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Position loop coordinate system conversion method of photoelectricity stable platform

A photoelectric stabilization platform, coordinate system conversion technology, applied in the field of servo control, can solve the problems of inability to guarantee accuracy, unsuitable integration, low efficiency, etc., and achieve the effect of increasing hardware circuits and costs

Active Publication Date: 2015-04-29
西安应用光学研究所
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method has two defects: one is the addition of hardware such as detection circuits and photoelectric switches; the other is that the photoelectric switch is a physical device, and its physical width can cause TTL signals to be detected in a wide range of angles. , the accuracy cannot be guaranteed
The disadvantage of this method is that the use of mechanical devices and manual operation is inefficient; the manual fork device used is not suitable for use in some systems with high integration and small internal space

Method used

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  • Position loop coordinate system conversion method of photoelectricity stable platform
  • Position loop coordinate system conversion method of photoelectricity stable platform
  • Position loop coordinate system conversion method of photoelectricity stable platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] Implementation example 1: Inner pitch (ie)

[0055] Step 1: Initialize variables: set counter I counter =0, position sensor polarity P=0, speed command Cmd=0, full motion time variable I time = 0;

[0056] Step 2: Open the speed loop, and calculate the speed command Cmd of the speed loop of the inner pitch by the following formula:

[0057] Cmd = ΔR t * V max * C max

[0058] In the formula, ΔR is the mechanical rotation angle of the load; t is the expected movement time of the load, V max is the maximum speed of the speed loop, C max is the speed command corresponding to the maximum speed, ΔR, V max 、C max Both are known quantities, the value of t makes Cmdmax , here is set to 4 seconds; then the speed command of the inner pitch speed loop is:

[0059]

[0060] Step 3: Acco...

Embodiment 2

[0080] Implementation Example 2: Inner Orientation (ia)

[0081] Step 1: Initialize variables: set counter I counter =0, position sensor polarity P=0, speed command Cmd=0, full motion time variable I time = 0;

[0082] Step 2: Open the speed loop, and calculate the speed command Cmd of the speed loop in the inner direction by the following formula:

[0083] Cmd = ΔR t * V max * C max

[0084] In the formula, ΔR is the mechanical rotation angle of the load; t is the expected movement time of the load, V max is the maximum speed of the speed loop, C max is the speed command corresponding to the maximum speed, ΔR, V max 、C max Both are known quantities, the value of t makes Cmdmax , here is set to 4 seconds; then the speed command of the inner azimuth speed loop is:

[0085]

[0086] ...

Embodiment 3

[0106] Implementation example three: outer pitch (oe)

[0107] Step 1: Initialize variables: set counter I counter =0, position sensor polarity P=0, speed command Cmd=0, full motion time variable I time = 0;

[0108] Step 2: Open the speed loop, and calculate the speed loop speed command Cmd of the outer pitch by the following formula:

[0109] Cmd = ΔR t * V max * C max

[0110] In the formula, ΔR is the mechanical rotation angle of the load; t is the expected movement time of the load, V max is the maximum speed of the speed loop, C max is the speed command corresponding to the maximum speed, ΔR, V max 、C max Both are known quantities, the value of t makes Cmdmax , here is set to 20 seconds; then the speed command of the outer pitch speed loop is:

[0111]

[0112] Step 3: Accord...

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Abstract

The invention provides a position loop coordinate system conversion method of a photoelectricity stable platform. The method is suitable for a limited corner motor transmission device which uses corner position sensors such as a rotating transformer and an absolute type photoelectric encoder. A speed loop of the photoelectricity stable platform is used, a load is subjected to trace and retrace constant speed driving in a time division mode, during a rotating process, the moving speed of the load is monitored in real time, and the moving speed is compared with a threshold value. When the threshold value condition is met, position loop left mechanical limiting and right mechanical limiting and approximate mechanical center position sensor source codes are read respectively, and then the polarity difference of a corner position sensor original coordinate system and a stable platform coordinate system is computed. Then, by computing, the corner position sensor coordinate system is mapped to the stable platform coordinate system. The method is automatically achieved completely by software, hardware cost is not increased, the mounting deviation of a corner position sensor and a mechanical rotating shaft can be removed, and the problems that in the past, mounting error requirements are strict, manual participation debugging efficiency is low are solved.

Description

technical field [0001] The invention belongs to the field of servo control, and mainly relates to a method for converting a position loop coordinate system of a photoelectric stabilized platform, in particular to a method for converting a position loop coordinate system of a photoelectric stabilized platform using a resolver or an absolute photoelectric encoder as an angular position sensor. Background technique [0002] The optoelectronic stabilized platform is an optoelectronic system installed on an armed carrier for searching, aiming, and striking targets. In order to isolate the carrier disturbance and stabilize the line of sight, the control system of the optoelectronic platform usually consists of a current loop, a speed loop and a position loop nested in sequence from the inside to the outside to form a multi-loop composite control to achieve higher stability and accuracy. The main function of the position loop is to respond to the operator's command and precisely co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/03
Inventor 王新伟吴玉敬贠平平韩瑞刘建伟惠治国武强牛静雷霏霖姜粉娥卢晓敏晁盛学
Owner 西安应用光学研究所