Dynamic platform control method and device, storage medium and system

Abstract

The invention discloses a dynamic platform control method and device, a storage medium and a system, and belongs to the technical field of servo control, and the method comprises the steps: obtaining the current coordinates and fixed point coordinates of a dynamic platform, calculating the control flow of the servo in a period of time according to the obtained data, and enabling the control flow to comprise the control value of the dynamic platform at each moment; calculating a control compensation predicted value according to a preset time coefficient and the control value, and compensating the control value of the dynamic platform at the next moment according to the control compensation predicted value to obtain a new control value; on the basis of the new control value, the control flow is used as a sliding window, and the control flow is updated through a head interpolation method; according to the updated control flow, a control instruction is sent to perform corresponding control on the dynamic platform; according to the method, the compensation prediction value is predicted and controlled by accumulating the dynamic platform control value queues according to the issued control value, the compensation effect is optimized for specific conditions by adjusting the preset correlation coefficient, and the accuracy of dynamic platform control is improved.

Description

Technical Field

[0001] The invention relates to a dynamic platform control method, device, storage medium and system, and belongs to the technical field of servo control. Background Art

[0002] A dynamic platform is a large two-dimensional servo turntable installed on a movable carrier with large fluctuations, such as a vehicle or ship. A dynamic platform generally works in a non-static environment where the azimuth, pitch, and roll change dynamically over time, and the position coordinates also change. In order to ensure availability, when the servo fixed-point control is continuously performed during work, certain requirements are placed on the servo pointing accuracy.

[0003] Large servos have the following problems in maintaining accuracy during continuous control: 1. They are relatively large in size. Due to factors such as inertia, the servo requires a relatively long control time to achieve positioning control of azimuth and pitch (the maximum control speed in the two dimensions of azimuth and pitch is generally less than 35° / s); 2. The azimuth and pitch control frequency is limited (the control frequency is about 50Hz); 3. The acquisition of their own position and attitude status depends on external devices such as inertial navigation, and there is a certain time interval for the inertial navigation status to be refreshed.

[0004] In continuous motion, the dynamic platform needs to obtain its current position and attitude information to control its own direction, and then calculate the azimuth and pitch angle that should be controlled at the next moment according to the specific required direction, and then calculate the specific control value and control speed according to the current control angle, and finally send the control command to the motor. During the control process, the platform will shake randomly over time. Due to the existence of the above problems, the dynamic platform will produce control errors due to changes in its own state during the time interval of each process of obtaining its own state, calculating control parameters, and sending control commands. This error accumulates over time and will produce large control drift, which will eventually lead to a large loss of precision and poor control accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide a dynamic platform control method, device, storage medium and system to solve the problem of poor control accuracy in the prior art.

[0006] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a dynamic platform control method, comprising: Acquire the position coordinates and motion posture of the dynamic platform, acquire the fixed point coordinates to which the dynamic platform needs to point, and calculate the control flow of the servo within a period of time based on all the acquired data, wherein the control flow includes the control value of the dynamic platform at each moment; Calculate a control compensation prediction value according to a preset time coefficient and the control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; Based on the new control value, the control stream is used as a sliding window, and the control stream is updated by a head interpolation method; Control instructions are issued according to the updated control flow to control the dynamic platform accordingly.

[0007] Furthermore, the control compensation prediction value is calculated according to the preset time coefficient and the control value, and is calculated by the following formula: Δ a m =( a 1- a m ) / ( t 1- t m ); Among them, Δ a m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, t m yes m time, and m < n , n is the maximum moment in the control flow.

[0008] Furthermore, the control value of the dynamic platform at the next moment is compensated according to the control compensation prediction value to obtain a new control value, which is performed by the following formula: a 0= a 1+ k Δ a m t ; in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0009] Furthermore, the control value includes an azimuth angle control value and an elevation angle control value.

[0010] Furthermore, based on the new control value, the control stream is used as a sliding window, and the control stream is updated by a head interpolation method, including: Control Flow A= { a 1, a 2, ..., a n},in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at time 1, t 1 is the current moment; Assign the new control value to a 1. Change the original a The value 1 is assigned to a 2, ..., the original a n-1 The value of a n , the original a n throw away.

[0011] Furthermore, whenever a new control value appears, the following operations are performed again: based on the new control value, the control flow is used as a sliding window and the control flow is updated by head interpolation.

[0012] In a second aspect, the present invention provides a dynamic platform control device, comprising: The control flow calculation module is configured to: obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed point coordinates that the dynamic platform needs to point to, and calculate the control flow of the dynamic platform within a period of time based on all the acquired data, wherein the control flow includes the control value of the dynamic platform at each moment; A control value compensation module is configured to: calculate a control compensation prediction value according to a preset time coefficient and the control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; A control flow updating module is configured to: based on the new control value, take the control flow as a sliding window and update the control flow by a head interpolation method; The dynamic platform control module is configured to issue control instructions according to the updated control flow to control the dynamic platform accordingly.

[0013] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, which, when executed by a processor, implements the steps of the dynamic platform control method described in any one of the first aspects.

[0014] In a fourth aspect, the present invention provides a dynamic platform control system, including an inertial navigation system, a dynamic platform, and an embedded host board; The inertial navigation system is used to: collect the position coordinates and motion posture of the servo and send them to the embedded mainboard; The embedded mainboard is used to: execute the steps of the dynamic platform control method described in any one of the first aspects, thereby issuing control instructions to the dynamic platform; After receiving the control instruction, the dynamic platform performs closed-loop control on its own azimuth and pitch angle, and also sends its own working status to the embedded mainboard.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are: The present invention provides a dynamic platform control method, device, storage medium and system, which, by accumulating a dynamic platform control value queue, predicts a control compensation prediction value based on the control value at the next moment after calculating the control value that has been issued, and optimizes the compensation effect according to the specific situation by adjusting the preset correlation coefficient, thereby improving the accuracy of dynamic platform control.

[0016] For the azimuth and pitch controllable two-dimensional servo (i.e. dynamic platform), the position data stream is obtained through the inertial navigation, and the real-time working status data stream is obtained through the inertial navigation itself. The real-time control data stream is sent after real-time calculation by the embedded host board to maintain the fixed-point pointing of the two-dimensional servo. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a dynamic platform control method provided by Example 1 of the present invention; Figure 2 is a schematic diagram of a dynamic platform control system provided by Example 3 of the present invention; Figure 3 This is a flow chart of a dynamic platform control method provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0019] Example 1.

[0020] like Figure 1 As shown, the present invention provides a dynamic platform control method, comprising: Obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed-point coordinates that the dynamic platform needs to point to, and calculate the control flow of the servo within a period of time based on all the acquired data. The control flow includes the control value of the dynamic platform at each moment; Calculate the control compensation prediction value according to the preset time coefficient and control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; Based on the new control value, the control stream is used as a sliding window and updated by head interpolation; Control instructions are issued according to the updated control flow to control the dynamic platform accordingly.

[0021] The present invention accumulates the dynamic platform control value queue, predicts the control compensation prediction value based on the control value at the next moment after calculating the control value that has been issued, optimizes the compensation effect according to the specific situation by adjusting the preset correlation coefficient, and improves the accuracy of dynamic platform control.

[0022] Example 2.

[0023] The essence of the dynamic platform (i.e., a two-dimensional servo installed on a motion platform) pointing fixed-point mode is to control the servo to continuously point to a fixed latitude and longitude high coordinate point within a certain period of time. During this process, the target point pointed by the servo is not affected by the motion state of the motion platform itself.

[0024] When the servo points to a fixed point, the motion state of the motion platform changes all the time, and the azimuth, pitch, and roll angles of the dynamic platform swing back and forth irregularly within a certain range of variation, and the speed of change does not exceed the rotation speed of the servo itself. This is the main application scenario of the present invention (such as the overall vibration of the motion platform when it moves, the shaking of the motion platform when the motion state changes, and the swing of the motion platform with the waves when it is stationary, etc.).

[0025] like Figure 1 As shown, the present invention provides a dynamic platform control method, comprising: S1. Obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed-point coordinates that the dynamic platform needs to point to, and calculate the control flow of the servo within a period of time based on all the acquired data. The control flow includes the control value of the dynamic platform at each moment.

[0026] The above control values ​​include azimuth control value and pitch angle control value. The calculation process of the control values ​​is the prior art. The obtained control flow A ,Right now A= { a 1, a 2, ..., a n},in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at time 1, t1 is the current moment.

[0027] a n =( h n , p n ); in, h n yes t n The azimuth control value of the dynamic platform at all times, p n yes t n The pitch angle control value of the dynamic platform at all times, h n The value range of is [0°,360°], p n The value range of is determined by the actual servo design.

[0028] With control flow A Correspondingly, there is a time series T , T= { t 1, t 2, ..., t n}, T For control flow A The corresponding time series, t n correspond a n .

[0029] The control flow will not be recorded infinitely, and a queue is used to record the most recent set of control values.

[0030] S2. Calculate the control compensation prediction value according to the preset time coefficient and control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value.

[0031] Since the dynamic platform will have errors when closing the loop to control itself, the control value needs to be compensated.

[0032] The prediction and calculation of the control compensation prediction value (also called the extrapolated prediction value) are realized on the above queue. The specific calculation method is as follows: Δ a m =( a 1- a m ) / ( t 1- t m ); Among them, Δa m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, t m yes m time, and m < n , n is the maximum moment in the control flow.

[0033] Δ a m express a 1 relative to a m The increment of time can describe the changing trend of the azimuth and elevation angle at the next moment to a certain extent. m When it increases, this change trend will first increase and then gradually become flat.

[0034] According to Δ a m As compensation for the next moment of control: a 0= a 1+ k Δ a m t ; in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0035] S3. Based on the new control value, the control stream is used as a sliding window and the control stream is updated by head interpolation.

[0036] Assign the new control value to a 1. Change the original a The value 1 is assigned to a 2, ..., the original a n-1 The value of a n , the original a n throw away.

[0037] Whenever a new control value appears, the following operations are performed again: Based on the new control value, the control stream is used as a sliding window and the control stream is updated by head interpolation.

[0038] S4. Issue control instructions according to the updated control flow to control the dynamic platform accordingly.

[0039] Through the above method, the present invention can adjust the precision of the two-dimensional servo fixed-point pointing of the dynamic platform according to the specific situation. m and k value, thereby ensuring effectiveness and control accuracy.

[0040] Example 3.

[0041] like Figure 2 As shown, the present invention provides a dynamic platform control system, including an inertial navigation system, a dynamic platform and an embedded mainboard; The inertial navigation system is used to: collect the position coordinates and motion posture of the servo and send them to the embedded host board; The embedded mainboard is used to: execute the steps of the dynamic platform control method provided in Example 1, thereby issuing control instructions to the dynamic platform; After receiving the control command, the dynamic platform performs closed-loop control on its own azimuth and pitch angles, and also sends its own working status to the embedded host board.

[0042] In this embodiment, the servo is a two-dimensional servo.

[0043] The essence of the dynamic platform (i.e., the servo installed on the motion platform) pointing fixed-point mode is to control the servo to continuously point to a fixed longitude and latitude high coordinate point within a certain period of time. In this process, the target point pointed by the two-dimensional servo is not affected by the motion state of the motion platform itself.

[0044] The present invention uses a system architecture consisting of an inertial navigation system, a servo (i.e., the dynamic platform in Embodiment 1 and Embodiment 2), and an embedded mainboard. The inertial navigation system obtains the servo azimuth attitude (position) data stream, and the servo obtains its own current working state data stream (currently controlled azimuth pitch angle). The embedded mainboard receives the above two data streams and calculates the angle adjustment value in real time, and finally feeds back to the servo in the form of a control instruction data stream to realize real-time angle adjustment.

[0045] In the above system, the servo itself only performs closed-loop control of its own azimuth and pitch and provides real-time feedback of its current actual azimuth and pitch angle values. The specific servo control parameters and advance prediction of the attitude are calculated in real time by the embedded host board.

[0046] When the servo points to a fixed point, the motion state of the motion platform changes all the time, and the azimuth, pitch, and roll angles of the platform swing back and forth irregularly within a certain range, and the speed of change does not exceed the rotation speed of the servo itself. This is the main application scenario of the present invention (such as overall vibration when the platform moves, platform shaking when the motion state changes, and platform swinging with the waves when stationary, etc.).

[0047] Due to the objective existence of system errors such as servo control interval, inertial navigation refresh interval, servo motion speed, etc., when the motion platform posture changes and the servo needs to adjust the azimuth and pitch, t The azimuth and pitch state of the servo at time 0 ( h 0, p 0) Need to go through Δ t The required control angle can only be updated at this moment. During this process, the motion platform is still moving and changing. t At this moment, the actual control angle required by the servo ( h 1, p 1) It is not equal to the current control angle, that is: ( h 0+Δ tv h , p 0 + Δ tv p )≠( h 1, p 1); in, h 1 is the azimuth angle control of the servo at the current moment, p 1 is the pitch angle control value of the servo at the current moment, ( h 0+Δ tv h , p 0 + Δ tv p )yes t The control angle value required for the servo to point to the fixed point at time 0, ( h 1, p 1) Yes t 0+Δ t The actual control angle required for the servo to point at a fixed point at any given moment, Δ t It is the control time for the servo to reach the position. v h is the servo azimuth control speed, v p is the servo pitch angle control speed.

[0048] Since the azimuth and pitch control of the servo in the system is only closed-loop, this type of control method generally uses a PID-based control algorithm to optimize the rotation speed of the servo, so that the servo speed is controlled faster when it is far from the target position, and the speed decreases when it is about to reach the predetermined control point. This may also cause errors in the control of the next moment due to changes in the servo control speed during the continuous control process.

[0049] According to the specific problems analyzed above, in the fixed-point pointing control state, the embedded mainboard of the present invention calculates the specific servo pointing according to the coordinates and azimuth, pitch and roll angle data given by the inertial navigation, and at the same time, adds an extrapolated value to the control value to be sent to the servo, and the extrapolated value is calculated based on the control values ​​recorded at several moments previously.

[0050] When the dynamic platform continuously points to a fixed point during operation, the control flow of the continuously changing servo can be calculated based on the set fixed point coordinates and the longitude, latitude, altitude, azimuth, roll, and pitch values ​​obtained through the inertial navigation. A ,Right now A= { a 1, a 2, ..., a n},in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at time 1, t 1 is the current moment.

[0051] a n =( h n , p n ); in, h n yes t n The azimuth control value of the dynamic platform at all times, p n yes t n The pitch angle control value of the dynamic platform at all times, h n The value range of is [0°,360°], p n The value range of is determined by the actual servo design.

[0052] With control flow A Correspondingly, there is a time series T , T={ t 1, t 2, ..., t n}, T For control flow A The corresponding time series, t n correspond a n .

[0053] The control flow will not be recorded infinitely. A queue is used to record the most recent set of control values. The queue is continuously updated by the head insertion method. This queue can be regarded as a sliding window of the control flow. n This is the queue length (i.e. the maximum moment in the control flow).

[0054] The specific steps of the head insertion method include: Assign the new control value to a 1. Change the original a The value 1 is assigned to a 2, ..., the original a n-1 The value of a n , the original a n throw away.

[0055] Whenever a new control value appears, the following operations are performed again: Based on the new control value, the control stream is used as a sliding window and the control stream is updated by head interpolation.

[0056] On this queue, the prediction and calculation of the extrapolated value based on the sliding window angle control can be realized, and a time coefficient can be set. m , m < n , we can get: Δ a m =( a 1- a m ) / ( t 1- t m ); Among them, Δ a m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, tm yes m time, and m < n , n is the maximum moment in the control flow.

[0057] Δ a m express a 1 relative to a m The increment of time can describe the changing trend of the azimuth and elevation angle at the next moment to a certain extent. m When it increases, this change trend will first increase and then gradually become flat.

[0058] It can be called Δ a m To extrapolate the predicted value, we can use Δ a m As compensation for the next moment of control: a 0= a 1+ k Δ a m t ; in, a 0 is the control value of the dynamic platform at the next moment, a 1 is the control value of the dynamic platform at the current moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0059] Embedded host board sends control value a 0, a The value 0 will be assigned to a 1.

[0060] Through the above method, the present invention can adjust the precision of the two-dimensional servo fixed-point pointing of the dynamic platform according to the specific situation. m and k value, thereby ensuring effectiveness and control accuracy.

[0061] Example 4.

[0062] In this embodiment, the dynamic platform is a servo.

[0063] like Figure 3 As shown, the present invention provides a dynamic platform control method, comprising: Step 1: The real-time solution is completed by the embedded host board, which first receives the working status data sent by the servo and the position and attitude data sent by the inertial navigation.

[0064] Step 2: Based on these data, the azimuth and pitch control angles of the two-dimensional servo can be calculated by existing technology, so that the servo points to the pre-set fixed-point longitude and latitude coordinates.

[0065] Step 3: The embedded host board sends the calculated azimuth and pitch theoretical control values ​​and stores them in the control queue.

[0066] Step 4: If the control queue is not full, no extrapolation calculation is performed and the control value is directly issued until the maximum queue length is reached.

[0067] Step 5: When the control queue is full, the new control value is stored at the head of the queue, and the following control values ​​are moved back in sequence, and the oldest control value is removed.

[0068] Step 6: Set the time factor m , according to the latest control value and m Control value ( t m The control value corresponding to the moment) calculates the extrapolated prediction value (corresponding to the control compensation prediction value in Example 1 and Example 2).

[0069] Step 7: Set the compensation factor k , according to the servo control interval, extrapolated prediction value and compensation coefficient k , calculate the extrapolation compensation value of the servo control at the next moment.

[0070] Step 8: Calculate the actual servo control value (i.e., the actual servo control value at the next moment) based on the theoretical servo control value at the next moment (i.e., the servo control value at the current moment) and the extrapolation compensation value.

[0071] a 0= a 1+ k Δ a m t ; in, a 0 is the control value of the dynamic platform at the next moment, a 1 is the control value of the dynamic platform at the current moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

[0072] Step 9: Send control parameters (actual servo control value), and continue to observe the control effect, and adjust the time coefficient according to the control effect m and compensation coefficient k , until the control requirements are met.

[0073] Example 5.

[0074] The present invention provides a dynamic platform control device, comprising: The control flow calculation module is configured to: obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed point coordinates that the dynamic platform needs to point to, and calculate the control flow of the dynamic platform within a period of time based on all the acquired data, and the control flow includes the control value of the dynamic platform at each moment; The control value compensation module is configured to: calculate a control compensation prediction value according to a preset time coefficient and a control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; The control flow update module is configured to: update the control flow by head interpolation based on the new control value, taking the control flow as a sliding window; The dynamic platform control module is configured to issue control instructions according to the updated control flow to control the dynamic platform accordingly.

[0075] Example 6.

[0076] The present invention provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the dynamic platform control method provided in Example 1 are implemented: Obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed-point coordinates that the dynamic platform needs to point to, and calculate the control flow of the servo within a period of time based on all the acquired data. The control flow includes the control value of the dynamic platform at each moment; Calculate the control compensation prediction value according to the preset time coefficient and control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; Based on the new control value, the control stream is used as a sliding window and updated by head interpolation; Control instructions are issued according to the updated control flow to control the dynamic platform accordingly.

[0077] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0078] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0079] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0080] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A dynamic platform control method, characterized in that: include: Acquire the position coordinates and motion posture of the dynamic platform, acquire the fixed point coordinates to which the dynamic platform needs to point, and calculate the control flow of the servo within a period of time based on all the acquired data, wherein the control flow includes the control value of the dynamic platform at each moment; Calculate a control compensation prediction value according to a preset time coefficient and the control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; Based on the new control value, the control stream is used as a sliding window, and the control stream is updated by a head interpolation method; Control instructions are issued according to the updated control flow to control the dynamic platform accordingly.

2. The dynamic platform control method according to claim 1, characterized in that: The control compensation prediction value is calculated according to the preset time coefficient and the control value, and is calculated by the following formula: D a m =( a 1- a m ) / ( t 1- t m ); Among them, Δ a m is the control compensation prediction value, m Indicates the preset time coefficient, a 1 is the control value of the dynamic platform at the current moment, a m yes t m The control value at the moment, t 1 is the current moment, t m yes m time, and m < n , n is the maximum moment in the control flow.

3. The dynamic platform control method according to claim 2, characterized in that: The control value of the dynamic platform at the next moment is compensated according to the control compensation prediction value to obtain a new control value, which is performed by the following formula: a 0= a 1+ k D a m t ; in, a 0 is the control value of the dynamic platform at the next moment, k is the preset compensation coefficient, t is the fixed control interval of the dynamic platform.

4. The dynamic platform control method according to claim 1, characterized in that: The control value includes an azimuth angle control value and a pitch angle control value.

5. The dynamic platform control method according to claim 1, characterized in that: The method of taking the control stream as a sliding window based on the new control value and updating the control stream by head interpolation includes: Control Flow A= { a 1, a 2, ..., a n },in a n express t n The control value of the dynamic platform at all times, a 1 Yes t The control value of the dynamic platform at time 1, t 1 is the current moment; Assign the new control value to a 1. Change the original a The value 1 is assigned to a 2, ..., the original a n-1 The value of a n , the original a n throw away.

6. The dynamic platform control method according to claim 1, characterized in that: Whenever a new control value appears, the following operations are performed again: based on the new control value, the control stream is used as a sliding window and the control stream is updated by head interpolation.

7. A dynamic platform control device, characterized in that: include: The control flow calculation module is configured to: obtain the position coordinates and motion posture of the dynamic platform, obtain the fixed point coordinates that the dynamic platform needs to point to, and calculate the control flow of the dynamic platform within a period of time based on all the acquired data, wherein the control flow includes the control value of the dynamic platform at each moment; A control value compensation module is configured to: calculate a control compensation prediction value according to a preset time coefficient and the control value, and compensate the control value of the dynamic platform at the next moment according to the control compensation prediction value to obtain a new control value; A control flow updating module is configured to: based on the new control value, take the control flow as a sliding window and update the control flow by a head interpolation method; The dynamic platform control module is configured to issue control instructions according to the updated control flow to control the dynamic platform accordingly.

8. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the steps of the dynamic platform control method described in any one of claims 1 to 6 are implemented.

9. A dynamic platform control system, characterized in that: Including inertial navigation, dynamic platform and embedded host board; The inertial navigation system is used to: collect the position coordinates and motion posture of the servo and send them to the embedded mainboard; The embedded mainboard is used to: execute the steps of the dynamic platform control method according to any one of claims 1 to 6, thereby issuing control instructions to the dynamic platform; After receiving the control instruction, the dynamic platform performs closed-loop control on its own azimuth and pitch angle, and also sends its own working status to the embedded mainboard.

Images