Airborne optoelectronic platform slewing system

Abstract

The application relates to the technical field of data processing, and discloses an airborne optoelectronic platform turning system, which comprises the following: a nonlinear controller, a selection switch, a current loop controller, a power driving element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit and a speed loop controller. The nonlinear given value output by the nonlinear controller is used to make the airborne optoelectronic platform rotate to a preset angle. However, the nonlinear given value will cause large overshoot, which is not conducive to the requirement of fast turning stability. Therefore, the second phase current is determined through the speed loop controller and the position loop controller, and the motor is controlled by adopting the closed-loop phase second phase current, so that the airborne optoelectronic platform is rotated to a position of 180 degrees, the overshoot amount of fast turning is reduced, and the 180-degree fast turning of the airborne optoelectronic platform is realized.

Description

Airborne optoelectronic platform turning system Technical Field

[0001] This invention relates to the field of airborne optoelectronic platform turning technology, and more particularly to an airborne optoelectronic platform turning system. Background Technology

[0002] When the radar system on a UAV detects a target of interest, the onboard electro-optical platform needs to quickly turn and stably point at the target to achieve clear reconnaissance. This requires the servo system to complete a 180° rapid turn of the onboard electro-optical platform within 1 second. In traditional stable reconnaissance platforms, due to issues such as motor selection and control methods, it is difficult to fully utilize the motor's reserve torque, resulting in a 180° turn time far exceeding 1 second. Summary of the Invention

[0003] Based on this, it is necessary to address the technical problem that the existing technology requires a long time to turn the airborne optoelectronic platform 180°, and propose an airborne optoelectronic platform turning system.

[0004] In a first aspect, an airborne optoelectronic platform turning system is provided. The airborne optoelectronic platform turning system includes: a nonlinear controller, a selection switch, a current loop controller, a power drive element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit, and a speed loop controller. The current feedback element is used to acquire the current information of the airborne optoelectronic platform, the speed feedback element is used to acquire the speed information of the airborne optoelectronic platform, and the angular position feedback element is used to acquire the angular position information of the airborne optoelectronic platform.

[0005] The nonlinear controller is used to respond to the operation of controlling the rotation of the airborne optoelectronic platform by controlling the output current through positive and negative nonlinear control; the selection switch connects the nonlinear controller and the current loop controller.

[0006] The current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform obtained by the current feedback element and the control quantity, and output the phase current of the motor as the first phase current.

[0007] The power drive element is used to amplify the first phase current and output a motor drive quantity to drive the motor to perform corresponding actions, so that the airborne optoelectronic platform connected to the motor rotates to a preset angle, wherein the preset angle is less than 180 degrees.

[0008] The first error transformation processing unit is used to convert the angular position information of the airborne optoelectronic platform into discrete angular position information;

[0009] The position loop controller is used to convert the discretized angular position information into discretized velocity information, which is used as the first velocity information.

[0010] The second error transformation processing unit is used to convert the speed information of the airborne optoelectronic platform into discrete speed information as the second speed information;

[0011] The speed loop controller is used to convert the second speed information and the first speed information into a discrete current quantity through speed closed-loop control, wherein the selection switch disconnects the nonlinear controller and the current feedback element, and connects the speed loop controller and the current loop controller.

[0012] The current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform and the discrete current quantity obtained by the current feedback element, and output the phase current of the motor as the second phase current.

[0013] The power drive element is used to amplify the second phase current and output a motor drive quantity to drive the motor to perform corresponding actions, so that the airborne optoelectronic platform connected to the motor rotates to a position of 180 degrees.

[0014] Furthermore, the output terminal of the nonlinear controller is connected to one input terminal of the selection switch, the output terminal of the selection switch is connected to the input terminal of the current loop controller, the output terminal of the current loop controller is connected to the input terminal of the power drive element, the output terminal of the power drive element is connected to the input terminal of the motor, the motor is connected to the motion frame of the airborne optoelectronic platform, the motion frame is connected to one end of the current feedback element, the other end of the current feedback element is connected to the input terminal of the current loop controller, the motion frame is connected to one end of the speed feedback element, the other end of the speed feedback element is connected to the input terminal of the second error transformation processing unit, the output terminal of the second error transformation processing unit is connected to the input terminal of the speed loop controller, the output terminal of the speed loop controller is connected to the other input terminal of the selection switch, the motion frame is connected to one end of the angular position feedback element, the other end of the angular position feedback element is connected to the input terminal of the first error transformation processing unit, the output terminal of the first error transformation processing unit is connected to the input terminal of the position loop controller, and the output terminal of the position loop controller is connected to the input terminal of the speed loop controller.

[0015] Furthermore, the current loop controller is designed based on the peak stall current, which is calculated by determining the angular acceleration α of the airborne optoelectronic platform based on the condition that the airborne optoelectronic platform needs to be rotated 180° within 1 second. giveThis allows us to determine the maximum output torque τ of the motor. max and peak stall current I max The specific calculation formula is as follows:

[0016]

[0017] τ max =L×a give

[0018]

[0019] τmax=Kt×Imax

[0020] Where S is the angular displacement of the airborne optoelectronic platform, t is the time required for rapid turning, L is the moment of inertia, and m i Let r be the mass of the i-th mass element. i K is the perpendicular distance from the i-th mass element to the axis of rotation. t is the torque constant of the motor.

[0021] Furthermore, both the velocity loop controller and the position loop controller are designed based on the azimuth axis transfer function of the photoelectric platform, which is expressed as follows:

[0022]

[0023] Where, ω n Let ξ be the natural frequency, ξ be the damping ratio, K be the open-loop gain of the azimuth transfer function, and S be the Laplace transform.

[0024] The airborne optoelectronic platform turning system proposed in this invention includes: a nonlinear controller, a selection switch, a current loop controller, a power drive element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit, and a speed loop controller. The current feedback element acquires the current information of the airborne optoelectronic platform; the speed feedback element acquires the speed information of the airborne optoelectronic platform; and the angular position feedback element acquires the angular position information of the airborne optoelectronic platform. The nonlinear controller responds to the operation of controlling the rotation of the airborne optoelectronic platform by outputting a control quantity of the current through forward and reverse nonlinear control. The selection switch connects the nonlinear controller and the current loop controller. The current loop controller performs closed-loop processing on the current information of the airborne optoelectronic platform acquired by the current feedback element and the control quantity, outputting the phase current of the motor as the first phase current. The power drive element amplifies the first phase current and outputs a motor drive quantity to drive the motor to perform corresponding actions, thereby rotating the airborne optoelectronic platform connected to the motor to a preset angle. Wherein, the preset angle is less than 180 degrees; the first error transformation processing unit is used to convert the angular position information of the airborne optoelectronic platform into discrete angular position information; the position loop controller is used to convert the discrete angular position information into discrete speed information as first speed information; the second error transformation processing unit is used to convert the speed information of the airborne optoelectronic platform into discrete speed information as second speed information; the speed loop controller is used to convert the second speed information and the first speed information into discrete current quantity through speed closed-loop control, wherein the selection switch disconnects the nonlinear controller and the current feedback element, and connects the speed loop controller and the current loop controller; the current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform obtained by the current feedback element and the discrete current quantity, and output the phase current of the motor as the second phase current; the power drive element is used to amplify the second phase current and output the motor drive quantity to drive the motor to perform corresponding actions so that the airborne optoelectronic platform connected to the motor rotates to a position of 180 degrees. The airborne optoelectronic platform can be rotated to a preset angle by using the nonlinear setpoint output by the nonlinear controller. However, since using the nonlinear setpoint will produce a large overshoot, which is not conducive to the requirement of smooth rapid turning, the second phase current is determined by the speed loop controller and the position loop controller, and the second phase current is used to control the motor to rotate the airborne optoelectronic platform to a 180-degree position, thereby reducing the overshoot of rapid turning and realizing the 180° rapid turning of the airborne optoelectronic platform. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] in:

[0027] Figure 1 is a structural block diagram of an airborne optoelectronic platform turning system in one embodiment;

[0028] Figure 2 is an angle-time curve of the airborne optoelectronic platform turning system in one embodiment;

[0029] Figure 3 is a nonlinear setpoint-time curve of the airborne optoelectronic platform switching system and the current loop controller in one embodiment. Detailed Implementation

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please refer to Figure 1. The airborne optoelectronic platform turning system includes: a nonlinear controller, a selection switch, a current loop controller, a power drive element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit, and a speed loop controller. The current feedback element is used to acquire the current information of the airborne optoelectronic platform, the speed feedback element is used to acquire the speed information of the airborne optoelectronic platform, and the angular position feedback element is used to acquire the angular position information of the airborne optoelectronic platform.

[0034] The nonlinear controller is used to respond to the operation of controlling the rotation of the airborne optoelectronic platform by controlling the output current through positive and negative nonlinear control; the selection switch connects the nonlinear controller and the current loop controller.

[0035] The current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform obtained by the current feedback element and the control quantity, and output the phase current of the motor as the first phase current.

[0036] The power drive element is used to amplify the first phase current and output a motor drive quantity to drive the motor to perform corresponding actions, so that the airborne optoelectronic platform connected to the motor rotates to a preset angle, wherein the preset angle is less than 180 degrees.

[0037] The first error transformation processing unit is used to convert the angular position information of the airborne optoelectronic platform into discrete angular position information;

[0038] The position loop controller is used to convert the discretized angular position information into discretized velocity information, which is used as the first velocity information.

[0039] The second error transformation processing unit is used to convert the speed information of the airborne optoelectronic platform into discrete speed information as the second speed information;

[0040] The speed loop controller is used to convert the second speed information and the first speed information into a discrete current quantity through speed closed-loop control, wherein the selection switch disconnects the nonlinear controller and the current feedback element, and connects the speed loop controller and the current loop controller.

[0041] The current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform and the discrete current quantity obtained by the current feedback element, and output the phase current of the motor as the second phase current.

[0042] The power drive element is used to amplify the second phase current and output a motor drive quantity to drive the motor to perform corresponding actions, so that the airborne optoelectronic platform connected to the motor rotates to a position of 180 degrees.

[0043] The preset angle can be 170 degrees. A nonlinear controller is used to respond to the operation of controlling the rotation of the airborne optoelectronic platform. This operation can generate a turning command, and the nonlinear controller responds to this turning command by controlling the output current through forward and reverse nonlinear control.

[0044] It should be noted that, since the current loop controller setpoint is a continuous derivative of position and velocity, based on the principle of continuous, smooth, and differentiable, the current loop controller setpoint at the moment of switching between the nonlinear controller and the velocity loop controller of the computer-borne optoelectronic platform ensures the smoothness of the current loop setpoint during the switching process.

[0045] As an example, refer to Figures 2 and 3. Figures 2 and 3 are the angle-time curve and the nonlinear setpoint-time curve of the current loop controller during the turning process, respectively. It can be seen from the figures that the turning process from -180° to 0° is less than 1s, and when finally reaching 0°, the angle overshoot is basically 0°, and the robustness is strong, which is fully applicable to airborne optoelectronic platforms.

[0046] In one embodiment, as shown in FIG1, the output terminal of the nonlinear controller is connected to one input terminal of the selection switch. The output terminal of the selection switch is connected to the input terminal of the current loop controller. The output terminal of the current loop controller is connected to the input terminal of the power drive element. The output terminal of the power drive element is connected to the input terminal of the motor. The motor is connected to the motion frame of the airborne optoelectronic platform. The motion frame is connected to one end of the current feedback element. The other end of the current feedback element is connected to the input terminal of the current loop controller. The motion frame is connected to one end of the speed feedback element. The other end of the speed feedback element is connected to the input terminal of the second error transformation processing unit. The output terminal of the second error transformation processing unit is connected to the input terminal of the speed loop controller. The output terminal of the speed loop controller is connected to the other input terminal of the selection switch. The motion frame is connected to one end of the angular position feedback element. The other end of the angular position feedback element is connected to the input terminal of the first error transformation processing unit. The output terminal of the first error transformation processing unit is connected to the input terminal of the position loop controller. The output terminal of the position loop controller is connected to the input terminal of the speed loop controller.

[0047] In one embodiment, the current loop controller is designed based on the peak stall current, wherein the peak stall current is calculated based on the condition that the airborne optoelectronic platform needs to be rotated 180° within 1 second, and the angular acceleration α of the airborne optoelectronic platform is calculated. give This allows us to determine the maximum output torque τ of the motor. max and peak stall current I max The specific calculation formula is as follows:

[0048]

[0049] τ max =L×a give

[0050]

[0051] τmax=Kt×Imax

[0052] Where S is the angular displacement of the airborne optoelectronic platform, t is the time required for rapid turning, L is the moment of inertia, and m i Let r be the mass of the i-th mass element. i K is the perpendicular distance from the i-th mass element to the axis of rotation. t is the torque constant of the motor.

[0053] In one embodiment, both the velocity loop controller and the position loop controller are designed based on the azimuth axis transfer function of the photoelectric platform, which is expressed as follows:

[0054]

[0055] Where, ω n Let ξ be the natural frequency, ξ be the damping ratio, K be the open-loop gain of the azimuth transfer function, and S be the Laplace transform.

[0056] As an example, white noise frequency sweep modeling is performed on the azimuth axis of the airborne optoelectronic platform. Then, the collected gyroscope data is processed using the IDENT toolbox to obtain the amplitude and phase frequency response curves of the model, thereby obtaining the azimuth axis transfer function of the airborne optoelectronic platform.

[0057] The airborne optoelectronic platform turning system proposed in this invention includes: a nonlinear controller, a selection switch, a current loop controller, a power drive element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit, and a speed loop controller. The current feedback element acquires the current information of the airborne optoelectronic platform; the speed feedback element acquires the speed information of the airborne optoelectronic platform; and the angular position feedback element acquires the angular position information of the airborne optoelectronic platform. The nonlinear controller responds to the operation of controlling the rotation of the airborne optoelectronic platform by outputting a control quantity of the current through forward and reverse nonlinear control. The selection switch connects the nonlinear controller and the current loop controller. The current loop controller performs closed-loop processing on the current information of the airborne optoelectronic platform acquired by the current feedback element and the control quantity, outputting the phase current of the motor as the first phase current. The power drive element amplifies the first phase current and outputs a motor drive quantity to drive the motor to perform corresponding actions, thereby rotating the airborne optoelectronic platform connected to the motor to a preset angle. Wherein, the preset angle is less than 180 degrees; the first error transformation processing unit is used to convert the angular position information of the airborne optoelectronic platform into discrete angular position information; the position loop controller is used to convert the discrete angular position information into discrete speed information as first speed information; the second error transformation processing unit is used to convert the speed information of the airborne optoelectronic platform into discrete speed information as second speed information; the speed loop controller is used to convert the second speed information and the first speed information into discrete current quantity through speed closed-loop control, wherein the selection switch disconnects the nonlinear controller and the current feedback element, and connects the speed loop controller and the current loop controller; the current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform obtained by the current feedback element and the discrete current quantity, and output the phase current of the motor as the second phase current; the power drive element is used to amplify the second phase current and output the motor drive quantity to drive the motor to perform corresponding actions so that the airborne optoelectronic platform connected to the motor rotates to a position of 180 degrees. The airborne optoelectronic platform can be rotated to a preset angle by using the nonlinear setpoint output by the nonlinear controller. However, since using the nonlinear setpoint will produce a large overshoot, which is not conducive to the requirement of smooth rapid turning, the second phase current is determined by the speed loop controller and the position loop controller, and the second phase current is used to control the motor to rotate the airborne optoelectronic platform to a 180-degree position, thereby reducing the overshoot of rapid turning and realizing the 180° rapid turning of the airborne optoelectronic platform.

Claims

1. An airborne optoelectronic platform turning system, characterized in that, The airborne optoelectronic platform rotation system includes: a nonlinear controller, a selection switch, a current loop controller, a power drive element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit, and a speed loop controller. The current feedback element acquires the current information of the airborne optoelectronic platform; the speed feedback element acquires the speed information of the airborne optoelectronic platform; and the angular position feedback element acquires the angular position information of the airborne optoelectronic platform. The nonlinear controller responds to the operation of controlling the rotation of the airborne optoelectronic platform by outputting a control quantity of the current through forward and reverse nonlinear control. The selection switch connects the nonlinear controller and the current loop controller. The current loop controller performs closed-loop processing on the current information of the airborne optoelectronic platform acquired by the current feedback element and the control quantity, outputting the phase current of the motor as the first phase current. The power drive element amplifies the first phase current and outputs a motor drive quantity to drive the motor to perform corresponding actions, thereby rotating the airborne optoelectronic platform connected to the motor to a preset angle. The preset angle is less than 180 degrees; the first error transformation processing unit is used to convert the angular position information of the airborne optoelectronic platform into discrete angular position information; the position loop controller is used to convert the discrete angular position information into discrete speed information as first speed information; the second error transformation processing unit is used to convert the speed information of the airborne optoelectronic platform into discrete speed information as second speed information; the speed loop controller is used to convert the second speed information and the first speed information into discrete current quantity through speed closed-loop control, wherein the selection switch disconnects the nonlinear controller and the current feedback element, and connects the speed loop controller and the current loop controller; the current loop controller is used to perform closed-loop processing on the current information of the airborne optoelectronic platform obtained by the current feedback element and the discrete current quantity, and output the phase current of the motor as the second phase current; the power drive element is used to amplify the second phase current and output the motor drive quantity to drive the motor to perform corresponding actions so that the airborne optoelectronic platform connected to the motor rotates to a position of 180 degrees.

2. The airborne optoelectronic platform turning system according to claim 1, characterized in that, The output of the nonlinear controller is connected to one input of the selector switch. The output of the selector switch is connected to the input of the current loop controller. The output of the current loop controller is connected to the input of the power drive element. The output of the power drive element is connected to the input of the motor. The motor is connected to the motion frame of the airborne optoelectronic platform. The motion frame is connected to one end of the current feedback element. The other end of the current feedback element is connected to the input of the current loop controller. The motion frame is connected to one end of the speed feedback element. The other end of the speed feedback element is connected to the input of the second error transformation processing unit. The output of the second error transformation processing unit is connected to the input of the speed loop controller. The output of the speed loop controller is connected to the other input of the selector switch. The motion frame is connected to one end of the angular position feedback element. The other end of the angular position feedback element is connected to the input of the first error transformation processing unit. The output of the first error transformation processing unit is connected to the input of the position loop controller. The output of the position loop controller is connected to the input of the speed loop controller.

3. The airborne optoelectronic platform turning system according to claim 1, characterized in that, The current loop controller is designed based on the peak stall current, which is calculated from the angular acceleration 'a' of the airborne optoelectronic platform, given the requirement to rotate the platform 180° within 1 second. give This allows us to determine the maximum output torque τ of the motor. max and peak stall current I max The specific calculation formula is as follows: t max =L×a give τ max =K t ×I max Where S is the angular displacement of the airborne optoelectronic platform, t is the time required for rapid turning, L is the moment of inertia, and m i Let r be the mass of the i-th mass element. i K is the perpendicular distance from the i-th mass element to the axis of rotation. t is the torque constant of the motor.

4. The airborne optoelectronic platform turning system according to claim 1, characterized in that, Both the velocity loop controller and the position loop controller are designed based on the azimuth axis transfer function of the photoelectric platform, which is expressed as follows: Where, ω n Let ξ be the natural frequency, ξ be the damping ratio, K be the open-loop gain of the azimuth transfer function, and S be the Laplace transform.

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