CN111665872A - Two-axis two-frame stability control method based on equivalent transformation - Google Patents
Two-axis two-frame stability control method based on equivalent transformation Download PDFInfo
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Abstract
The invention belongs to the technical field of servo control, and particularly relates to a two-axis two-frame stable control method based on equivalent transformation. According to the invention, the three-axis integrated inertia measurement element is directly and rigidly connected with the aiming line, so that the measurement error and the mathematical transformation error can be reduced, the inertial speed of the aiming line can be directly reflected, and the measurement precision can be effectively improved; the control method of the two-frame system is subjected to mathematical transformation, and a linear link and a nonlinear link which influence the overhead stability of the two-frame system are distinguished, so that the full working range stability of the two-axis system is realized through a stable azimuth motor shaft, the nonlinear speed disturbance of an aiming line caused by the roll disturbance of an azimuth frame rotor is compensated through a feedforward mode, and the complete stable control of the azimuth of the aiming line can be realized through the combined action of the two links.
Description
Technical Field
The invention belongs to the technical field of servo control, and particularly relates to a two-axis two-frame stability control method based on equivalent transformation.
Background
With the popularization of unmanned aerial vehicle technology in military and civil fields in recent years, photoelectric stabilized platforms based on unmanned aerial vehicle systems are widely applied. Install the photoelectricity stabilized platform on unmanned aerial vehicle, its main use is that keep apart the machine-carried disturbance, provides better dynamic operational environment for inside photoelectricity load, continues to output stable clear regional image to the user, realizes functions such as observation, shooting, tracking, location to the target. For a small-sized fixed wing or multi-rotor unmanned platform, the unmanned platform is limited by various factors such as takeoff weight, endurance, cost control and the like, most photoelectric stabilized platforms adopt a two-shaft two-frame system with simple and compact structural forms, and more size spaces and weights are distributed to photoelectric sensors, so that the optical performance of the photoelectric stabilized platform is improved.
The stable platform with two shafts and two frames usually adopts an azimuth-pitching type universal frame, an inertia measuring element and a photoelectric load are installed on the pitching frame together, and the measuring element directly senses the inertia motion of an optical shaft, so that the visual axis stability can be completed by utilizing the output signal of the measuring element to form negative feedback control. The sensitive shaft and the driving shaft of the aiming line pitching shaft are coaxial all the time, and the motion control of the aiming line pitching shaft is free from problems; limited by the characteristics of the structural form, the non-linear relation exists between the sighting line azimuth sensitive shaft and the driving shaft due to the change of the pitch angle: when the pitch angle is 0, the two are coaxial, so that the optimal control performance can be ensured; as the pitch angle increases, the gain between the drive shaft and the sensitive shaft becomes smaller and smaller, and when the gain is zero at-90 degrees, the system will open loop, i.e. there is a frame lock in the over-top position. Theoretically, attenuation of gain can be compensated through secant transformation, but the secant compensation can amplify system noise, and when the angle is large, the signal-to-noise ratio is reduced sharply, and the system cannot work normally.
Patent 'a two-axis two-frame gyro stabilizing device' with application number 201220639363.6 discloses a stabilizing control method for two frames, which installs an azimuth gyro on an azimuth motor shaft and a pitch gyro on a pitch motor shaft, so that a sensitive shaft and a motor execution shaft are always coaxial, and the stability problem under a pitch high angle does not exist. However, an obvious defect of the method is that the roll motion of the azimuth rotor in the inertial space is not sensed by the azimuth gyroscope, but the roll motion has a projection component to the azimuth motion of the aiming line, so that the method can only realize the inertial stability of a motor shaft and cannot realize the inertial stability of the aiming line;
the patent with application number 201710771960.1 discloses a method for compensating the aiming line precision of a two-axis two-frame stable platform, which adopts three independent gyros respectively arranged on an azimuth base, a roll base and a pitch axis, and realizes the resolving and compensating of the aiming line through Euler transformation. The method has the problems that orthogonality cannot be guaranteed between the dispersedly installed gyros, and transformation errors are introduced; and the indirect measurement of the visual axis disturbance can cause larger error due to the problems of rotating shaft clearance and the like, and the quality of a control loop is not high.
Disclosure of Invention
Technical problem to be solved
The invention aims to solve the technical problems of how to avoid measurement and shafting orthogonal transmission resolving errors, how to realize system stability in the whole working angle range and simultaneously realize complete compensation for aiming lines.
(II) technical scheme
In order to solve the technical problem, the invention provides a two-axis two-frame stability control method based on equivalent transformation, which comprises the following steps:
step 1: the three-axis integral inertia measuring element is rigidly connected with a visual axis of the sensor to directly measure the three-axis inertia speed of the aiming line and obtain the current pitching inertia speed value of the aiming line
Roll inertia velocity value
Azimuthal inertial velocity value
Step 2: value of pitch inertia velocity
After the difference value between the command of the pitching frame and the command of the pitching frame is modulated by a PID controller, a motor of the pitching frame is driven to eliminate the difference value, and a closed-loop control system of the pitching frame can be formed to realize the stability of the pitching direction of the aiming line;
and step 3: calculating roll disturbance of azimuth frame rotor
Wherein θ is a pitch frame angle measurement;
delta theta is a deviation correction angle between a pitching zero position and a gyro installation zero position;
and 4, step 4: calculating an azimuth disturbance amount of an azimuth frame rotor
And 5: disturbance of azimuth frame rotor
After the instruction difference value of the azimuth frame rotor is modulated by a PID controller, an azimuth frame motor is driven to eliminate the control error, and an azimuth frame closed-loop control system can be formed to realize the inertial stability of the azimuth frame, and the bandwidth of the azimuth frame closed-loop control system is set to be omegaB；
Step 6: calculating the speed disturbance quantity of the roll disturbance of the azimuth frame rotor to the azimuth direction of the sight line
And 7: using second-order low-pass filter to disturb speed
Filtering is carried out with a transfer function of
wherein ,
the filtered velocity disturbance quantity, ξ the damping coefficient, omegalpIs the filter cut-off frequency;
and 8: the filtered velocity disturbance quantity
Taking the inverse, inputting the inverse as a feedforward correction signal into the azimuth frame closed-loop control system, namely compensating the speed disturbance in the step 6
And realizing the inertial stability of the direction of the sight line.
Wherein the Δ θ value is determined experimentally by:
under the condition of a static base, the azimuth frame rotor is rotated, and the value of delta theta is adjusted to ensure that
When 0, this value is the correct mounting deviation correction angle Δ θ.
Wherein xi is set between 0.5 and 0.7.
Wherein, the ω islpIs the cut-off frequency of the filter, the value of which is equal to the bandwidth omega of the closed loop of the motor shaft of the azimuth axisBAnd current pitch angle (θ + Δ θ):
if (theta + delta theta)>θfωlp＝αωB；
If (theta + delta theta)<θfωlp＝0.1～αωB；
Wherein α is frequency coefficient, thetafTo compensate for the critical angle.
Wherein the value of alpha is between 0.7 and 0.9.
Wherein, the thetafDetermined by the test method:
will be provided with
Inputting the signal as a feedforward correction signal into an azimuth frame closed-loop control system, rotating a pitching frame, moving the pitching frame from a zero position to a direction of minus 90 degrees until the azimuth frame is in critical oscillation, wherein the angle (theta + delta theta) of the pitching frame is thetaf。
The three-axis integrated inertia measurement element is a three-axis integrated MEMS gyroscope.
The three-axis integrated inertial measurement unit is a three-axis integrated IMU inertial measurement unit.
(III) advantageous effects
In order to solve the problems in the prior art, the invention provides a two-axis two-frame stability control method based on equivalent transformation, which has no measurement and shafting orthogonal transmission resolving errors, can realize system stability in the whole working angle range, and can realize complete compensation for a sight line.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts inertia measurement elements such as a triaxial integrated gyroscope or IMU and the like and is directly and rigidly connected with the aiming line, thereby reducing the measurement error and mathematical transformation error caused by axial installation deviation, axial clearance, scale factors, environmental temperature difference and the like, directly reflecting the inertial speed of the aiming line and effectively improving the measurement precision;
(2) the control method of the two-frame system is subjected to mathematical transformation, and a linear link and a nonlinear link which influence the overhead stability of the two-frame system are distinguished, so that on one hand, the full working range stability of the two-axis system is realized through a stable azimuth motor shaft, on the other hand, the nonlinear speed disturbance of an aiming line caused by the roll disturbance of an azimuth frame rotor is compensated through a feedforward mode, and the combined action of the two can realize the complete stable control of the azimuth of the aiming line;
(3) the invention can keep the performance consistency of the control loop in the full working range, and the related key parameters can be obtained by a simple test method, thereby having better project realizability;
(4) the specific implementation of the technical scheme of the invention can be directly realized through codes, the invention is suitable for most of two-frame systems in the azimuth-pitch form, and the mathematical idea can be popularized to the two-frame system adopting the roll-pitch or azimuth-roll form gimbal, so that the invention has good portability and wide application value.
Drawings
Fig. 1 is a schematic block diagram of a stabilization control method according to an embodiment of the present invention.
Fig. 2 is a schematic view of the roll disturbance compensation principle of the azimuth frame rotor of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
In order to solve the problems in the prior art, the invention provides a two-axis two-frame stability control method based on equivalent transformation, as shown in fig. 1 and 2, comprising the following steps:
step 1: the three-axis integral inertia measuring element is rigidly connected with a visual axis of the sensor to directly measure the three-axis inertia speed of the aiming line and obtain the current pitching inertia speed value of the aiming line
Roll inertia velocity value
Azimuthal inertial velocity value
Step 2: value of pitch inertia velocity
After the difference value between the command of the pitching frame and the command of the pitching frame is modulated by a PID controller, a motor of the pitching frame is driven to eliminate the difference value, and a closed-loop control system of the pitching frame can be formed to realize the stability of the pitching direction of the aiming line;
and step 3: calculating roll disturbance of azimuth frame rotor
Wherein θ is a pitch frame angle measurement;
delta theta is a deviation correction angle between a pitching zero position and a gyro installation zero position;
and 4, step 4: calculating an azimuth disturbance amount of an azimuth frame rotor
And 5: disturbance of azimuth frame rotor
After the instruction difference value of the azimuth frame rotor is modulated by a PID controller, an azimuth frame motor is driven to eliminate the control error, and an azimuth frame closed-loop control system can be formed to realize the inertial stability of the azimuth frame, and the bandwidth of the azimuth frame closed-loop control system is set to be omegaB；
Step 6: calculating the speed disturbance quantity of the roll disturbance of the azimuth frame rotor to the azimuth direction of the sight line
And 7: using second-order low-pass filter to disturb speed
Filtering is carried out, and the transfer function is:
wherein ,
the filtered velocity disturbance quantity, ξ the damping coefficient, omegalpIs the filter cut-off frequency;
and 8: the filtered velocity disturbance quantity
Taking the inverse, inputting the inverse as a feedforward correction signal into the azimuth frame closed-loop control system, namely compensating the speed disturbance in the step 6
And realizing the inertial stability of the direction of the sight line.
Wherein the Δ θ value is determined experimentally by:
under the condition of a static base, the azimuth frame rotor is rotated, and the value of delta theta is adjusted to ensure that
When 0, this value is the correct mounting deviation correction angle Δ θ.
Wherein xi is set between 0.5 and 0.7.
Wherein, the ω islpIs the cut-off frequency of the filter, the value of which is equal to the bandwidth omega of the closed loop of the motor shaft of the azimuth axisBAnd current pitch angle (θ + Δ θ):
if (theta + delta theta)>θfωlp＝αωB；
If (theta + delta theta)<θfωlp＝0.1～αωB；
Wherein α is frequency coefficient, thetafTo compensate for the critical angle.
Wherein the value of alpha is between 0.7 and 0.9.
Wherein, the thetafDetermined by the test method:
will be provided with
Inputting the signal as a feedforward signal into a position frame closed-loop control system, rotating a pitching frame, moving the pitching frame from a zero position to a direction of minus 90 degrees until the position frame is in critical oscillation, wherein the angle (theta + delta theta) of the pitching frame is thetaf。
The three-axis integrated inertia measurement element is a three-axis integrated MEMS gyroscope.
The three-axis integrated inertial measurement unit is a three-axis integrated IMU inertial measurement unit.
Example 1
The embodiment is a certain type of two-shaft two-frame photoelectric pod, which is hung on a certain unmanned aerial vehicle platform, adopts an azimuth-pitching type universal frame, integrates a photoelectric imaging sensor and an electromechanical element in the azimuth-pitching type universal frame, adopts a three-shaft integrated MEMES gyro STIM210 as an inertial measurement element, and adopts an embedded computer as an MCU unit to realize a control algorithm. In order to solve the problems of overhead stability and gain attenuation of a two-frame system, the method disclosed by the invention is adopted to stably control the aiming line.
As shown in fig. 1 and fig. 2, the present invention is further detailed below by combining with the specific implementation of the stability control algorithm and the parameter tuning:
step 1: the three-axis integrated MEMS gyroscope STIM210 is rigidly connected with a visual axis of the sensor, directly measures the inertial velocity of a sighting line, the embedded computer receives and decodes the output signal of the gyroscope through a serial port, and the instantaneous values of the pitching, rolling and azimuth inertial velocities of the sighting line are
Step 2: programming programs and PID controllers in embedded computers
After the difference value between the command of the pitching frame and the command of the pitching frame is modulated by a PID controller, a motor of the pitching frame is driven to eliminate the difference value and form a closed-loop control system of the pitching frame, so that the pitching direction stability of the aiming line can be realized;
and step 3: calculating roll disturbance of azimuth frame rotor
Rotating the azimuth frame rotor under static base conditions, observing
Real-time calculating the result and continuously adjusting the value of delta theta
When the angle is 0, the installation deviation correction angle delta theta is-0.0454 radian, which indicates that the position difference between the currently defined zero position of the pitching frame and the physical zero position of the gyroscope is 2.6 degrees;
and 4, step 4: calculating the orientation disturbance of the rotor in the orientation frame
And 5: programming programs and PID controllers in embedded computers
After the difference value of the direction frame command and the direction frame command is modulated by a PID controller, a direction frame motor is driven to eliminate the difference value and form a direction frame closed-loop control system, so that the direction frame can be stably controlled, the controller parameters are adjusted, and the control bandwidth is 35 Hz;
step 6: calculating the speed disturbance quantity of the roll disturbance of the azimuth frame rotor to the azimuth direction of the sight line
And 7: will be provided with
Inputting the signal as feedforward correction into a closed-loop control system of the azimuth frame, rotating the pitching frame, moving from a zero position to a direction of-90 degrees, and oscillating the azimuth frame about-70 degrees, namely compensating a critical angle thetaf-1.222 radians;
filter cut-off frequency omegalpThe variation with pitch angle is planned as follows:
if (theta + delta theta) > -1.222
ωlp＝0.707ωB＝0.707*35*2*pi＝24.7Hz＝155.2rad
If (theta + delta theta) < -1.222
ωlp＝(0.3+(θ+Δθ+3.1415)/20*24.4)*2*pi
Filtering out azimuth frame closed-loop control system unresponsiveness before compensating for critical angle
The hysteresis cut-off frequency of the compensation critical angle is linearly attenuated to 0.3Hz along with the change of the pitch angle;
using second-order low-pass filter to disturb speed
Filtering, wherein the expression is as follows:
discretizing the filter by adopting bilinear transformation, and writing codes to realize:
temp＝4+4*e*w*t+w*t*w*t；
b0＝w*t*w*t/temp；
b1＝2*w*t*w*t/temp；
b2＝b0；
a1＝(8-2*w*t*w*t)/temp；
a2＝-(4-4*e*w*t+w*t*w*t)/temp；
ink2＝ink1；
outk2＝outk1；
wherein temp is an intermediate variable, e is a damping coefficient xi, and is set to be 0.6, so that the phase and amplitude of the low-frequency signal before the inflection point of the cut-off frequency can be ensured not to be influenced;
t is the program run period, here 0.001 second;
w is the cut-off frequency omegalp；
b0, b1, b2, a1 and a2 are filter parameters after bilinear transformation;
ink1 and outk1 are respectively input and output of the last 1 operation period, and ink2 and outk2 are respectively input and output of the last 2 operation periods;
and 8: the filtered velocity disturbance quantity
Taking the inverse, inputting the inverse as a feedforward correction signal into the azimuth frame closed-loop control system, namely compensating the speed disturbance in the step 6
And the stability of the direction of the sight line is realized.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A two-axis two-frame stability control method based on equivalent transformation is characterized by comprising the following steps:
step 1: the three-axis integral inertia measuring element is rigidly connected with the visual axis of the sensor to directly measure the three-axis inertia speed of the aiming line and obtain the aiming lineForward pitch inertial velocity value
Roll inertia velocity value
Azimuthal inertial velocity value
Step 2: value of pitch inertia velocity
After the difference value between the command of the pitching frame and the command of the pitching frame is modulated by a PID controller, a motor of the pitching frame is driven to eliminate the difference value, and a closed-loop control system of the pitching frame can be formed to realize the stability of the pitching direction of the aiming line;
and step 3: calculating roll disturbance of azimuth frame rotor
Wherein θ is a pitch frame angle measurement;
delta theta is a deviation correction angle between a pitching zero position and a gyro installation zero position;
and 4, step 4: calculating an azimuth disturbance amount of an azimuth frame rotor
And 5: disturbance of azimuth frame rotor
After the instruction difference value of the azimuth frame rotor is modulated by a PID controller, an azimuth frame motor is driven to eliminate the control error, and an azimuth frame closed-loop control system can be formed to realize the inertial stability of an azimuth frame, and the bandwidth of the azimuth frame closed-loop control system is set to be omegaB；
Step 6: calculating the speed disturbance quantity of the roll disturbance of the azimuth frame rotor to the azimuth direction of the sight line
And 7: using second-order low-pass filter to disturb speed
Filtering is carried out, and the transfer function is:
wherein ,
the filtered velocity disturbance quantity, ξ the damping coefficient, omegalpIs the filter cut-off frequency;
and 8: the filtered velocity disturbance quantity
Taking the inverse, inputting the inverse as a feedforward correction signal into the azimuth frame closed-loop control system, namely compensating the speed disturbance in the step 6
And realizing the inertial stability of the direction of the sight line.
2. A two-axis two-frame stability control method based on equivalent transformation as set forth in claim 1, wherein the Δ θ value is determined experimentally:
under the condition of a static base, the azimuth frame rotor is rotated, and the value of delta theta is adjusted to ensure that
When 0, this value is the correct mounting deviation correction angle Δ θ.
3. The two-axis two-frame stability control method based on equivalent transformation as set forth in claim 1, wherein ξ is set between 0.5 and 0.7.
4. The equivalent transformation-based two-axis two-frame stability control method of claim 1, wherein ω is ωlpIs the filter cut-off frequency, the value of which is related to the azimuth frame closed loop system bandwidth omegaBAnd current pitch angle (θ + Δ θ):
if (theta + delta theta)>θfωlp＝αωB；
If (theta + delta theta)<θfωlp＝0.1～αωB；
Wherein α is frequency coefficient, thetafTo compensate for the critical angle.
5. The two-axis two-frame stability control method based on equivalent transformation as claimed in claim 4, wherein the value of α is between 0.7 and 0.9.
6. The equivalent transformation-based two-axis two-frame stability control method of claim 4, wherein θ isfDetermined by the test method:
will be provided with
As a feed-forward correction signal into the azimuth frame closed-loop control system, the pitch frame is rotatedThe zero position moves towards the direction of minus 90 degrees until the azimuth frame is in critical oscillation, and the angle (theta + delta theta) of the pitching frame is thetaf。
7. The two-axis two-frame stability control method based on equivalent transformation as claimed in claim 1, wherein the three-axis integrated inertial measurement unit is a three-axis integrated MEMS gyroscope.
8. A two-axis two-frame stability control method based on equivalent transformation as claimed in claim 1, wherein the three-axis integrated inertial measurement unit is a three-axis integrated IMU inertial measurement unit.
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| CN114879748B (en) * | 2022-04-11 | 2024-04-30 | 西北工业大学 | Electronic image stabilization-based inertial stabilization platform stabilization increasing method |
| CN114859984A (en) * | 2022-04-27 | 2022-08-05 | 西安应用光学研究所 | Pitching stabilization method under high-speed rotation of two-axis photoelectric search system of moving platform |
| CN114859984B (en) * | 2022-04-27 | 2024-08-13 | 西安应用光学研究所 | Pitching stabilization method of movable platform two-axis photoelectric search system under azimuth high-speed rotation |
| CN116907542A (en) * | 2023-07-14 | 2023-10-20 | 中国科学院长春光学精密机械与物理研究所 | Calibration system and calibration method for orthogonal position of triaxial inertial stabilized platform |
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