Method for optimizing visual real-time control performance of high-dynamic system and related device

Abstract

The invention provides a method for optimizing the visual real-time control performance of a high-dynamic system, which comprises the following steps: in a first computing platform, acquiring a real-time image frame of a high-dynamic controlled object, and inputting the real-time image frame into a visual measurement system to obtain motion information; calculating to obtain a control quantity by using a nominal controller; transmitting the first system control quantity output by the nominal controller to a second computing platform through a real-time channel; and in the second computing platform, computing a residual signal, and generating a control quantity for system performance optimization according to the residual signal. According to the method, decoupling of a control function and guarantee of calculation real-time performance are realized, robustness and precision of a visual measurement process can be ensured, online optimization can be carried out aiming at control performance attenuation in an operation process, and excellent control performance of a high-dynamic system is ensured in two aspects. The invention further provides a device for optimizing the visual real-time control performance of the high-dynamic system, a computer readable storage medium and a terminal, which have the above beneficial effects, and do not need to be repeated here.

Description

technical field [0001] The present application relates to the field of system control, in particular to a method for optimizing the real-time visual control performance of a high dynamic system and a related device. Background technique [0002] In the existing visual control system, the technical solutions adopted usually include the following two types: [0003] The first way is a visual measurement process with low computational complexity + an off-line designed controller. At this time, the visual measurement process and the offline designed controller are integrated on one computing platform (such as ARM, DSP, desktop, etc.), on the one hand, by reducing the computational complexity of the visual measurement process, shortening the impact of calculation delay; on the other hand On the one hand, the controller designed offline according to the prior model of the highly dynamic plant is used to reduce the calculation delay of the controller. [0004] The second way is t...

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Problems solved by technology

[0005] In the first method, it is difficult to select a visual measurement process with high computational complexity, and the accuracy and robustness of the visual measurement process cannot be further improved; in addition, the controller designed offline is difficult to deal with the unconstructed problems faced during the operation of the high dynamic system. Control performance attenuation caused by mode interference, slow attenuation of component performance, etc.

[0006] If the second method is adopted, it not only increases the system cost, but also cannot deal with the control performance attenuation caused by unmodeled interference and slow attenuation of component performance during the operation of the high dynamic system.

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