method to obtain input and output data, processing the input and output data to obtain a frequency characteristic curve of the system, and analyzing the curve for evaluating the characteristics of the system speed loop 70.
Specifically, the system frequency characteristic is tested by using a random noise method, and according to the second step, a frequency characteristic response curve of the system is obtained as shown in fig. 11. It can be seen that a system bandwidth of 24Hz is sufficient.
Designing a position ring controller; the position loop uses a proportional controller 110 to adjust the controller parameters to obtain a system that meets performance criteria. Since the current loop and the speed loop 70 have been used, in order to avoid controlling both loops with cascaded sections, the position loop uses the proportional controller 110 to achieve system position loop stabilization.
Specifically, the position loop adopts the proportional controller 110, the proportionality coefficient is 6.3, and the step output of the system is shown in fig. 12, which shows that the overshoot of the position loop output is small, and the steady-state error is less than 0.05 °. In order to verify the immunity of the seeker, a seeker performance test experiment is carried out on a five-axis turntable. The seeker experimental set-up is shown in schematic block diagram in FIG. 13. The seeker is installed on the three-axis rotary table, a laser simulator installed on the two-axis rotary table generates a target signal, and the three-axis simulation rotary table applies disturbance simulation projectile body disturbance with different amplitudes and different frequencies. Defining isolation describes system immunity, and isolation J is defined as:
ωout1.1 is the output angular velocity, ω, of the pitch axis gyro 60bThe angular velocity of the projectile disturbance is 43.98 in degrees/s, 7 × 1 × 2 pi. The seeker output angular velocity given a projectile disturbance of amplitude 7 ° and frequency 1Hz versus the isolation output of the system is shown in figure 13. The isolation is 2.5% in the test, and the system requirement is met.
Example 2
A schematic diagram of a semi-active laser seeker system is shown in fig. 1, and includes an optical system 10, a laser detector 20, a stabilization platform 30, a yaw motor 40, and the like. Wherein the performance of the pitch frame in the electro-optically stabilized platform 30 is verified by employing the composite control system and control method set forth herein. The main indexes of the system are as follows: the maximum error of the speed steady state of the system is less than 0.2 degrees; the isolation degree of the system is less than or equal to 5% under the disturbance input of 1Hz at 7 degrees; the system speed loop 70 bandwidth is not less than 15 Hz.
The seeker stabilized platform 30 is of a pitching and yawing double-frame structure, and a detection system, a gyroscope 60 and an angle sensor 50 are mounted on the seeker stabilized platform 30. The detection system is mounted on the seeker stabilized platform 30 as a load, the gyroscope 60 is mounted on the seeker stabilized platform 30 for measuring the angular velocity of the pitch and yaw, and the angle sensors 50 are mounted on the pitch and yaw axes for measuring the angular displacement. Specifically, the gyro 60 is a MEMS gyro 60, and the angle sensor 50 is a potentiometer.
Specifically, the system is divided into a three-loop debug, i.e., a current loop, a speed loop 70, and a position loop. The current loop is realized by adopting a brush motor PWM power driving chip MSK4253, the current loop is realized by adopting hardware, and the current loop is realized according to the characteristic configuration coefficient of the hardware chip. After the system is assembled and connected with hardware, the driving chip is configured, and the bandwidth of a current loop is more than 1000 Hz.
Specifically, the bandwidth of the designed current loop reaches 1300 Hz.
As shown in fig. 3, the velocity loop 70 employs a complex control strategy including a butterworth filter, a disturbance observer, a trap 90, and an incomplete differential PID, and the position loop employs a small-integral PI controller 130 (the black dashed line in the figure with an arrow part indicates a tracking mode specific to the seeker, and if the tracking mode is a command tracking mode, a potentiometer output and a command are used as a difference to generate a position controller control input, and if the tracking mode is a target tracking mode, a miss distance directly obtained by the laser detector 20 and data processing is used as an input to the position controller, where two modes are actually employed, and in the ninth step below, a position step response is a command tracking mode, and potentiometer feedback is employed, and in the isolation test, a detector processing mode is employed, and potentiometer feedback is not employed). After the assembly work and the hardware wiring work of the system are completed, the control method of this embodiment is performed according to the flowchart shown in fig. 4 (the following methods all provide continuous models of the models, and in the debugging, a bilinear discretization method is required to perform discretization, and the sampling period is 1ms for the velocity loop 70 and 20ms for the position loop).
The remainder of example 2 corresponds to example 1, with the difference from example 1: in the ninth step, the position loop is designed using a small integral PI controller 130.
Designing a position ring controller; the position loop uses a small integral PI controller 130 to adjust the controller parameters to obtain a system meeting performance indexes. Since the current loop and the speed loop 70 have been used, in order to avoid controlling two loops with cascaded sections, the position loop uses a small integral PI controller 130 to achieve system position loop stabilization.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include such modifications and variations.
Claims (10)
1. A control method for a seeker stabilized platform is characterized in that: the control method adopts three-ring control on the seeker stabilization platform, and the three rings are as follows: a current loop, a speed loop, and a position loop; the current loop is realized by adopting a brush motor PWM power driving chip, the speed loop is realized by a composite control strategy and comprises a Butterworth filter, a disturbance observer, a wave trap and an incomplete differential PID controller, and the position loop adopts a small integral PI controller or a proportional controller; the speed ring and the position ring are controlled by the following steps:
firstly, filtering a gyroscope by using a Butterworth filter;
secondly, identifying an open-loop system;
thirdly, designing a disturbance observer;
fourthly, testing the frequency characteristic of the speed open-loop system after the disturbance observer is added;
fifthly, designing a wave trap; designing a wave trap according to the result of the frequency characteristic test of the open-loop system in the fourth step;
sixthly, testing the frequency characteristic of the speed open-loop system after the wave trap is added;
seventhly, designing an incomplete differential PID controller; analyzing the frequency characteristic curve obtained in the sixth step, and designing an incomplete differential PID controller according to an analysis result;
eighthly, testing the frequency characteristic of the speed closed-loop system after the incomplete differential PID controller is added;
designing a position ring controller; and the position ring adopts a small integral PI controller or a proportional controller, and the parameters of the controller are adjusted to obtain the system meeting the performance index.
2. The method for controlling a seeker-stabilized platform of claim 1, wherein: in the first step, a Butterworth filter is designed according to the speed output steady-state error index of the stable platform of the seeker, and the Butterworth filter adopts a second-order Butterworth filter to analyze gyro filtering and determine the final cut-off frequency.
3. The method for controlling a seeker-stabilized platform of claim 1, wherein: and in the second step, identifying the filtered open-loop system, acquiring system input and output data by adopting a frequency sweep method or a random noise method, processing the input and output data to obtain a frequency characteristic curve of the system, and identifying the system by utilizing a least square method based on a second-order linear transfer function model to obtain an open-loop system model.
4. The method for controlling a seeker-stabilizing platform according to claim 3, wherein: in the third step, designing the disturbance observer is realized by the following steps:
the method comprises the steps that firstly, noise and immunity are comprehensively considered, and a low-pass filter in the interference observer meeting requirements is obtained through repeated debugging;
step two, obtaining a nominal model of the system according to the open-loop system model identified in the step two;
and step three, combining the system nominal model to finally obtain the interference observer meeting the requirements.
5. The method for controlling a seeker-stabilized platform of claim 1, wherein: and in the fourth step, the sixth step and the eighth step, respectively carrying out frequency characteristic test on the speed open-loop system after the observer is added, the speed open-loop system after the wave trap is added and the speed closed-loop system after the incomplete differential PID controller is added, obtaining input and output data by adopting a frequency sweep method or a random noise method, and processing the input and output data to obtain a frequency characteristic curve of the system.
6. The method for controlling a stabilized platform of a seeker as claimed in any one of claims 1 to 5, wherein: and in the fifth step, referring to a system mechanical resonance suppression method, designing a wave trap to suppress a convex hull region introduced by the system frequency characteristics after the interference observer is added.
7. The method of controlling a seeker-stabilizing platform according to claim 6, wherein: and specific parameters of the wave trap determine the central frequency according to the highest point of the convex hull region.
8. The method for controlling a stabilized platform of a seeker as claimed in any one of claims 1 to 5, wherein: the current loop is realized by hardware, and a current closed loop is realized according to the characteristic configuration coefficient of a hardware chip.
9. A composite control system of a seeker stabilization platform, which realizes the control of the seeker stabilization platform through the control method of the seeker stabilization platform according to any one of claims 1-8, and is characterized in that: the seeker stabilization platform adopts a pitching and yawing double-frame structure; and a detection system, a gyroscope and an angle sensor are arranged on the seeker stabilizing platform.
10. The composite control system for a seeker-stabilizing platform of claim 9, wherein: the detection system is installed on the seeker stabilized platform to serve as a load, the gyroscope is installed on the seeker stabilized platform to be used for measuring the angular speed of pitching and yawing, and the angle sensors are respectively installed on pitching and yawing shafts to be used for measuring the angular displacement.
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