Method and electronic device for controlling an optoelectronic stabilised platform

Abstract

The application relates to a method for controlling an optoelectronic stable platform, which comprises the following steps: detecting motor angular velocity feedback value omega of the optoelectronic stable platform through a motion sensitive element Fdb , and transforming the motor angular velocity feedback value omega to obtain disturbance frequency omega L ; sending the obtained disturbance frequency omega L and current loop feedback current I qFdb to a resonant disturbance phase-locked loop in the optoelectronic stable platform, and obtaining compensation current I comp through a resonant disturbance phase-locked loop algorithm; and sending the compensation current I comp to the current loop in the optoelectronic stable platform for negative feedback control, so as to reduce the influence of external disturbance on the stable platform and enhance the anti-disturbance capability of the stable platform. The method captures the phase of disturbance current generated by external disturbance in the motor through a resonant disturbance phase-locked loop algorithm, then synthesizes a disturbance compensation current according to the amplitude and phase of the sampled disturbance current, and compensates the disturbance compensation current to the current loop, so as to reduce the influence of external disturbance on the stable platform and enhance the anti-disturbance capability of the stable platform.

Description

Technical Field

[0001] This invention relates to the field of optoelectronics, and in particular to a method and electronic device for controlling an optoelectronic stabilization platform. Background Technology

[0002] Currently, photoelectric stabilization platforms mainly rely on motion-sensitive elements to sense changes in the attitude angle of the photoelectric pod. Then, based on the change in attitude angle, the attitude compensation amount is calculated. The attitude compensation amount is then sent to the photoelectric stabilization platform control system. Finally, the stabilization platform control system drives the motor to move in the opposite direction, thereby counteracting the shaking of the photoelectric pod caused by external interference, and thus achieving the purpose of stabilizing the image.

[0003] In airborne environments, optoelectronic stabilization platforms are easily affected by external environmental interference. To address such disturbances, existing technologies typically employ strategies such as increasing the speed loop bandwidth of the stabilization platform's control system to improve its anti-disturbance capability. However, due to limitations imposed by the mechanical resonant frequency, the system bandwidth cannot be further increased, thus restricting the anti-disturbance capability of the optoelectronic platform. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a method and electronic device for controlling an optoelectronic stabilization platform that overcomes or at least partially solves the above problems.

[0005] To address the aforementioned technical problems, the embodiments of this application disclose the following technical solutions:

[0006] A method for controlling a photoelectric stabilization platform includes:

[0007] S100. Detects the angular velocity feedback value ω of the motor in the photoelectric stabilization platform through a motion-sensitive element. Fdb And transform it to obtain the perturbation frequency ω L ;

[0008] S200. The obtained perturbation frequency ω L and current loop feedback current I qFdb The resonant disturbance phase-locked loop fed into the photoelectric stabilization platform is used to obtain the compensation current I through the resonant disturbance phase-locked loop algorithm. comp ;

[0009] S300. The compensation current I... comp The current loop fed into the photoelectric stabilization platform is then subjected to negative feedback control to reduce the impact of external disturbances on the stabilization platform and enhance its anti-disturbance capability.

[0010] Furthermore, the motion-sensitive elements include at least: a gyroscope and integrated navigation.

[0011] Furthermore, the angular velocity feedback value ω FdbThe perturbation frequency ω is obtained through Fast Fourier Transform. L .

[0012] Furthermore, in S200, the compensation current I is obtained through a resonant perturbation phase-locked loop algorithm. comp Specific methods include:

[0013] S201. Real-time calculation of disturbance frequency ω L and real-time acquisition of current loop feedback current I qFdb ;

[0014] S202. Calculation and Current Loop Feedback Current I qFdb In-phase signal I' qFdb and its orthogonal signal qI' qFdb ;

[0015] S203. Calculation and Current Loop Feedback Current I qFdb Angular frequency ω of in-phase signal PLL ;

[0016] S204. By integrating the angular frequency of S203, the phase θ of the disturbance current is obtained. PLL ;

[0017] S205. Calculate the compensation current I based on the phase of the disturbance current. comp .

[0018] Furthermore, the feedback current I in the current loop is calculated. qFdb In-phase signal I' qFdb The formula is:

[0019] I' qFdb =(I' qFdb ) -1 +(K·(I qFdb -(I' qFdb ) -1 )-(qI' qFdb ) -1 )·ω L ·T s

[0020] Among them, (I' qFdb ) -1 For I' qFdb The output value at the previous time step, (qI') qFdb ) -1 For qI' qFdb The output value at the previous time step, T s Let K be the calculation period of the current loop, K be the gain of the resonant perturbation phase-locked loop algorithm, and ω be the value of the current loop. L The frequency is the disturbance frequency.

[0021] Furthermore, the feedback current I in the current loop is calculated.qFdb orthogonal signal qI' qFdb The formula is:

[0022] qI' qFdb =(qI' qFdb ) -1 +I' qFdb ·ω L ·T s

[0023] Among them, (I' qFdb ) -1 For I' qFdb The output value at the previous time step, (qI') qFdb ) -1 For qI' qFdb The output value at the previous time step, T s Let ω be the calculation period of the current loop. L The frequency is the disturbance frequency.

[0024] Furthermore, the calculated current loop feedback current I is... qFdb In-phase signal I' qFdb and its orthogonal signal qI' qFdb Perform a Parker transform to obtain the q-axis current signal I. q1 I q1 The calculation formula is:

[0025]

[0026] Among them, I' qFdb and qI' qFdb These are respectively the feedback current I of the current loop. qFdb In-phase signals and quadrature signals The angle calculated by the phase-locked loop at the previous moment.

[0027] Furthermore, the feedback current I in the current loop is calculated. qFdb Angular frequency ω of in-phase signal PLL angular frequency ω PLL The calculation formula is:

[0028]

[0029] Among them, K p T is the proportional coefficient of the PI controller. i For the integration time, I q1 For I' qFdb and qI' qFdb The q-axis current signal after Parker transformation. This represents the desired disturbance current value.

[0030] On the other hand, the present invention also discloses an electronic device for controlling a photoelectric stabilization platform, including...

[0031] Memory is used to store instructions that can be executed by the processor;

[0032] A processor configured to execute the instructions to implement the method as described in any one of claims 1-8.

[0033] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0034] This invention discloses a method for controlling an optoelectronic stabilization platform. It designs a resonant disturbance phase-locked loop algorithm to capture the phase of the disturbance current generated in the motor by external disturbances. Then, it synthesizes a disturbance compensation current based on the sampled disturbance current amplitude and phase and compensates it into the current loop, thereby reducing the impact of external disturbances on the stabilization platform and enhancing the platform's anti-disturbance capability.

[0035] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a flowchart of a photoelectric stabilization platform control method in Embodiment 1 of the present invention;

[0038] Figure 2 This is a flowchart of the resonant perturbation phase-locked loop algorithm in Embodiment 1 of the present invention;

[0039] Figure 3 This is a simulation waveform comparing the jitter amplitude before and after adding the resonant perturbation phase-locked loop algorithm in Embodiment 1 of the present invention;

[0040] Figure 4 The measured waveforms comparing the jitter amplitude before and after adding the resonant perturbation phase-locked loop algorithm in Embodiment 1 of the present invention are shown. Detailed Implementation

[0041] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0042] To address the problems existing in the prior art, embodiments of the present invention provide a method and electronic device for controlling an optoelectronic stabilization platform.

[0043] Example 1

[0044] This embodiment discloses a method for controlling an optoelectronic stabilization platform, such as... Figure 1 ,include:

[0045] S100. Detects the angular velocity feedback value ω of the motor in the photoelectric stabilization platform through a motion-sensitive element. Fdb And transform it to obtain the perturbation frequency ω L Specifically, in this embodiment, the motion-sensitive element includes at least a gyroscope and a combined navigation system. The motion-sensitive element detects the angular velocity feedback value ω of the motor in the photoelectric stabilization platform. Fdb In this embodiment, when the angular velocity feedback value ω of the motor in the photoelectric stabilization platform is obtained... Fdb Then, the perturbation frequency ω can be obtained through FFT (Fast Fourier Transform). L The purpose of FFT (Fast Fourier Transform) is to convert a finite digital signal from the time domain to the frequency domain.

[0046] S200. The obtained perturbation frequency ω L and current loop feedback current I qFdb The resonant disturbance phase-locked loop fed into the photoelectric stabilization platform is used to obtain the compensation current I through the resonant disturbance phase-locked loop algorithm. comp ;

[0047] Specifically, in this embodiment S200, as follows: Figure 2 The compensation current I is obtained through the resonant perturbation phase-locked loop algorithm. comp Specific methods include:

[0048] S201. Real-time calculation of disturbance frequency ω L and real-time acquisition of current loop feedback current I qFdb ;

[0049] S202. Calculation and Current Loop Feedback Current I qFdb In-phase signal I' qFdb and its orthogonal signal qI' qFdb ;

[0050] S203. Calculation and Current Loop Feedback Current I qFdb Angular frequency ω of in-phase signal PLL ;

[0051] S204. By integrating the angular frequency of S203, the phase θ of the disturbance current is obtained. PLL ;

[0052] S205. Calculate the compensation current I based on the phase of the disturbance current. comp .

[0053] In this embodiment, the feedback current I of the current loop is calculated. qFdb In-phase signal I' qFdb The formula is:

[0054] I' qFdb =(I' qFdb ) -1 +(K·(I qFdb -(I' qFdb ) -1 )-(qI q ' Fdb ) -1 )·ω L ·T s

[0055] Among them, (I' qFdb ) -1 For I' qFdb The output value at the previous time step, (qI') qFdb ) -1 For qI' qFdb The output value at the previous time step, T s Let K be the calculation period of the current loop, K be the gain of the resonant perturbation phase-locked loop algorithm, and ω be the value of the current loop. L The frequency is the disturbance frequency.

[0056] In this embodiment, the feedback current I of the current loop is calculated. qFdb orthogonal signal qI' qFdb The formula is:

[0057] qI' qFdb =(qI' qFdb ) -1 +I' qFdb ·ω L ·T s

[0058] Among them, (I' qFdb ) -1 For I' qFdb The output value at the previous time step, (qI') qFdb ) -1 For qI' qFdb The output value at the previous time step, T s Let ω be the calculation period of the current loop. L The frequency is the disturbance frequency.

[0059] In some preferred embodiments, after calculating the feedback current I of the current loop... qFdb In-phase signal I' qFdb and its orthogonal signal qI'qFdb After that, it will also affect the in-phase signal I' qFdb and its orthogonal signal qI' qFdb The Parker transformation projects the stator's three-phase currents (a, b, c) onto the direct axis (d-axis), quadrature axis (q-axis), and zero axis (0-axis) perpendicular to the dq plane, which rotate with the rotor. This diagonalizes the stator inductance matrix, simplifying the analysis of synchronous motor operation. Specifically, the calculated current loop feedback current I... qFdb In-phase signal I' qFdb and its orthogonal signal qI' qFdb Perform a Parker transform to obtain the q-axis current signal I. q1 I q1 The calculation formula is:

[0060]

[0061] Among them, I' qFdb and qI' qFdb These are respectively the feedback current I of the current loop. qFdb In-phase signals and quadrature signals The angle calculated by the phase-locked loop at the previous moment.

[0062] In some preferred embodiments, the current loop feedback current I is calculated. qFdb Angular frequency ω of in-phase signal PLL angular frequency ω PLL The calculation formula is:

[0063]

[0064] Among them, K p T is the proportional coefficient of the PI controller. i For the integration time, I q1 For I' qFdb and qI' qFdb The q-axis current signal after Parker transformation. This represents the desired disturbance current value.

[0065] S300. The compensation current I... comp The current loop fed into the photoelectric stabilization platform is then subjected to negative feedback control to reduce the impact of external disturbances on the stabilization platform and enhance its anti-disturbance capability.

[0066] To verify the technical effectiveness of the photoelectric stabilization platform control method disclosed in this embodiment after incorporating the resonant disturbance phase-locked loop algorithm, simulation comparison waveforms before and after incorporating the resonant frequency phase-locked loop algorithm were generated under the same external disturbance. The waveforms are shown below. Figure 3As can be seen from the figure, the vibration amplitude of the photoelectric stabilization platform is significantly reduced after adding the resonant frequency phase-locked loop algorithm, which means that adding the resonant frequency phase-locked loop algorithm can enhance the anti-disturbance capability of the stabilization platform.

[0067] Figure 4 The figure shows the measured waveforms before and after adding the resonant perturbation phase-locked loop algorithm under the same external disturbance. As can be seen from the figure, the vibration amplitude of the photoelectric stabilization platform is significantly reduced after adding the resonant perturbation phase-locked loop algorithm, indicating that adding the algorithm enhances the platform's anti-disturbance capability.

[0068] This embodiment discloses a method for controlling a photoelectric stabilization platform, including: detecting the angular velocity feedback value ω of the motor in the photoelectric stabilization platform through a motion-sensitive element. Fdb And transform it to obtain the perturbation frequency ω L The perturbation frequency ω calculated by FFT L and current loop feedback current I qFdb The resonant disturbance phase-locked loop fed into the photoelectric stabilization platform is used to obtain the compensation current I through the resonant disturbance phase-locked loop algorithm. comp ; will compensate current I comp The current loop fed into the photoelectric stabilization platform is then subjected to negative feedback control to reduce the impact of external disturbances on the stabilization platform and enhance its anti-disturbance capability. This method employs a resonant disturbance phase-locked loop algorithm to capture the phase of the disturbance current generated in the motor by external disturbances. Then, based on the sampled amplitude and phase of the disturbance current, a disturbance compensation current is synthesized and fed into the current loop, thereby reducing the impact of external disturbances on the stabilization platform and enhancing its anti-disturbance capability.

[0069] Example 2

[0070] This embodiment also discloses an electronic device, characterized in that it includes:

[0071] Memory is used to store instructions that can be executed by the processor;

[0072] A processor configured to execute the instructions to implement the method described in Embodiment 1.

[0073] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0074] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0075] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0076] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0077] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0078] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A method for controlling a photoelectric stabilization platform, characterized in that, include: S100. Detects the angular velocity feedback value of the motor in the photoelectric stabilization platform through a motion-sensitive element. And transform it to obtain the perturbation frequency. ; S200. The obtained perturbation frequency and current loop feedback current The resonant perturbation phase-locked loop fed into the photoelectric stabilization platform obtains the compensation current through the resonant perturbation phase-locked loop algorithm. In S200, the compensation current is obtained through a resonant perturbation phase-locked loop algorithm. Specific methods include: S201. Real-time calculation of disturbance frequency and real-time acquisition of current loop feedback current ; S202. Calculation and Current Loop Feedback Current In-phase signal and its orthogonal signals ; S203. Calculation and Current Loop Feedback Current angular frequency of in-phase signal ; S204. By integrating the angular frequency of S203, the phase of the disturbance current is obtained. ; S205. Calculate the compensation current based on the phase of the disturbance current. ; S300. Compensation current The current loop fed into the photoelectric stabilization platform is then subjected to negative feedback control to reduce the impact of external disturbances on the stabilization platform and enhance its anti-disturbance capability.

2. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, In S100, motion-sensitive elements include at least: a gyroscope and integrated navigation.

3. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, Angular velocity feedback value The perturbation frequency is obtained through Fast Fourier Transform. .

4. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, Calculation and current loop feedback current In-phase signal The formula is: ； in, for The output value at the previous moment, for The output value at the previous moment, Where is the calculation period of the current loop, and K is the gain of the resonant perturbation phase-locked loop algorithm. The frequency is the disturbance frequency.

5. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, Calculation and current loop feedback current Orthogonal signals The formula is: ； in, for The output value at the previous moment, for The output value at the previous moment, The calculation period for the current loop is denoted as . The frequency is the disturbance frequency.

6. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, The calculated current loop feedback current will be used. In-phase signal and its orthogonal signals Perform a Parker transform to obtain the q-axis current signal. , The calculation formula is: ； in, and These are the feedback currents of the current loop, respectively. In-phase signals and quadrature signals The angle calculated by the phase-locked loop at the previous moment.

7. The method for controlling a photoelectric stabilization platform as described in claim 1, characterized in that, Calculation and current loop feedback current angular frequency of in-phase signal angular frequency The calculation formula is: ； in, The proportional gain of the PI controller. For integration time, for and The q-axis current signal after Parker transformation. This represents the desired disturbance current value.

8. An electronic device controlled by an optoelectronic stabilization platform, characterized in that, include Memory is used to store instructions that can be executed by the processor; A processor configured to execute the instructions to implement the method as described in any one of claims 1-7.

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