CN110646775B - Control method for quickly switching photoelectric radar from rotary scanning to staring mode - Google Patents
Control method for quickly switching photoelectric radar from rotary scanning to staring mode Download PDFInfo
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- CN110646775B CN110646775B CN201910947461.2A CN201910947461A CN110646775B CN 110646775 B CN110646775 B CN 110646775B CN 201910947461 A CN201910947461 A CN 201910947461A CN 110646775 B CN110646775 B CN 110646775B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
The invention discloses a control method for quickly switching a photoelectric radar from a rotary scanning mode to a staring mode. The method comprises the following steps: s1, knowing maximum angular acceleration omega of photoelectric radar m Obtaining the current angular velocity omega 0 (ii) a S2, calculating a clockwise dominant interval; s3, according to theta xr Determining the motion scheme according to the dominant interval, and planning from theta 0r To theta 1r The superposition process of the uniform acceleration and the uniform deceleration process provides the maximum angular acceleration omega for the azimuth rotating shaft of the photoelectric radar m And comparing the planned expected angular position and angular velocity with the current angular position and angular velocity feedback of the rotating shaft obtained by measurement of the existing tracking differentiator, and realizing the rapid switching of the photoelectric radar from the rotary scanning to the staring mode by adopting a proportional micro-powder controller. The invention can shorten the time for switching from the rotary scanning mode to the staring mode and fully exert the electric rotation capability and the braking capability of the photoelectric radar motor.
Description
Technical Field
The invention belongs to the technical field of photoelectric radar control, and particularly relates to a control method for quickly switching a photoelectric radar from a rotary scanning mode to a staring mode.
Background
When the photoelectric radar executes a defense task, the photoelectric radar mainly works in a rotary scanning mode, once a suspicious target is found, the photoelectric radar needs to be controlled to be quickly switched from the rotary scanning mode to a staring mode, an optical axis points to the suspicious target, and important reconnaissance is carried out.
Because the rotation load of the photoelectric radar is large, the traditional PID control has certain overshoot, only performs proportional-integral-derivative control mechanically, does not perform regulation and control with planning guidance, and does not perform path planning, and meanwhile, because the control end point of the traditional PID control method is mainly placed on the angular velocity change of a photoelectric radar rotating shaft, namely only the rotation speed regulation and control of a photoelectric radar motor are concerned, the electric rotation and braking capacity of the photoelectric radar motor cannot be fully exerted, so that the transition time of switching the photoelectric radar from a rotary scanning mode to a staring mode is long, and the task execution is not facilitated.
Disclosure of Invention
In order to overcome the technical problems in the background art and achieve the purpose of quickly switching the photoelectric radar from the rotary scanning mode to the staring mode, the invention provides a control method for quickly switching the photoelectric radar from the rotary scanning mode to the staring mode.
A control method for quickly switching a photoelectric radar from a rotary scanning mode to a staring mode comprises the following steps:
s1, acquiring a maximum angular acceleration omega m and a current angular velocity omega 0 of the photoelectric radar;
s2, calculating a clockwise dominant interval, and judging whether an angle difference theta xr in the clockwise direction between an angle position theta 0r of the orientation of the current photoelectric radar azimuth rotating shaft and a current target angle position theta 1r is in the clockwise dominant interval, wherein the clockwise dominant interval is smaller than an angle interval for final counterclockwise arrival when the angle interval is rotated from the theta 0r to the theta 1r, and the angle intervals except the clockwise dominant interval on the circumference are all counterclockwise dominant intervals;
s3, according to the advantageous interval of theta xr, determining a motion scheme of finally clockwise rotating to theta 1r or finally anticlockwise rotating to theta 1r, planning a superposition process of uniform acceleration and uniform deceleration processes from theta 0r to theta 1r, providing the maximum angular acceleration omega m for the azimuth rotating shaft of the photoelectric radar, comparing the planned expected angular position and angular velocity with the current angular position and angular velocity feedback of the rotating shaft obtained by measurement of the existing tracking differentiator, and realizing that the photoelectric radar is quickly switched from rotary scanning to a staring mode by adopting a proportional differentiation controller.
Further, when turning from θ 0r to θ 1r, the expression of the final clockwise arrival time is:
θ x is used to represent the angular difference in the clockwise direction between the angular position toward which the azimuth rotation axis of the photoelectric radar is oriented and the target angular position.
Further, when the terminal counterclockwise arrival time goes from θ 0r to θ 1r, the expression is:
θ x is used to represent the angular difference in the clockwise direction between the angular position toward which the azimuth rotation axis of the photoelectric radar is oriented and the target angular position.
Further, the clockwise dominance interval is an angle interval from θ b2 to θ b1 counterclockwise, that is, when θ xr is in the angle interval from θ b2 to θ b1 counterclockwise, that is, in the clockwise dominance interval;
when thetab 1 is tcw = tccw, solving the equation to obtain meaningful thetax;
θ b2 is θ x corresponding to the minimum value of tcw, i.e.
Further, when theta xr is in a clockwise dominant interval, determining to adopt a motion scheme finally rotating to theta 1r clockwise, and planning a superposition process of uniform acceleration and uniform deceleration processes from theta 0r to theta 1 r: the photoelectric radar azimuth rotating shaft needs to go through a uniform deceleration process along the counterclockwise direction, then go through a uniform acceleration process along the clockwise direction, finally uniformly decelerate until the angular velocity is 0, and simultaneously reach the current target angle position theta 1r.
Further, when the theta xr is in the counterclockwise dominant interval, determining to adopt a motion scheme finally turning to the theta 1r counterclockwise, and planning a superposition process of uniform acceleration and uniform deceleration processes from the theta 0r to the theta 1 r: the photoelectric radar azimuth rotating shaft needs to go through a uniform acceleration process along the anticlockwise direction, uniformly decelerates until the angular speed is 0, and reaches the current target angular position theta 1r.
In practical application, the photoelectric radar rotates anticlockwise in a rotary scanning mode, in order to realize the quick switching of a photoelectric radar control mode, the motor is required to rotate or brake at the maximum acceleration, and the motor can be simplified into the superposition of uniform acceleration and uniform deceleration processes no matter the photoelectric radar rotates clockwise or anticlockwise finally, and finally stops at a target angle position at which staring is required, and the angular velocity is 0.
When the angular position of the orientation rotating shaft of the photoelectric radar finally rotates clockwise to the target angular position, the following relationship exists between the time tcw and the angle theta x of the orientation rotating shaft of the photoelectric radar finally rotating clockwise to the target angular position
: when the angular position of the orientation rotating shaft of the photoelectric radar finally rotates anticlockwise to the target angular position, the following relation exists between the used time tccw and the angle theta x of the orientation rotating shaft of the photoelectric radar finally rotating anticlockwise to the target angular position:
when tcw = tccw, meaning that the final clockwise arrival time is equal to the final counterclockwise arrival time, after simultaneous equations, a meaningful θ x value is taken to obtain θ b1. Expression by tcw
It can be inferred from the equation hold condition that when tcw is a minimum,
namely, it is
From this it can be deduced that: the clockwise dominant interval is in an angle interval from theta b2 to theta b1.
Compared with the prior art, the invention has the following beneficial effects: the control method provided by the invention can intelligently plan the rotation of the photoelectric radar rotating shaft according to the current omega 0 and theta xr of the rotating shaft, so that the photoelectric radar can be switched from a rotary scanning mode to a staring mode in the optimal rotating direction, correspondingly, the larger angular acceleration of the rotating shaft can be kept, the electric rotating capability and the braking capability of a photoelectric radar motor can be fully exerted, and finally, a scheme for switching the photoelectric radar from the rotary scanning mode to the staring mode in the shortest time is found.
Drawings
FIG. 1: schematic angular position of example 1.
FIG. 2: and a photoelectric turret rotating shaft position control block diagram.
Detailed Description
The present invention will be further explained with reference to specific examples. The following examples are only for explaining the present invention, and the purpose of substituting data is to more specifically explain the present invention, but not to limit the present invention, and the technical solutions obtained by simple substitution and superposition based on the present invention should fall into the protection scope of the present invention.
Example 1
As shown in fig. 1, Ω m =500 °/s2 of a certain photoelectric radar, operates at an angular velocity of ω 0=100 °/s at a constant velocity counterclockwise in the rotational scanning mode, the current target angular position θ 1r =0 °, the angular position θ 0r =50 ° where the photoelectric radar azimuth rotation axis is oriented, and thus θ xr =50 °, and then the clockwise dominant interval is calculated:
Thetab 2 is the thetax value corresponding to the minimum value of tcw,
therefore, the clockwise dominant interval is an interval of θ xr from-10 ° to 119.17 °, and accordingly, the remaining angle interval is the counterclockwise dominant interval, whereas θ xr =50 ° in this embodiment, which is in an interval of-10 ° to 119.17 °, therefore, it is determined to adopt a motion scheme that finally turns clockwise to θ 1r, and a superposition process of uniform acceleration and uniform deceleration processes from θ 0r to θ 1r is planned: the photoelectric radar azimuth rotating shaft needs to go through a uniform deceleration process along the anticlockwise direction, then go through a uniform acceleration process along the clockwise direction, finally uniformly decelerate until the angular speed is 0, and simultaneously reach the current target angular position theta 1r. The planned expected angular position and angular velocity are compared with the current angular position and angular velocity feedback of the rotating shaft obtained by measurement of the existing tracking differentiator, the photoelectric radar can be switched from a rotary scanning mode to a staring mode quickly by adopting a proportional differentiation controller, and a control process block diagram is shown in fig. 2.
Claims (6)
1. A control method for quickly switching a photoelectric radar from a rotary scanning mode to a staring mode is characterized by comprising the following steps: the method comprises the following steps:
s1, acquiring a maximum angular acceleration omega m and a current angular velocity omega 0 of the photoelectric radar;
s2, calculating a clockwise dominant interval, and judging whether an angle difference theta xr in the clockwise direction between an angle position theta 0r of the orientation of the current photoelectric radar azimuth rotating shaft and a current target angle position theta 1r is in the clockwise dominant interval, wherein the clockwise dominant interval is smaller than an angle interval for final counterclockwise arrival when the angle interval is rotated from the theta 0r to the theta 1r, and the angle intervals except the clockwise dominant interval on the circumference are all counterclockwise dominant intervals;
s3, according to the advantageous interval of theta xr, determining a motion scheme of finally clockwise rotating to theta 1r or finally anticlockwise rotating to theta 1r, planning a superposition process of uniform acceleration and uniform deceleration processes from theta 0r to theta 1r, providing the maximum angular acceleration omega m for the azimuth rotating shaft of the photoelectric radar, comparing the planned expected angular position and angular velocity with the current angular position and angular velocity feedback of the rotating shaft obtained by measurement of the existing tracking differentiator, and realizing that the photoelectric radar is quickly switched from rotary scanning to a staring mode by adopting a proportional differentiation controller.
2. A control method for fast switching of a photoelectric radar from a rotational scan to a gaze mode according to claim 1, characterized in that: when the angle is changed from theta 0r to theta 1r, the expression of the final clockwise arrival time is as follows:
θ x is used to represent the angular difference in the clockwise direction between the angular position toward which the azimuth rotation axis of the photoelectric radar is oriented and the target angular position.
3. A control method for fast switching of a photoelectric radar from a rotational scan to a gaze mode according to claim 1, characterized in that: when the terminal counterclockwise arrival time is converted from theta 0r to theta 1r, the expression is as follows:
thetax is used to represent the angular difference in the clockwise direction between the angular position at which the azimuth rotation axis of the photoelectric radar is oriented and the target angular position.
4. A control method for fast switching of a photoelectric radar from a rotational scan to a gaze mode according to claim 2 or 3, characterized by: the clockwise dominant interval is an angle interval from theta b2 to theta b1, namely when theta xr is in the angle interval from theta b2 to theta b1, the clockwise dominant interval is formed;
when the theta b1 is tcw = tccw, solving the equation to obtain meaningful theta x;
θ b2 is θ x when tcw is a minimum value, i.e.
5. A control method for fast switching of a photoelectric radar from a rotational scan to a gaze mode according to claim 1, characterized in that: when theta xr is in the clockwise dominant interval, determining to adopt a motion scheme of finally rotating to theta 1r clockwise, and planning a superposition process of uniform acceleration and uniform deceleration processes from theta 0r to theta 1 r: the photoelectric radar azimuth rotating shaft needs to go through a uniform deceleration process along the counterclockwise direction, then go through a uniform acceleration process along the clockwise direction, finally uniformly decelerate until the angular velocity is 0, and simultaneously reach the current target angle position theta 1r.
6. A control method for fast switching of a photoelectric radar from a rotational scan to a gaze mode according to claim 1, characterized in that: when theta xr is in the anticlockwise dominant interval, determining to adopt a motion scheme of finally turning to theta 1r anticlockwise, and planning a superposition process of uniform acceleration and uniform deceleration processes from theta 0r to theta 1 r: the photoelectric radar azimuth rotating shaft needs to go through a uniform acceleration process along the anticlockwise direction, uniformly decelerates until the angular speed is 0, and reaches the current target angular position theta 1r.
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| CN111948624B (en) * | 2020-07-27 | 2024-07-09 | 中国科学技术大学 | Tracking control method and system for non-road mobile pollution source detection laser radar |
| CN114488188A (en) * | 2022-02-28 | 2022-05-13 | 重庆文理学院 | Control method for improving measuring efficiency of one-dimensional laser radar |
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