A control method, device and equipment of a simulation turntable and a storage medium

Abstract

The application relates to a simulation turntable control method, device and equipment and a storage medium, wherein the simulation turntable control method comprises the following steps: dynamically adjusting a weight matrix in a pre-constructed LQG controller cost function according to a current motion state of a simulation turntable, wherein the motion state comprises continuous and discontinuous motion states; determining an output quantity of the LQG controller capable of making the adjusted cost function reach a minimum value, and enabling the LQG controller to control the motion of the simulation turntable according to the output quantity. The application can effectively solve the problems encountered by the simulation turntable in tracking a discontinuous motion curve, realize rapid adjustment of parameters and maintenance of system performance.

Description

Technical Field

[0001] This application relates to the field of motion simulation technology, and in particular to a control method, device, equipment and storage medium for a simulation turntable. Background Technology

[0002] Simulation turntables are primarily used to simulate the motion of carriers or missiles, driving the movement of the seeker head in a laboratory environment. However, when the carrier exhibits discontinuous motion curves, such as the dropping of aerial bombs, the cross-medium motion of missiles, or the firing of guided projectiles, the simulation turntable cannot achieve effective simulation, and will release out of tolerance at the discontinuities of the curve. Currently, when simulation turntables encounter discontinuous curves, they typically employ a method of switching multiple sets of PID parameters. At discontinuous points, the PID parameters are adjusted to be relatively small to reduce the system stiffness, while higher stiffness PID parameters are used elsewhere. However, this method has three problems: 1. The reduction in system stiffness means a decrease in system tracking performance, failing to accurately reflect the carrier's motion state; 2. When switching from low-stiffness PID parameters to high-stiffness PID parameters, a large tracking residual may cause system oscillation; 3. Faced with different discontinuous curves, multiple sets of PID parameters can only be tuned manually through trial and error, which is labor-intensive, and often requires retuning the PID parameters when simulating new discontinuous curves. Summary of the Invention

[0003] (1) Technical problems to be solved

[0004] This application provides a control method, device, equipment, and storage medium for a simulation turntable, which solves the problems encountered by the simulation turntable when simulating discontinuous motion curves.

[0005] (2) Technical solution

[0006] Firstly, this application provides a control method for a simulation turntable, including:

[0007] Based on the current motion state of the simulation turntable, the weight matrix in the cost function of the pre-built LQG controller is dynamically adjusted, wherein the motion state includes continuous and discontinuous motion states.

[0008] The output of the LQG controller is determined such that the adjusted cost function reaches a minimum value, and the LQG controller controls the motion of the simulation turntable according to the output.

[0009] Furthermore, the control method for the simulation turntable also includes:

[0010] Based on the physical and dynamic characteristics of the simulation turntable, a state-space model of the simulation turntable is established.

[0011] Based on the state-space model, an LQG controller is constructed to control the motion of the simulation turntable.

[0012] Furthermore, the LQG controller includes a linear quadratic regulator and a Kalman filter, and the cost function is a quadratic cost function.

[0013] Furthermore, the control method for the simulation turntable also includes:

[0014] The current motion state of the simulation turntable is determined based on the motion curves of the simulation turntable in the current cycle and the next cycle.

[0015] Further, determining the current motion state of the simulation turntable based on its motion curves in the current and next cycles includes:

[0016] If the angular position difference between the motion curves of the simulation turntable in the current cycle and the next cycle is greater than a preset value, then the simulation turntable is determined to be in a discontinuous motion state; otherwise, it is in a continuous motion state.

[0017] Furthermore, the step of dynamically adjusting the weight matrix in the cost function of the pre-built LQG controller based on the current motion state of the simulation turntable includes:

[0018] If the simulated turntable is currently in a discontinuous motion state, then reduce the value of the weight matrix in the cost function of the pre-built LQG controller;

[0019] If the simulation turntable is currently in a continuous motion state, then increase the value of the weight matrix in the cost function of the pre-built LQG controller.

[0020] Further, determining the output of the LQG controller that enables the adjusted cost function to reach a minimum includes:

[0021] Determine the control gain matrix of the LQG controller that enables the adjusted cost function to reach a minimum value, and determine the output quantity based on the control gain matrix.

[0022] Secondly, this application provides a control device for a simulation turntable, comprising:

[0023] The matrix adjustment module is used to dynamically adjust the weight matrix in the cost function of the pre-built LQG controller according to the current motion state of the simulation turntable, wherein the motion state includes continuous and discontinuous motion states.

[0024] An output determination module is used to determine the output of the LQG controller that enables the adjusted cost function to reach a minimum value, so that the LQG controller controls the motion of the simulation turntable according to the output.

[0025] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method of the simulation turntable as described above.

[0026] Fourthly, this application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for the simulation turntable as described above.

[0027] (3) Beneficial effects

[0028] The above-mentioned technical solution of this application has the following advantages:

[0029] The control method for the simulation turntable provided in the first aspect of this application, through the variable cost function LQG control method, can effectively solve the problems encountered by the simulation turntable in tracking discontinuous motion curves, and achieve rapid parameter adjustment and maintenance of system performance. At the same time, this method has good adaptability and robustness, and can be applied to various types of discontinuous motion curve simulations.

[0030] It is understood that the beneficial effects of the second, third and fourth aspects mentioned above can be found in the relevant descriptions in the first aspect above, and will not be repeated here. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0032] Figure 1 A flowchart illustrating the control method for the simulation turntable provided in this application;

[0033] Figure 2 The schematic diagram of the single-degree-of-freedom LQG controller with integrator provided in this application;

[0034] Figure 3 A schematic diagram of the control device for the simulation turntable provided in this application;

[0035] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0036] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0037] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0038] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0040] This application provides a control method for a simulation turntable to solve the problem of simulating discontinuous motion curves of a simulation turntable and achieve rapid parameter adjustment. By employing a variable cost function LQG control method, different cost functions are used under different operating conditions, which can effectively avoid system over-tolerance release or mechanical damage caused by excessive step changes in the simulation turntable.

[0041] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0042] like Figure 1 As shown, the control method for the simulation turntable provided in this embodiment specifically includes the following steps:

[0043] S100. Based on the current motion state of the simulation turntable, dynamically adjust the weight matrix in the cost function of the pre-built LQG controller. The motion state includes both continuous and discontinuous motion states.

[0044] In some embodiments, the control method for the simulation turntable further includes: establishing a state-space model of the simulation turntable based on its physical and dynamic characteristics; and constructing an LQG controller for controlling the motion of the simulation turntable based on the state-space model.

[0045] In some embodiments, the LQG controller includes a linear quadratic regulator and a Kalman filter, and the cost function is a quadratic cost function.

[0046] In applications, a state-space model of the system can be established based on the physical and dynamic characteristics of the simulation turntable, and the system's state equations and observation equations can be written out. The state equations describe how the system's state changes over time, while the observation equations describe how to estimate the state from the system's output.

[0047] The LQG controller combines the advantages of a linear quadratic regulator (LQR) and a Kalman filter. The LQR is used to calculate the optimal control output, while the Kalman filter is used to estimate the system state.

[0048] The state equations and measurement equations of the simulation turntable take the following forms:

[0049]

[0050] Here, x is the state variable, which is an n-dimensional vector, x = [x1, x2, ..., xn]. n ] T ; The system output y represents the derivative of the state variable; y is the system output, which is an m-dimensional vector, y = [y1, y2, ..., y]. m ] T u is the system input, a p-dimensional vector, u = [u1, u2, ..., u] p ] T .

[0051] In the model, both w and v are treated as white noise, with w representing the unknown disturbance and v representing measurement noise. A, B, and C represent the established system state-space model. Matrix A is an n×n matrix representing the relationship between system state variables, called the state matrix or system matrix. Matrix B is an n×p matrix representing the influence of inputs on state variables, called the input matrix or control matrix. Matrix C is an m×n matrix representing the relationship between the system output and system state variables, called the output matrix. Matrix G is an n×p matrix representing the influence of the unknown disturbance w on the state variables.

[0052] The expression for the quadratic cost function is:

[0053]

[0054] Where e is the system error, which is the difference between the desired state and the actual state. u is the controller output. J is the quadratic cost function; the weighting matrix Q represents the proportion of the corresponding state component in the performance index, and is usually a non-negative definite symmetric matrix; R represents the proportion of the control quantity in the performance index, and is usually positive definite.

[0055] like Figure 2 The diagram shows the schematic of a single-degree-of-freedom LQG controller with an integrator. e is the system error, obtained by subtracting the actual system state y from the desired state r; the integrator is used to eliminate the static error of the system; K is the control gain matrix obtained according to the LQG control method; and u is the output control quantity.

[0056] The control K, i.e. the control gain matrix, which minimizes the cost function, can be obtained by using the Lagrange extremum method based on the set Q matrix and R.

[0057] In some embodiments, the control method of the simulation turntable further includes: determining the current motion state of the simulation turntable based on the motion curves of the simulation turntable in the current cycle and the next cycle.

[0058] In some embodiments, determining the current motion state of the simulation turntable based on the motion curves of the simulation turntable in the current cycle and the next cycle includes: if the angular position difference between the motion curves of the simulation turntable in the current cycle and the next cycle is greater than a preset value, then the simulation turntable is determined to be in a discontinuous motion state; otherwise, it is in a continuous motion state.

[0059] In some embodiments, dynamically adjusting the weight matrix in the cost function of the pre-built LQG controller according to the current motion state of the simulation turntable includes: if the simulation turntable is currently in a discontinuous motion state, then decreasing the value of the weight matrix in the cost function of the pre-built LQG controller; if the simulation turntable is currently in a continuous motion state, then increasing the value of the weight matrix in the cost function of the pre-built LQG controller.

[0060] In this application, for the tracking problem of discontinuous motion curves, this application proposes a variable cost function strategy. The values ​​of the Q matrix and R are dynamically adjusted based on the current motion state (continuous or discontinuous) of the simulation turntable. In continuous motion segments, a larger Q matrix and R are used to reduce the dynamic error of the system; while in discontinuous motion segments, the Q matrix is ​​reduced to prevent the system from oscillating due to excessive output.

[0061] Based on general engineering experience, for simulation turntable-type equipment, each axis can be regarded as a single-degree-of-freedom system. With R = [1] fixed, the Q matrix is ​​varied, and let... Based on the angular position difference between the current period and the next period of the actual curve, let the q value be 10. 5 ~10 8 The value of q changes dynamically. If the difference between the current period and the next period is large (i.e., greater than the preset value), the value of q is decreased; otherwise, the value of q is increased.

[0062] S200. Determine the output of the LQG controller that enables the adjusted cost function to reach a minimum value, and enable the LQG controller to control the motion of the simulation turntable according to the output.

[0063] In some embodiments, determining the output of the LQG controller that enables the adjusted cost function to reach a minimum value includes: determining the control gain matrix of the LQG controller that enables the adjusted cost function to reach a minimum value, and determining the output based on the control gain matrix.

[0064] In applications, the designed LQG controller can be applied to a simulation turntable. By dynamically adjusting the value of the Q matrix, the optimal controller K, i.e. the control gain matrix, can be continuously updated to achieve effective tracking of discontinuous motion curves.

[0065] The simulation turntable control method provided in this application uses LQG control to incorporate a system model, which can maximize the system's performance while maintaining stability. Furthermore, the physical meaning of the cost function is clear, and the workload for parameter adjustment is relatively small.

[0066] By dynamically adjusting the weight matrices Q and R in the cost function, this method can effectively address the simulation challenges of discontinuous motion curves, reduce the system's error when facing sudden changes, and thus improve the simulation accuracy of the simulation turntable.

[0067] The variable cost function strategy can smoothly transition between continuous and discontinuous motion segments, reduce system oscillations and overshoot caused by abrupt changes, and enhance the system's robustness to discontinuities and other uncertainties.

[0068] Compared with the traditional method of switching multiple PID parameters, the variable cost function LQG control method reduces the workload of parameter tuning. It can adapt to different simulation conditions by adjusting fewer parameters, simplifying the design and adjustment process of the controller.

[0069] This method optimizes the control law, enabling the simulation turntable to achieve maximum performance while maintaining stability. In particular, it effectively avoids unnecessary degradation of system performance when dealing with discontinuous motion curves.

[0070] The variable cost function LQG control method does not depend on specific discontinuous curves, has good versatility and adaptability, and can be widely applied to simulation of various types of discontinuous motion curves, thus improving the application range and flexibility of the simulation turntable.

[0071] By avoiding the use of excessive control output during discontinuous motion segments, this method reduces the risk of mechanical damage caused by excessive control output, thus helping to extend the service life of the simulation turntable.

[0072] In summary, the control method for the simulation turntable provided in this application demonstrates significant advantages in solving the simulation problem of discontinuous curves in a simulation turntable. It not only improves the simulation effect and system performance, but also simplifies the controller design process and enhances the system's adaptability and robustness.

[0073] Corresponding to the control method of the simulation turntable described in the above embodiments, such as Figure 3 As shown, this embodiment provides a control device for a simulation turntable. The control device 300 for the simulation turntable includes:

[0074] The matrix adjustment module 301 is used to dynamically adjust the weight matrix in the cost function of the pre-built LQG controller according to the current motion state of the simulation turntable, wherein the motion state includes continuous and discontinuous motion states.

[0075] Output determination module 302 is used to determine the output of the LQG controller that enables the adjusted cost function to reach a minimum value, so that the LQG controller controls the motion of the simulation turntable according to the output.

[0076] It should be noted that the information interaction and execution process between the above modules / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0077] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0078] This application also provides an electronic device 400, such as... Figure 4 As shown, it includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and executable on the processor 402. When the processor 402 executes the computer program 403, it implements the steps of the control method for the simulation turntable provided in the first aspect.

[0079] In applications, electronic devices may include, but are not limited to, processors and memory. Figure 4 This is merely an example of an electronic device and does not constitute a limitation on the device. It may include more or fewer components than illustrated, or combinations of certain components, or different components, such as input / output devices, network access devices, etc. Input / output devices may include cameras, audio capture / playback devices, displays, etc. Network access devices may include network modules for wireless network communication with external devices.

[0080] In applications, the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0081] In applications, memory can be an internal storage unit of an electronic device in some embodiments, such as a hard drive or RAM. In other embodiments, memory can be an external storage device of the electronic device, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Memory can also include both internal and external storage units of the electronic device. Memory is used to store operating systems, applications, bootloaders, data, and other programs, such as program code for computer programs. Memory can also be used to temporarily store data that has been output or will be output.

[0082] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in the above-described method embodiments.

[0083] This application implements all or part of the processes in the methods of the above embodiments, which can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to an electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0084] Those skilled in the art will recognize that the device and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0085] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interface, or the device may be indirectly coupled or communicated, and may be electrical, mechanical, or other forms.

[0086] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A control method for a simulation turntable, characterized in that, include: If the angular position difference between the motion curves of the simulation turntable in the current cycle and the next cycle is greater than a preset value, then the simulation turntable is determined to be in a discontinuous motion state; otherwise, it is in a continuous motion state. If the simulated turntable is currently in a discontinuous motion state, then reduce the value of the weight matrix in the cost function of the pre-built LQG controller; If the simulated turntable is currently in a continuous motion state, then increase the value of the weight matrix in the cost function of the pre-built LQG controller; The output of the LQG controller is determined such that the adjusted cost function reaches a minimum value, and the LQG controller controls the motion of the simulation turntable according to the output.

2. The control method for the simulation turntable as described in claim 1, characterized in that, The control method for the simulation turntable also includes: Based on the physical and dynamic characteristics of the simulation turntable, a state-space model of the simulation turntable is established. Based on the state-space model, an LQG controller is constructed to control the motion of the simulation turntable.

3. The control method for the simulation turntable as described in claim 2, characterized in that, The LQG controller includes a linear quadratic regulator and a Kalman filter, and the cost function is a quadratic cost function.

4. The control method for the simulation turntable as described in claim 1, characterized in that, Determining the output of the LQG controller that enables the adjusted cost function to reach a minimum value includes: Determine the control gain matrix of the LQG controller that enables the adjusted cost function to reach a minimum value, and determine the output quantity based on the control gain matrix.

5. A control device for a simulation turntable, characterized in that, include: The matrix adjustment module is used to determine that the simulation turntable is currently in a discontinuous motion state if the difference in angular position between the motion curves of the simulation turntable in the current cycle and the next cycle is greater than a preset value; otherwise, it is in a continuous motion state. If the simulation turntable is currently in a discontinuous motion state, the value of the weight matrix in the cost function of the pre-built LQG controller is decreased; if the simulation turntable is currently in a continuous motion state, the value of the weight matrix in the cost function of the pre-built LQG controller is increased. An output determination module is used to determine the output of the LQG controller that enables the adjusted cost function to reach a minimum value, so that the LQG controller controls the motion of the simulation turntable according to the output.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the simulation turntable as described in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the control method for the simulation turntable as described in any one of claims 1 to 4.

Images