A servo system simulation tracking loop test device

Abstract

This invention relates to a servo control system simulated tracking loop testing device, belonging to the field of servo system technology, and solves the problem of high personnel and product quantity requirements in existing tracking loop testing. A servo system simulated tracking loop testing device includes a host computer and a slave computer. The host computer issues commands to the slave computer through servo system debugging software. The slave computer includes a simulated tracking loop command control module, a target motion curve plotting module, and a simulated tracking loop loop control module. This invention can complete the verification of vibration performance and high / low temperature static and dynamic indicators in servo sub-machine mode, reducing the need for personnel and product quantity, saving human capital, and reducing the management cost of various sub-machine software versions.

Description

Technical Field

[0001] This invention belongs to the field of servo system technology, and specifically relates to a servo control system simulation tracking loop testing device. Background Technology

[0002] Television guidance systems are passive automatic homing systems, unaffected by radar electromagnetic waves and infrared interference sources, with strong anti-interference capabilities, good concealment, and high precision.

[0003] Television guidance systems typically employ tracking gates for control. During operation, a television camera transmits and analyzes the target image, calculating the deviation between the gate and the center of the target image to generate an error signal. This error signal is multiplied by the tracking gain of the angular tracking loop and then input to the servo control system. Real-time tracking is achieved through speed closed-loop control.

[0004] Typically, during the design and verification phase of a servo system, the design ensures that the control system's step response rise time, step response overshoot, phase margin, system isolation, and other sub-indicators are verified. The system's vibration performance indicators and static and dynamic indicators under high and low temperatures can only be verified under product tracking conditions.

[0005] When the system fails to track the target properly during vibration testing, it is necessary to analyze and locate the fault by using data such as angle sensor information, angular velocity sensor information, command information, and tracking status obtained during the vibration test. The data comes from the telemetry output data of the extension unit under the product status, and the frame rate of the telemetry data is generally 50 Hz.

[0006] The shortcomings of existing technologies are as follows: verifying system vibration and high / low temperature performance indicators under product tracking conditions requires the coordinated efforts of multiple departments and professionals. At the same time, the limited number of products makes coordination difficult, and the testing and troubleshooting time is limited. The data frame rate obtained from the telemetry of the sub-unit is too low, which cannot truly reflect the motion state of the load (lens). Usually, a data frame rate of at least 1kHz is required under troubleshooting conditions. The data collected through the telemetry interface is not comprehensive enough. When necessary, software personnel need to cooperate to modify the software. Moreover, both the signal processing software and the servo system software will have temporary troubleshooting intermediate states, and the software version is not easy to control. Summary of the Invention

[0007] Based on the above analysis, the present invention aims to provide a servo control system simulation tracking loop testing device to solve the problem of high requirements for personnel and product quantity in existing tracking loop testing.

[0008] The objective of this invention is mainly achieved through the following technical solutions:

[0009] A servo system simulation tracking loop testing device includes a host computer and a slave computer. The host computer issues commands to the slave computer through servo system debugging software. The slave computer includes a simulation tracking loop command control module, a target motion curve drawing module, and a simulation tracking loop control module.

[0010] Furthermore, the simulated tracking loop command control module can receive commands from the host computer and control the target motion curve drawing module and the simulated tracking loop control module according to the commands from the host computer.

[0011] Furthermore, the target motion curve drawing module is connected to the simulated tracking loop command control module, and can draw the target motion curve according to the target motion trajectory requirements input to the test device.

[0012] Furthermore, the target motion curve drawing module can simulate the target's sinusoidal motion, triangular wave motion, and step motion.

[0013] Furthermore, the analog tracking loop control module is connected to the analog tracking loop command control module, and can complete the control functions of each loop according to the control loop requirements input to the analog tracking loop servo system device.

[0014] Furthermore, the lower-level machine also includes a simulated tracking loop command delay and hold module, which is connected to the simulated tracking loop control module and can realize the delay and hold of simulated tracking commands.

[0015] Furthermore, the simulated tracking loop control module can collect and update the real-time spatial pointing of the lens, and subtract the simulated target position information output by the target motion curve drawing module to obtain the simulated angular error ek at the current moment.

[0016] Furthermore, the simulated tracking loop instruction calculation module can call the instructions of the simulated tracking loop instruction delay holding module and output them to the simulated tracking loop loop control module.

[0017] Furthermore, the simulated tracking loop control module can delay and hold the acquired simulated angle error ek at the current moment through a simulated angle error delay and command hold algorithm, and output the simulated angle error command ek_out.

[0018] Furthermore, the simulated tracking loop control module can input the simulated angle error command ek_out to the servo system speed loop to complete the simulated tracking loop test.

[0019] The present invention can achieve the following beneficial effects:

[0020] (1) This invention can complete the verification of vibration performance, high and low temperature static and dynamic indicators in the state of servo sub-units, while the data can be reliably collected at a frame rate of ≥1kHz. It can reduce the demand for personnel and products, solve the problems of multi-department and multi-professional personnel collaboration and limited product quantity; it can stably collect data at a frame rate of ≥1kHz, providing a basic guarantee for accurately reflecting the movement of the load (lens), and providing the necessary conditions for better analysis of problems and fault location in the entire product / independent sub-unit state; it does not require software personnel to modify the software, saving human capital, and avoids the occurrence of temporary versions of the software and servo system software, reducing the management cost of each sub-unit software version.

[0021] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0022] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0023] Figure 1 This is a schematic diagram of a servo system simulation tracking loop test device according to an embodiment of the present invention. Detailed Implementation

[0024] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0025] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connected" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0026] Throughout the text, the terms “top,” “bottom,” “above,” “below,” and “on top” refer to the relative positions of components of the device, such as the relative positions of the top and bottom substrates within the device. It is understood that the device is multifunctional and independent of its spatial orientation.

[0027] Verifying system vibration and high / low temperature performance indicators under product tracking conditions requires the collaboration of multiple departments and professionals. At the same time, the limited number of products makes coordination difficult and testing and troubleshooting time is limited. The data frame rate from the telemetry unit is too low and cannot accurately reflect the motion state of the load (lens). Usually, a data frame rate of at least 1kHz is required under troubleshooting conditions. The data collected through the telemetry interface is not comprehensive enough. When necessary, software personnel need to modify the software. Moreover, both the signal processing software and the servo system software will have temporary troubleshooting intermediate states, and the software version is not easy to control.

[0028] Based on the above analysis, such as Figure 1 As shown, this invention provides a servo system simulation tracking loop test device. The test device can simulate the motion trajectories of various targets in the servo system software and obtain the current angular error information by subtracting the real-time angular position from the lens. After delaying and holding the angular error information, the result is multiplied by the tracking gain of the angular tracking loop to obtain the simulated command. The command is input to the servo system speed loop to complete the closed-loop control, thereby realizing the simulated tracking loop closed-loop control function in the sub-unit state. In the servo sub-unit state, the vibration performance and high and low temperature static and dynamic indicators are verified, and the data is reliably acquired at a frame rate ≥1kHz.

[0029] Specifically, the testing device includes a host computer and a slave computer. The host computer sends instructions to the slave computer through servo system debugging software, and the slave computer executes the instructions of the host computer through different working modules to complete the simulated tracking loop test.

[0030] Furthermore, the lower-level machine includes a simulated tracking loop command control module, a target motion curve drawing module, and a simulated tracking loop loop control module. The simulated tracking loop command control module is connected to the target motion curve drawing module and the simulated tracking loop loop control module, and is used to receive commands from the upper-level machine, and control the target motion curve drawing module and the simulated tracking loop loop control module according to the commands from the upper-level machine, thereby completing the process control of the simulated tracking loop servo system device.

[0031] Furthermore, the target motion curve drawing module can draw the target motion curve according to the target motion trajectory requirements input to the test device; at the same time, the simulation tracking loop command control module completes loop control under different motion forms according to different target motion forms.

[0032] In this embodiment, the target motion forms include four types: sinusoidal motion, triangular wave motion, step motion, and target stationary motion.

[0033] Furthermore, the target motion curve drawing module can simulate the sinusoidal motion, triangular wave motion, and step motion of the target. When the target motion is configured to be stationary, the simulated target position information TargetMoveCmd (target motion command) is directly updated to 0 in the servo controller. Therefore, the target motion curve drawing module does not need to simulate the motion of the target when it is stationary.

[0034] For example, in this embodiment, when the product is subjected to high and low temperature tests and vibration tests, the target is selected to be stationary during simulated tracking loop testing; when the bandwidth of the control system tracking loop is tested and evaluated under simulated tracking loop conditions, the target is selected to be sinusoidal motion; when the linearity characteristics of the product's angular error are tested and evaluated under simulated tracking loop conditions, the target is selected to be triangular wave motion; and when the dynamic performance indicators such as rise time and overshoot of the control system tracking loop are tested and evaluated under simulated tracking loop conditions, the target is selected to be step motion.

[0035] When the target motion is configured as sinusoidal motion, the servo system debugging software on the host computer configures two parameters, Amplitude and freq, for the target motion curve drawing module and confirms the correctness of the configuration; the servo system debugging software and the target motion curve drawing module exchange UART information.

[0036] After configuring the parameters for sinusoidal motion amplitude and frequency, the target motion curve drawing module calculates the simulated target position information (target motion command) for each control cycle according to Formulas 1 to 3.

[0037] Targ etMoveCmd=Amplitude×sin(2×π×freq×t) Equation 1

[0038] t = cnt × period (Equation 2)

[0039] period = 1 / (servo controller main control frequency × 1000) Equation 3

[0040] in,

[0041] TargetMoveCmd represents the simulated target location information;

[0042] Amplitude represents the amplitude of the target's sinusoidal motion.

[0043] freq represents the frequency of the target's sinusoidal motion;

[0044] t represents the target's motion time, measured in seconds;

[0045] cnt represents the counter in the current control cycle;

[0046] The period represents the control cycle of the servo controller, and the unit is seconds (s).

[0047] When the target motion is configured as a target triangular wave motion, the servo system debugging software configures the target arrival position information parameters to the target motion curve drawing module and confirms the correctness of the configuration; the servo system debugging software and the target motion curve drawing module exchange UART information.

[0048] After the target arrival location information parameters are configured, the target motion curve drawing module calculates the step value of the target at a speed of 1 degree / second within the command holding time according to Formula 4 to Formula 5.

[0049] TargetMoveCmd=TargetMoveCmd+Step Formula 4

[0050] Step = 100.0 × HoldTime / 1000.0 (Equation 5)

[0051] in,

[0052] TargetMoveCmd represents the simulated target location information;

[0053] Step represents the step value of the target at a speed of 1 degree / second during the command holding time;

[0054] Holdtime represents the delay time, which is sent by the servo debugging host computer software.

[0055] Based on the relationship between the simulated target location information at the current moment and the target's actual location, as well as the time at which the simulated target location information is located, the action of the simulated target location information is confirmed.

[0056] Specifically, if the simulated target position information (target motion command) at the current moment is less than or equal to the target's arrival position, and the current moment is within the command holding time, the simulated target position information (target motion command) will not be updated;

[0057] If the simulated target position information (target motion command) at the current moment is less than or equal to the target's arrival position, and the current moment is at the moment of command switching, the simulated target position information (target motion command) increases by the step value Step of the target at a speed of 1 degree / second during the command holding time;

[0058] Repeat the above judgment until the target moves into position.

[0059] When the target motion is configured as a step motion, the servo system debugging software configures the target arrival position information parameters to the target motion curve drawing module and confirms the correctness of the configuration; the servo system debugging software interacts with the servo controller via UART information.

[0060] After configuring the target arrival location information parameters, update the simulated target location information TargetMoveCmd to the target arrival location in the target motion curve drawing module.

[0061] Furthermore, the analog tracking loop control module is connected to the analog tracking loop command control module, and can complete the control functions of each loop according to the control loop requirements input to the analog tracking loop servo system device.

[0062] Furthermore, the testing device also includes a simulated tracking loop command delay and hold module and a simulated tracking loop command calculation module. The simulated tracking loop command delay and hold module is connected to the simulated tracking loop control module and is used to delay and hold the simulated tracking commands; the simulated tracking loop command calculation module is connected to the simulated tracking loop control module and is used to implement the simulated tracking commands for each loop.

[0063] Specifically, the simulated tracking loop control module can collect and update the real-time spatial pointing of the lens, and subtract the simulated target position information TargetMoveCmd output by the target motion curve drawing module to obtain the simulated angular error ek at the current moment.

[0064] Furthermore, in tracking mode, the host computer superimposes a sinusoidal input signal onto the tracking angular velocity command, records the sensor's angular velocity output, and obtains three parameters in the tracking loop: the angular error delay time (DelayTime), the command hold time (HoldTime), and the tracking gain K of the angular tracking loop by comparing the command input and sensor output data. The simulated tracking loop command delay and hold module can realize the delay and hold of the simulated tracking command.

[0065] Furthermore, based on the instruction hold time (HoldTime), angle error delay time (DelayTime), and angle tracking loop tracking gain (K) obtained from the host computer test, the simulated tracking loop instruction calculation module can call the instruction from the simulated tracking loop instruction delay and hold module and output it to the simulated tracking loop control module. The simulated tracking loop control module can delay and hold the obtained simulated angle error ek at the current moment through the simulated angle error delay and instruction hold algorithm, and output the simulated angle error instruction ek_out.

[0066] Furthermore, the simulated tracking loop control module can input the simulated angular error command ek_out to the servo system speed loop to complete the simulated tracking loop test.

[0067] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A servo system simulation tracking loop testing device, characterized in that, It includes a host computer, a slave computer, a simulated tracking loop command delay and holding module, and a simulated tracking loop command calculation module. The host computer sends commands to the slave computer through servo system debugging software. The slave computer includes a simulated tracking loop command control module, a target motion curve drawing module, and a simulated tracking loop control module. The simulated tracking loop command control module can receive commands from the host computer and control the target motion curve drawing module and the simulated tracking loop control module according to the commands from the host computer; the target motion curve drawing module is connected to the simulated tracking loop command control module and can draw the target motion curve according to the target motion trajectory requirements input to the test device. In tracking mode, the host computer superimposes a sinusoidal input signal onto the tracking angular velocity command, records the sensor's angular velocity output, and obtains three parameters in the tracking loop: angular error delay time (DelayTime), command hold time (HoldTime), and angular tracking loop tracking gain (K). Based on the command hold time (HoldTime), angular error delay time (DelayTime), and angular tracking loop tracking gain (K) obtained by the host computer, the simulated tracking loop command calculation module can call the command from the simulated tracking loop command delay and hold module and output it to the simulated tracking loop control module. The simulated tracking loop control module can delay and hold the acquired simulated angular error ek at the current moment using a simulated angular error delay and command hold algorithm, and output the simulated angular error command ek_out. The simulated tracking loop control module can input the simulated angular error command ek_out to the servo system speed loop to complete the simulated tracking loop test.

2. The servo system simulation tracking loop test device according to claim 1, characterized in that, The target motion curve drawing module can simulate the target's sinusoidal motion, triangular wave motion, and step motion.

3. The servo system simulation tracking loop test device according to claim 2, characterized in that, The analog tracking loop control module is connected to the analog tracking loop command control module and can complete the control functions of each loop according to the control loop requirements input to the analog tracking loop servo system device.

4. The servo system simulation tracking loop test device according to claim 3, characterized in that, The simulated tracking loop command delay and hold module is connected to the simulated tracking loop control module, and can realize the delay and hold of simulated tracking commands.

5. The servo system simulation tracking loop test device according to claim 4, characterized in that, The simulated tracking loop control module can collect and update the real-time spatial pointing of the lens, and subtract the simulated target position information output by the target motion curve drawing module to obtain the simulated angular error ek at the current moment.

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