Disturbance control method, device, electronic device and storage medium

Abstract

The present application provides a disturbance control method, device, electronic device and storage medium, which relate to the field of system control technology, wherein the method includes: obtaining the current operating state data of the aircraft and the current motion state data of the aviation optoelectronic stabilized turntable; based on the current operating state data and the current motion state data, using a friction model to obtain the friction simulation value of the axis system of the aviation optoelectronic stabilized turntable; and determining the unbalanced torque value generated by the mass aviation optoelectronic stabilized turntable based on the current motion state data; performing a first compensation process on the control system of the aviation optoelectronic stabilized turntable according to the friction simulation value and the mass unbalanced torque value; and performing a second compensation process on the control system of the aviation optoelectronic stabilized turntable using an anti-disturbance control strategy. The implementation of the technical solution provided by the present application solves the technical problem in the related art that the turntable's visual axis stabilization accuracy is poor due to disturbances under airborne conditions.

Description

Technical Field

[0001] The present application relates to the field of system control technology, and in particular to a disturbance control method, device, electronic device and storage medium. Background Art

[0002] Currently, aviation optoelectronic stabilized turntables are mounted on aircraft to capture images during flight. These images can be used for reconnaissance purposes, requiring high image clarity.

[0003] In practice, it has been found that the takeoff, landing and flight of the carrier aircraft will impose strong impact and vibration on the stabilization turntable. The disturbance under airborne conditions can easily cause poor accuracy of the turntable's line of sight stabilization, causing the video image to become blurred, resulting in low imaging clarity.

[0004] With regard to the technical problem in related technologies that disturbances under airborne conditions easily lead to poor turntable line of sight stabilization accuracy, no effective solution has been proposed so far. Summary of the Invention

[0005] The present application provides a disturbance control method, device, electronic device and storage medium to at least solve the technical problem in the related art that disturbances under airborne conditions cause poor turntable line of sight stabilization accuracy.

[0006] In a first aspect, the present application provides a disturbance control method, comprising: obtaining current operating status data of an aircraft, and obtaining current motion state data of an aviation optoelectronic stabilized turntable; based on the current operating status data and the current motion state data, obtaining a friction force simulation value using a friction force model, wherein the friction force simulation value is used to represent the friction force of the attitude change of the aircraft and the aviation optoelectronic stabilized turntable on the axis system of the aviation optoelectronic stabilized turntable; determining a mass imbalance torque value based on the current motion state data, wherein the mass imbalance torque value is used to represent the unbalanced torque generated by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable; performing a first compensation processing on the control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass imbalance torque value; and performing a second compensation processing on the control system of the aviation optoelectronic stabilized turntable using an anti-disturbance control strategy.

[0007] By adopting the above technical solution, by obtaining the current operating state data of the aircraft and the current motion state data of the airborne optoelectronic stabilized turntable, a friction force simulation value is obtained using a friction force model, and a mass imbalance torque value is determined, that is, the friction force of the axis system of the airborne optoelectronic stabilized turntable and the imbalance torque generated by the airborne optoelectronic stabilized turntable are obtained. Then, based on the friction force simulation value and the mass imbalance torque value, a first compensation process is performed on the control system of the airborne optoelectronic stabilized turntable, namely, friction compensation and mass imbalance torque compensation are performed. Then, an active disturbance rejection control strategy is used to perform a second compensation process on the control system of the airborne optoelectronic stabilized turntable. That is, friction compensation and mass imbalance torque compensation are used in combination with the active disturbance rejection control strategy to suppress disturbances under airborne conditions, thereby achieving the purpose of improving the boresight stabilization accuracy of the airborne optoelectronic stabilized turntable and further achieving the effect of improving imaging clarity.

[0008] Optionally, a second compensation process is performed on the control system of the compensated aviation optoelectronic stabilized turntable using an anti-disturbance control strategy, including: estimating the system disturbance value of the control system of the aviation optoelectronic stabilized turntable through an expanded state observer; and performing disturbance compensation on the control system of the aviation optoelectronic stabilized turntable according to the system disturbance value.

[0009] By adopting the above technical solution, the system disturbance value of the control system of the aviation optoelectronic stabilized turntable is estimated through the extended state observer, and then the control system is compensated for the disturbance according to the system disturbance value, thereby achieving the purpose of compensating for disturbances other than friction and mass imbalance torque, and improving the effect of active disturbance suppression.

[0010] Optionally, estimating a system disturbance value of a control system of an aviation electro-optical stabilized turntable by using an extended state observer includes establishing the following second-order extended state observer equation:

[0011]

[0012] Among them, z1 represents the expected output value of the control system of the aviation optoelectronic stabilization turntable, y represents the actual output value of the control system of the aviation optoelectronic stabilization turntable, e1 represents the error variable, β 01 , β 02 represents the observation parameter sequence of the extended state observer, b represents the motor model parameters, z2 represents the system disturbance value estimated in real time by the extended state observer, u represents the control variable of the drive control system, fal() is the nonlinear function introduced in the extended state observer, δ is the parameter of the nonlinear function, is the first derivative of z1, is the first derivative of z2; z2 is determined as the system disturbance value.

[0013] By adopting the above technical solution, the purpose of estimating other system disturbances except friction and mass imbalance torque is achieved by designing a second-order extended state observer.

[0014] Optionally, based on the current operating status data and the current motion status data, a friction model is used to obtain a friction simulation value, including: based on a pre-established mapping relationship table, determining the current input parameter array of the friction model corresponding to the current operating status data and the current motion status data, wherein each set of mapping relationships in the mapping relationship table records the correspondence between a set of status data and a set of input parameters, a set of status data includes the operating status data of the aircraft and the motion status data of the aviation optoelectronic stabilization turntable, and the mapping relationship table is obtained by performing a friction simulation test using the historical operating status data of the aircraft and the historical motion status data of the aviation optoelectronic stabilization turntable; and inputting the current input parameter array into the friction model to obtain the friction simulation value.

[0015] By adopting the above technical solution, a mapping relationship table is pre-established, and the current input parameter array corresponding to the current operating state data and the current motion state data is determined based on the mapping relationship table. Then, the current input parameter array is input into the friction force model to obtain the friction force simulation value. This achieves the purpose of using the friction force model to simulate and obtain the friction force simulation value corresponding to the current operating state data and the current motion state data.

[0016] Optionally, determining the mass unbalance torque value based on the current motion state data includes: determining the mass unbalance torque value according to the following formula: M=mr 2 .ω 2 , wherein M is the mass unbalance torque value, m is the unbalanced mass, r is the eccentric distance from the unbalanced mass to the rotation center of the aviation optoelectronic stabilized turntable, ω is the angular velocity of the aviation optoelectronic stabilized turntable, the current motion state data is the angular velocity of the aviation optoelectronic stabilized turntable, the unbalanced mass and the eccentric distance are obtained by pre-testing the aviation optoelectronic stabilized turntable using a dynamic balancing machine.

[0017] By adopting the above technical solution, the unbalanced mass and eccentricity of the aviation optoelectronic stabilized turntable are pre-tested and obtained, and then the mass unbalance torque value is determined according to the above formula based on the current motion state data. Through this technical solution, the purpose of determining the mass unbalance torque is achieved.

[0018] Optionally, a first compensation process is performed on the control system of the aviation optoelectronic stabilized turntable according to the friction simulation value and the mass imbalance torque value, including: compensating the control system for friction according to the friction simulation value, and actively compensating the control system according to the mass imbalance torque value; wherein, actively compensating the control system according to the mass imbalance torque value includes at least one of the following: reducing acceleration transmission through shock absorber structure control; balancing the center of mass by a static balance method; detecting the unbalanced position by a shaft system uniformity measuring instrument, and performing center of mass offset control on the unbalanced position.

[0019] By adopting the above technical solution, friction compensation can be performed on the control system based on the friction simulation value, and active compensation can be performed on the control system based on the mass imbalance torque. Specifically, the mass imbalance torque disturbance can be compensated by reducing acceleration transmission through shock absorber structure control; balancing the center of mass using a static balance method; and detecting the imbalance position using a shafting uniformity meter and performing mass center offset control at the imbalance position. This can offset the effects of friction disturbance and imbalance torque disturbance generated under airborne conditions, and achieve the purpose of compensating for mass imbalance torque disturbance through different methods.

[0020] Optionally, the current operating status data includes at least one of the following: the speed of the aircraft; the acceleration of the aircraft; the altitude of the aircraft; the attitude angle of the aircraft; the attitude angular velocity of the aircraft; the current motion state data includes at least one of the following: the angular velocity of the aviation optoelectronic stabilization turntable; the angular acceleration of the aviation optoelectronic stabilization turntable.

[0021] By adopting the above technical solution, the current operating status data may include at least one of the following: the aircraft's speed, acceleration, flight altitude, attitude angle, and attitude angular velocity; the current motion status data may include at least one of the following: the angular velocity and angular acceleration of the aviation optoelectronic stabilization turntable.

[0022] In the second aspect of the present application, a disturbance control device is also provided, including: an acquisition module for acquiring the current operating status data of the aircraft and the current motion state data of the aviation optoelectronic stabilized turntable; an acquisition module for obtaining a friction force simulation value based on the current operating status data and the current motion state data using a friction force model, wherein the friction force simulation value is used to represent the friction force of the attitude change of the aircraft and the aviation optoelectronic stabilized turntable on the axis system of the aviation optoelectronic stabilized turntable; a determination module for determining the mass imbalance torque value based on the current motion state data, wherein the mass imbalance torque value is used to represent the unbalanced torque generated by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable; a first processing module for performing a first compensation processing on the control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass imbalance torque value; and a second processing module for performing a second compensation processing on the control system of the aviation optoelectronic stabilized turntable using an anti-disturbance control strategy.

[0023] In a third aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor implements any one of the above method steps when executing the program.

[0024] In a fourth aspect of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium stores instructions. When the instructions are executed, any one of the above method steps is performed.

[0025] In summary, one or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0026] 1. Friction compensation, mass imbalance torque compensation, and the combination of active disturbance rejection control strategies are used to suppress disturbances under airborne conditions, thereby improving the boresight stabilization accuracy of the aviation optoelectronic stabilized turntable and, in turn, achieving the effect of improving imaging clarity.

[0027] 2. The purpose of compensating for disturbances other than friction and mass imbalance torque is achieved, and the effect of actively suppressing disturbances is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a flow chart of a disturbance control method provided in an embodiment of the present application;

[0029] Figure 2 This is a block diagram of the active disturbance rejection control principle provided by an embodiment of the present application;

[0030] Figure 3 This is a structural block diagram of a disturbance control device provided in an embodiment of the present application;

[0031] Figure 4This is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application.

[0032] Description of reference numerals: 400 - electronic device; 401 - processor; 402 - communication bus; 403 - user interface; 404 - network interface; 405 - memory. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0034] In the description of the embodiments of this application, words such as "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "for example" or "for instance" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "for example" or "for instance" is intended to present the relevant concepts in a concrete manner.

[0035] In the description of the embodiments of the present application, the term "multiple" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0036] This application provides a disturbance control method, referring to Figure 1 , Figure 1 This is a flow chart of a disturbance control method provided in an embodiment of the present application, comprising the following steps:

[0037] Step S101, obtaining the current operating state data of the aircraft and the current motion state data of the aviation optoelectronic stabilization turntable;

[0038] Step S102: Based on the current operating state data and the current motion state data, a friction force simulation value is obtained using a friction force model, wherein the friction force simulation value is used to represent the friction force on the axis system of the aviation optoelectronic stabilized turntable caused by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable;

[0039] Step S103, determining a mass unbalance torque value based on the current motion state data, wherein the mass unbalance torque value is used to represent an unbalance torque generated by a posture change of the aircraft and the aviation optoelectronic stabilization turntable;

[0040] Step S104, performing a first compensation process on the control system of the aviation optoelectronic stabilization turntable according to the friction force simulation value and the mass imbalance torque value;

[0041] Step S105 , performing a second compensation process on the control system of the aviation optoelectronic stabilized turntable using an active disturbance rejection control strategy.

[0042] The execution subject of the above steps may be a controller or a processor, but is not limited thereto.

[0043] In the above embodiment, the current operating state data of the aircraft and the current motion state data of the aviation optoelectronic stabilization turntable are obtained. For example, the current operating state data may include the speed, acceleration, attitude angle, attitude angular velocity, etc. of the aircraft, and the current motion state data may include the angular velocity, angular acceleration, etc. of the aviation stabilization turntable. The friction model is used to obtain a friction simulation value, and the mass unbalance torque value is determined based on the current motion state data. That is, the friction force generated by the change in the attitude of the aircraft and the turntable on the axis system of the turntable is simulated by the friction model, and the unbalance torque generated by the change in the attitude of the aircraft and the turntable is determined based on the current motion state data. This unbalance torque may interfere with the stability of the turntable. Stable operation, so it is necessary to predict and compensate through the model, that is, to obtain the friction force of the shaft system of the aviation optoelectronic stabilized turntable and the unbalanced torque generated by the aviation optoelectronic stabilized turntable, and then perform the first compensation processing on the control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass unbalanced torque value. The control system of the turntable is compensated, for example, by adjusting the motor parameters for compensation, that is, friction compensation and mass unbalanced torque compensation are performed to eliminate or reduce the influence of these disturbance factors on the performance of the turntable, thereby improving its stability and accuracy; then, the active disturbance rejection control strategy is used to perform the second compensation processing on the control system of the aviation optoelectronic stabilized turntable. Active Disturbance Rejection Control (ADRC) is a control strategy that can handle unknown disturbances and model uncertainties. ADRC is used to perform further compensation processing on the control system of the turntable to deal with other unknown disturbance factors that may appear, thereby further enhancing the anti-interference ability of the turntable. This embodiment employs friction compensation, mass imbalance torque compensation, and an active disturbance rejection control strategy to suppress disturbances under airborne conditions, thereby improving the boresight stabilization accuracy of the aviation electro-optical stabilized turntable and, in turn, enhancing imaging clarity. It should be noted that steps S102 and S103 are not strictly sequential and can be performed simultaneously.

[0044] In an optional embodiment, a second compensation process is performed on the control system of the compensated aviation optoelectronic stabilized turntable using an anti-disturbance control strategy, including: estimating the system disturbance value of the control system of the aviation optoelectronic stabilized turntable through an extended state observer; and performing disturbance compensation on the control system of the aviation optoelectronic stabilized turntable according to the system disturbance value.

[0045] In the above embodiment, the system disturbance value of the control system of the aviation optoelectronic stabilization turntable is estimated by an extended state observer, and then the control system is disturbance compensated according to the system disturbance value. The extended state observer is used to estimate other disturbances (such as the above system disturbance value) in real time, such as wind resistance, winding, etc. When the observer can effectively estimate these disturbances, the control system can use these estimated values ​​for compensation. This is usually achieved by adding a quantity opposite to the estimated disturbance to the control input, thereby reducing the impact of the disturbance on the system performance. This embodiment achieves the purpose of compensating for disturbances other than friction and mass imbalance torque, thereby improving the effect of actively suppressing disturbances.

[0046] In an optional embodiment, estimating the system disturbance value of the control system of the aviation optoelectronic stabilized turntable by using an extended state observer includes: establishing the following second-order extended state observer equation:

[0047]

[0048] Among them, z1 represents the expected output value of the control system of the aviation optoelectronic stabilization turntable, y represents the actual output value of the control system of the aviation optoelectronic stabilization turntable, e1 represents the error variable, β 01 , β 02 represents the observation parameter sequence of the extended state observer, b represents the motor model parameters, z2 represents the system disturbance value estimated in real time by the extended state observer, u represents the control variable of the drive control system, fal() is the nonlinear function introduced in the extended state observer, δ is the parameter of the nonlinear function, is the first derivative of z1, is the first derivative of z2; z2 is determined as the system disturbance value.

[0049] In the above-described embodiment, a second-order extended state observer is designed to estimate system disturbances other than friction and mass imbalance torque. The control system can then use this estimate to compensate for disturbances, thereby improving system performance and stability. In an aviation optoelectronically stabilized turntable, the introduction of an active disturbance rejection control (ADRC) strategy can further enhance the turntable's ability to suppress disturbances, ensuring line-of-sight stability. The ADRC strategy also improves system robustness, enabling the turntable to maintain good performance in complex and changing airborne environments.

[0050] In an optional embodiment, based on the current operating status data and the current motion status data, a friction model is used to obtain a friction simulation value, including: based on a pre-established mapping relationship table, determining the current input parameter array of the friction model corresponding to the current operating status data and the current motion status data, wherein each set of mapping relationships in the mapping relationship table records the correspondence between a set of status data and a set of input parameters, a set of status data includes the operating status data of the aircraft and the motion status data of the aviation optoelectronic stabilization turntable, and the mapping relationship table is obtained by performing a friction simulation test using the historical operating status data of the aircraft and the historical motion status data of the aviation optoelectronic stabilization turntable; and inputting the current input parameter array into the friction model to obtain the friction simulation value.

[0051] In the above embodiment, a mapping relationship table is established in advance, and the current input parameter array corresponding to the current operating state data and the current motion state data is determined based on the mapping relationship table. Then, the current input parameter array is input into the friction model to obtain a friction simulation value. The above mapping relationship table can be obtained by performing a friction simulation test based on the historical operating state data of the aircraft and the historical motion state data of the aviation optoelectronic stabilization turntable. The mapping relationship table records multiple groups of mapping relationships, and each group of mapping relationships records the corresponding relationship between a group of state data and a group of input parameters. A group of state data can include the operating state data of the aircraft and the motion state data of the aviation optoelectronic stabilization turntable corresponding to the same moment in the past historical data. For example, the LuGre friction model can be used. The purpose of using the friction model to simulate and obtain the friction simulation value corresponding to the current operating state data and the current motion state data is achieved.

[0052] In an optional embodiment, determining the mass imbalance torque value based on the current motion state data includes: determining the mass imbalance torque value according to the following formula: M=mr 2 .ω 2 , wherein M is the mass unbalance torque value, m is the unbalanced mass, r is the eccentric distance from the unbalanced mass to the rotation center of the aviation optoelectronic stabilized turntable, ω is the angular velocity of the aviation optoelectronic stabilized turntable, the current motion state data is the angular velocity of the aviation optoelectronic stabilized turntable, the unbalanced mass and the eccentric distance are obtained by pre-testing the aviation optoelectronic stabilized turntable using a dynamic balancing machine.

[0053] In the above embodiment, the unbalanced mass and eccentric distance of the aviation optoelectronic stabilized turntable are obtained by pre-testing. Determining the size of the unbalanced mass usually requires the use of specialized measuring equipment, such as a dynamic balancing machine. The dynamic balancing machine evaluates the unbalanced state of the turntable by measuring the vibration generated during its rotation. During the measurement process, the turntable is mounted on the dynamic balancing machine and rotates at a certain speed. The dynamic balancing machine records and analyzes the vibration data of the turntable during its rotation to determine the size and position of the unbalanced mass. The dynamic balancing machine can also be used to measure the offset of the unbalanced mass relative to the center of rotation, measure the position of the unbalanced mass, and calculate the eccentric distance; then, based on the current motion state data, the mass unbalanced torque value is determined according to the above formula. Through this technical solution, the purpose of determining the mass unbalanced torque is achieved.

[0054] In an optional embodiment, a first compensation process is performed on the control system of the aviation optoelectronic stabilized turntable according to the friction simulation value and the mass imbalance torque value, including: compensating the control system for friction according to the friction simulation value, and actively compensating the control system according to the mass imbalance torque value; wherein, actively compensating the control system according to the mass imbalance torque value includes at least one of the following: reducing acceleration transmission through shock absorber structure control; balancing the center of mass by a static balance method; detecting the unbalanced position by a shaft system uniformity measuring instrument, and performing center of mass offset control on the unbalanced position.

[0055] In the above-described embodiment, friction compensation can be performed on the control system based on simulated friction values, and active compensation can be performed based on mass imbalance torque to offset the effects of friction disturbances and imbalance torque disturbances generated under airborne conditions. Based on the simulated friction values, friction compensation is performed on the turntable using a preset compensation method (such as adjusting control parameters or adding compensation torque). In addition to friction modeling, mass imbalance modeling is also performed using aircraft and turntable status data to understand the uneven mass distribution in the system and compensate for the mass imbalance torque. Compensation for mass imbalance torque disturbances can be achieved through the following methods: reducing acceleration transmission through shock absorber structure control; balancing the center of mass using static balancing methods; and detecting imbalance positions using a shafting uniformity meter and performing center of mass offset control at these locations. This achieves the goal of compensating for mass imbalance torque disturbances through various methods. After determining the torque generated by mass imbalance, appropriate active compensation measures (such as adjusting the center of mass position or adding counterweights) can be taken to eliminate this imbalance torque.

[0056] In an optional embodiment, the current operating status data includes at least one of the following: the speed of the aircraft; the acceleration of the aircraft; the altitude of the aircraft; the attitude angle of the aircraft; the attitude angular velocity of the aircraft; the current motion state data includes at least one of the following: the angular velocity of the aviation optoelectronic stabilization turntable; the angular acceleration of the aviation optoelectronic stabilization turntable.

[0057] In the above embodiment, the current operating status data may include at least one of the following: the speed of the aircraft, the acceleration of the aircraft, the altitude of the aircraft, the attitude angle of the aircraft, and the attitude angular velocity of the aircraft; for example, the attitude angle of the aircraft may include the pitch, yaw and roll states of the aircraft, such as the pitch angle, yaw angle and roll angle, which are crucial for maintaining the stability and maneuverability of the aircraft; the current motion state data may include at least one of the following: the angular velocity of the aviation optoelectronic stabilization turntable, and the angular acceleration of the aviation optoelectronic stabilization turntable; for example, the angular velocity of the turntable in the three axes of X, Y, and Z, which describes the rotation speed of the turntable in different directions.

[0058] It should be noted that the above-described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below with reference to specific embodiments.

[0059] An embodiment of the present application provides a disturbance control method for an aviation optoelectronic stabilized turntable, which uses a method that combines friction compensation, mass imbalance torque compensation, and an anti-disturbance control strategy to specifically suppress disturbances under airborne conditions, thereby achieving a significant improvement in the line of sight stabilization accuracy of the stabilized turntable, thereby improving imaging clarity.

[0060] 1. Friction compensation (the influence of carrier posture change on the system is mainly through the friction of the axis system, which in turn affects the stability accuracy of the visual axis)

[0061] 1.1. The LuGre friction model is used to accurately model the friction of the axis system of an aircraft optoelectronic stabilized turntable. The LuGre friction model comprehensively describes both the dynamic and static characteristics of friction. This model effectively accounts for the Stribeck effect, while also accounting for friction hysteresis, the effect of variable maximum static friction, and the deformation of the contact surface before sliding. This model incorporates the concept of the bristle model, treating the protruding points between contacting surfaces as elastic bristles, and further refines this model.

[0062] 2. Mass imbalance torque compensation

[0063] The aircraft carrier motion state is obtained, the mass imbalance torque caused by the residual deviation is estimated in real time based on the aircraft carrier motion state, and the mass imbalance torque is actively compensated.

[0064] In practical applications, compensation can be achieved in the following ways:

[0065] (1) Reduce acceleration transmission through shock absorber structure control;

[0066] (2) Use static balance method to balance the center of mass;

[0067] (3) The unbalanced position is detected by the shaft uniformity measuring instrument, and the center of mass offset of the unbalanced position is controlled.

[0068] 3. Active anti-disturbance control technology (wind resistance, line interference, etc. affect the system's line of sight stability accuracy)

[0069] Because friction and mass imbalance modeling both have modeling errors that are difficult to completely eliminate in actual operating environments, overcompensation and undercompensation are inevitable. Furthermore, in addition to friction torque and mass imbalance torque, windage and line interference also affect the system's boresight stabilization accuracy. To address this, this application employs an "auto-disturbance rejection control strategy" to observe and compensate for residual disturbances after compensation.

[0070] This application refers to the influence of external disturbances and system model uncertainty on the system as "total disturbance" (usually expressed in the form of equivalent disturbance voltage in the controlled system), and expands it into a new state. Then, an extended state observer (ESO) is designed to observe it in real time and generate control quantities based on the disturbance observation values, thereby breaking through the limitations of the mechanical resonance of the system and achieving the purpose of actively suppressing disturbances.

[0071] Active disturbance rejection control (ADRC) is a new control technology based on the idea of ​​"active disturbance rejection". Its core idea is as follows: Figure 2 As shown, Figure 2 This is a block diagram of the active disturbance rejection control principle provided by an embodiment of the present application.

[0072] Where d(s) is the residual disturbance in the system after friction compensation and mass imbalance torque compensation, Figure 2 Where d′(s) is the observation value of the disturbance by the extended state observer. Obviously, the closer the disturbance observation value d′(s) is to the true disturbance d(s), the more obvious the disturbance suppression effect is. This application designs a second-order nonlinear extended state observer to estimate the disturbance d in real time:

[0073]

[0074]

[0075] Among them, z1 represents the expected output value of the control system of the aviation optoelectronic stabilization turntable, y represents the actual output value of the control system of the aviation optoelectronic stabilization turntable, e1 represents the error variable, β01 , β 02 represents the observation parameter sequence of the extended state observer, b represents the motor model parameters, z2 represents the system disturbance value estimated in real time by the extended state observer, u represents the control variable of the drive control system, fal() is the nonlinear function introduced in the extended state observer, δ is the parameter of the nonlinear function, is the first derivative of z1, is the first derivative of z2.

[0076] The above observer can be used to observe disturbances d(s) other than friction and mass imbalance.

[0077] The overall process of the embodiment of this application is as follows:

[0078] S1. Obtain aircraft operation status data;

[0079] S2. Acquire the turntable motion state data of the aviation optoelectronic stabilized turntable;

[0080] S3. Construct a LuGre friction model based on the aircraft operation status data and the turntable motion status data;

[0081] S4. Based on the LuGre friction model, simulate the friction of the aviation optoelectronic stabilized turntable axis system and obtain the friction simulation value;

[0082] S5. Based on the friction simulation value, a preset friction compensation method is used to perform friction compensation on the aviation optoelectronic stabilized turntable;

[0083] S6. Perform mass imbalance modeling based on both the aircraft operating status data and the turntable motion status data;

[0084] S7. determining a mass imbalance torque based on mass imbalance modeling, and actively compensating for the mass imbalance torque;

[0085] S8. Adopting the self-disturbance rejection control technology, based on the extended state observer to observe the disturbance observation value and the real disturbance value, and combining the disturbance observation value and the real disturbance value to compensate and eliminate the disturbance.

[0086] Among them, preferably, friction modeling compensation, mass imbalance modeling compensation and active disturbance rejection control compensation strategies are used simultaneously.

[0087] Through the embodiments of the present application, for an aviation optoelectronic stabilized turntable, a method combining friction compensation, mass imbalance torque compensation and self-disturbance rejection control strategy is adopted to suppress disturbances under airborne conditions in a targeted manner, thereby achieving a significant improvement in the line of sight stabilization accuracy of the stabilized turntable, thereby improving imaging clarity.

[0088] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0089] The present application also provides a disturbance control device, such as Figure 3 As shown, Figure 3 : is a structural block diagram of a disturbance control device provided in an embodiment of the present application, the device comprising:

[0090] The acquisition module 301 is used to acquire the current operating state data of the aircraft and the current motion state data of the aviation optoelectronic stabilization turntable;

[0091] An obtaining module 302 is configured to obtain a friction force simulation value using a friction force model based on the current operating state data and the current motion state data, wherein the friction force simulation value is used to represent the friction force on the axis system of the aviation optoelectronic stabilized turntable caused by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable;

[0092] A determination module 303 is configured to determine a mass imbalance torque value based on the current motion state data, wherein the mass imbalance torque value is used to represent an imbalance torque generated by a posture change of the aircraft and the aviation optoelectronic stabilization turntable;

[0093] A first processing module 304 is configured to perform a first compensation process on the control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass imbalance torque value;

[0094] The second processing module 305 is used to perform a second compensation process on the control system of the aviation optoelectronic stabilized turntable by using an active disturbance rejection control strategy.

[0095] In an optional embodiment, the above-mentioned second processing module 305 includes: an estimation unit, used to estimate the system disturbance value of the control system of the aviation optoelectronic stabilized turntable through an extended state observer; and a first compensation unit, used to perform disturbance compensation on the control system of the aviation optoelectronic stabilized turntable according to the system disturbance value.

[0096] In an optional embodiment, the estimation unit includes: an establishment subunit, configured to establish the following second-order extended state observer equation:

[0097]

[0098] Among them, z1 represents the expected output value of the control system of the aviation optoelectronic stabilization turntable, y represents the actual output value of the control system of the aviation optoelectronic stabilization turntable, e1 represents the error variable, β 01 , β 02 represents the observation parameter sequence of the extended state observer, b represents the motor model parameters, z2 represents the system disturbance value estimated in real time by the extended state observer, u represents the control variable of the drive control system, fal() is the nonlinear function introduced in the extended state observer, δ is the parameter of the nonlinear function, is the first derivative of z1, is the first-order derivative of z2; a determination subunit, used to determine z2 as the system disturbance value.

[0099] In an optional embodiment, the above-mentioned acquisition module 302 includes: a first determination unit, used to determine the current input parameter array of the friction model corresponding to the current operating status data and the current motion state data based on a pre-established mapping relationship table, wherein each set of mapping relationships in the mapping relationship table records the correspondence between a set of status data and a set of input parameters, a set of status data includes the operating status data of the aircraft and the motion state data of the aviation optoelectronic stabilization turntable, and the mapping relationship table is obtained by performing a friction simulation test using the historical operating status data of the aircraft and the historical motion state data of the aviation optoelectronic stabilization turntable; the acquisition unit, used to input the current input parameter array into the friction model to obtain a friction simulation value.

[0100] In an optional embodiment, the determination module 303 includes: a second determination unit, configured to determine the mass imbalance moment value according to the following formula: M=mr 2 .ω 2 , wherein M is the mass unbalance torque value, m is the unbalanced mass, r is the eccentric distance from the unbalanced mass to the rotation center of the aviation optoelectronic stabilized turntable, ω is the angular velocity of the aviation optoelectronic stabilized turntable, the current motion state data is the angular velocity of the aviation optoelectronic stabilized turntable, the unbalanced mass and the eccentric distance are obtained by pre-testing the aviation optoelectronic stabilized turntable using a dynamic balancing machine.

[0101] In an optional embodiment, the first processing module 304 includes: a second compensation unit, which is used to compensate the control system for friction according to the friction simulation value, and to actively compensate the control system according to the mass imbalance torque value; the second compensation unit is used to actively compensate the control system according to the mass imbalance torque value in at least one of the following ways: reducing acceleration transmission through shock absorber structure control; balancing the center of mass by static balance method; detecting the unbalanced position through a shaft system uniformity measuring instrument, and performing center of mass offset control on the unbalanced position.

[0102] In an optional embodiment, the current operating status data includes at least one of the following: the speed of the aircraft; the acceleration of the aircraft; the altitude of the aircraft; the attitude angle of the aircraft; the attitude angular velocity of the aircraft; the current motion state data includes at least one of the following: the angular velocity of the aviation optoelectronic stabilization turntable; the angular acceleration of the aviation optoelectronic stabilization turntable.

[0103] The present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed, any one of the above-mentioned method steps is executed.

[0104] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0105] This application also discloses an electronic device. Figure 4 As shown, Figure 4 The electronic device 400 may include: at least one processor 401 , at least one network interface 404 , a user interface 403 , a memory 405 , and at least one communication bus 402 .

[0106] The communication bus 402 is used to implement the connection and communication between these components.

[0107] The user interface 403 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 403 may also include a standard wired interface and a wireless interface.

[0108] The network interface 404 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0109] The processor 401 may include one or more processing cores. The processor 401 utilizes various interfaces and lines to connect the various parts of the entire electronic device (such as a server), and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 may be implemented in the form of at least one hardware of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 401 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display; and the modem is used to handle wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 401 and may be implemented separately through a chip.

[0110] Among them, the memory 405 may include a random access memory (RAM) or a read-only memory (Read-Only Memory). Optionally, the memory 405 includes a non-transitory computer-readable storage medium. The memory 405 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may optionally be at least one storage device located away from the aforementioned processor 401. Refer to Figure 4 , the memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of a disturbance control method.

[0111] exist Figure 4In the electronic device 400 shown, the user interface 403 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 401 can be used to call an application program of a disturbance control method stored in the memory 405. When executed by one or more processors 401, the electronic device 400 executes one or more methods described in the above embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited to the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for this application.

[0112] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of units, which is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0114] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0115] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0116] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0117] The foregoing is merely an exemplary embodiment of the present disclosure and is not intended to limit the scope of the present disclosure. In other words, any equivalent variations and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the disclosure and the practical implications thereof.

[0118] This application is intended to cover any modifications, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the technical field not described in the present disclosure.

Claims

1. A disturbance control method, characterized in that: include: Obtain the current operating status data of the aircraft and the current motion status data of the aviation optoelectronic stabilization turntable; Based on the current operating state data and the current motion state data, a friction force simulation value is obtained using a friction force model, wherein the friction force simulation value is used to represent the friction force of the axis system of the aviation optoelectronic stabilized turntable caused by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable; Determining a mass unbalance moment value based on the current motion state data, wherein the mass unbalance moment value is used to represent an unbalance moment generated by attitude changes of the aircraft and the aviation optoelectronic stabilization turntable; performing a first compensation process on a control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass imbalance torque value; Performing a second compensation process on the control system of the aviation optoelectronic stabilized turntable by using an active disturbance rejection control strategy; Wherein, determining the mass unbalance torque value based on the current motion state data includes: determining the mass unbalance torque value according to the following formula: M=mr 2 .ω 2 , where M is the mass unbalance torque value, m is the unbalanced mass, r is the eccentric distance from the unbalanced mass to the rotation center of the aviation optoelectronic stabilized turntable, ω is the angular velocity of the aviation optoelectronic stabilized turntable, and the current motion state data is the angular velocity of the aviation optoelectronic stabilized turntable. The unbalanced mass and the eccentric distance are obtained by pre-testing the aviation optoelectronic stabilized turntable using a dynamic balancing machine; Among them, the control system of the aviation optoelectronic stabilized turntable is subjected to a first compensation process according to the friction simulation value and the mass imbalance torque value, including: friction compensation of the control system according to the friction simulation value, and active compensation of the control system according to the mass imbalance torque value; wherein, active compensation of the control system according to the mass imbalance torque value includes at least one of the following: reducing acceleration transmission through shock absorber structure control; balancing the center of mass by a static balance method; detecting the unbalanced position by a shaft system uniformity measuring instrument, and performing center of mass offset control on the unbalanced position.

2. The method according to claim 1, characterized in that Performing a second compensation process on the control system of the compensated aviation optoelectronic stabilized turntable using an auto-disturbance rejection control strategy, including: estimating a system disturbance value of a control system of the aviation optoelectronic stabilized turntable by using an extended state observer; Disturbance compensation is performed on the control system of the aviation optoelectronic stabilized turntable according to the system disturbance value.

3. The method according to claim 2, characterized in that The method estimates a system disturbance value of a control system of the aviation optoelectronic stabilized turntable by using an extended state observer, including: The following second-order extended state observer equation is established: Wherein, z1 represents the expected output value of the control system of the aviation optoelectronic stabilization turntable, y represents the actual output value of the control system of the aviation optoelectronic stabilization turntable, e1 represents the error variable, β 01 , β 02 represents the observation parameter sequence of the extended state observer, b represents the motor model parameter, z2 represents the system disturbance value estimated in real time by the extended state observer, u represents the control variable of the drive control system, fal( ) is the nonlinear function introduced in the extended state observer, δ is the parameter of the nonlinear function, is the first derivative of z1, is the first derivative of z2; z2 is determined as the system disturbance value.

4. The method according to claim 1, wherein Obtaining a friction simulation value using a friction model based on the current operating state data and the current motion state data, including: Determining, based on a pre-established mapping relationship table, a current input parameter array of the friction force model corresponding to the current operating state data and the current motion state data, wherein each set of mapping relationships in the mapping relationship table records a correspondence between a set of state data and a set of input parameters, the set of state data including the operating state data of the aircraft and the motion state data of the aviation optoelectronic stabilization turntable, and the mapping relationship table is obtained by conducting a friction force simulation test using historical operating state data of the aircraft and historical motion state data of the aviation optoelectronic stabilization turntable; The current input parameter array is input into the friction model to obtain the friction simulation value.

5. The method according to claim 1, wherein The current operating state data includes at least one of the following: the speed of the aircraft; the acceleration of the aircraft; the altitude of the aircraft; the attitude angle of the aircraft; the attitude angular velocity of the aircraft; The current motion state data includes at least one of the following: the angular velocity of the aviation optoelectronic stabilized turntable; the angular acceleration of the aviation optoelectronic stabilized turntable.

6. A disturbance control device, characterized in that: include: An acquisition module is used to obtain the current operating status data of the aircraft and the current motion status data of the aviation optoelectronic stabilization turntable; an obtaining module, configured to obtain a friction force simulation value using a friction force model based on the current operating state data and the current motion state data, wherein the friction force simulation value is used to represent the friction force on the axis system of the aviation optoelectronic stabilized turntable caused by the attitude change of the aircraft and the aviation optoelectronic stabilized turntable; a determination module, configured to determine a mass imbalance torque value based on the current motion state data, wherein the mass imbalance torque value is used to represent an imbalance torque generated by attitude changes of the aircraft and the aviation optoelectronic stabilization turntable; a first processing module, configured to perform a first compensation process on a control system of the aviation optoelectronic stabilized turntable according to the friction force simulation value and the mass imbalance torque value; A second processing module is used to perform a second compensation process on the control system of the aviation optoelectronic stabilized turntable using an active disturbance rejection control strategy; The determining module 303 includes: a second determining unit for determining the mass unbalance moment value according to the following formula: M = mr 2 .ω 2 , where M is the mass unbalance torque value, m is the unbalanced mass, r is the eccentric distance from the unbalanced mass to the rotation center of the aviation optoelectronic stabilized turntable, ω is the angular velocity of the aviation optoelectronic stabilized turntable, and the current motion state data is the angular velocity of the aviation optoelectronic stabilized turntable. The unbalanced mass and the eccentric distance are obtained by pre-testing the aviation optoelectronic stabilized turntable using a dynamic balancing machine; The first processing module 304 includes: a second compensation unit, which is used to compensate the control system for friction according to the friction simulation value, and actively compensate the control system according to the mass imbalance torque value; the above-mentioned second compensation unit is used to actively compensate the control system according to the mass imbalance torque value in at least one of the following ways: reducing acceleration transmission through shock absorber structure control; balancing the center of mass by static balance method; detecting the unbalanced position through a shaft system uniformity measuring instrument, and performing center of mass offset control on the unbalanced position.

7. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the program, the method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 5 is performed.

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