Control method of optoelectronic tracking system based on interference observation composite compensation control

Abstract

The invention discloses a control method for an optoelectronic tracking system based on interference observation composite compensation control, and belongs to the technical field of optoelectronic tracking system control. The method inputs the difference between the theoretical output of a mathematical model of an optoelectronic tracking system and the actual output under a given input voltage when the optoelectronic tracking system has external multi-source interference into an interference feedback controller to obtain an interference feedback compensation estimate, and feeds it back to the input of the mathematical model of the optoelectronic tracking system to form an interference observation feedback compensation control; builds an extended state observer based on an extended state space expression, and feeds the estimated value of the extended state variable as an interference feedforward compensation estimate before feeding it forward to the input of the mathematical model of the optoelectronic tracking system to form an interference observation feedforward compensation control; and simultaneously uses interference observation feedback compensation control and interference observation feedforward compensation control to estimate external multi-source interference and perform double compensation to form an interference observation composite compensation control to further enhance the interference suppression capability of the system.

Description

Technical Field

[0001] The invention belongs to the technical field of photoelectric tracking system control, and in particular relates to a photoelectric tracking system control method based on interference observation composite compensation control. Background Art

[0002] With the expansion of the application of optoelectronic tracking systems, the system has shifted from a ground-based model to a moving platform, which will bring more interference, such as platform vibration, model parameter perturbation, wind disturbance, nonlinear friction, etc. The increase in interference factors will increase the difficulty of system design, resulting in a decrease in the accuracy of the system's visual axis stability or even the target leaving the field of view and failing to complete the task.

[0003] In order to improve the anti-interference ability of the system, interference estimation technology is an effective way to observe the system interference through the observer and feed it forward to the system to offset the interference effect, which can greatly improve the accuracy of line of sight stabilization. Those A control method based on a dual compensation disturbance observer is proposed to ensure stronger disturbance suppression performance. The adoption of the dual compensation disturbance observer reveals the inherent deficiencies of the traditional single disturbance observer in suppressing disturbances, indicating that the disturbance suppression effect of relying solely on the traditional disturbance observer method is insufficient. The dual compensation disturbance observer applies large gains in two different stages to achieve enhanced disturbance suppression performance. Although this method improves the suppression efficiency of disturbances to a certain extent, it also amplifies the overshoot response of the system and increases the adjustment time required for the system to achieve stable compensation of disturbances. Compared with the traditional disturbance observer, the dual compensation strategy can provide more powerful disturbance suppression, but at the expense of system response characteristics and adjustment rate, and is highly dependent on model accuracy. Therefore, in order to optimize the disturbance management capability of the control system, it is urgent to develop a new disturbance observation and compensation mechanism that not only provides high-precision disturbance suppression, but also minimizes the impact on the rapidity of system response, which requires the design of a disturbance observer that achieves a better balance between accuracy and response speed. Summary of the invention

[0004] In order to further reduce the negative impact of external multi-source interference on system accuracy, enhance the robustness of the system, and reduce the impact on the rapidity of the system, the present invention proposes a control method for an optoelectronic tracking system based on interference observation composite compensation control, which regards interference as another input quantity of the system, rather than just observing and eliminating interference in the loop. Independent of the closed-loop control system and not targeting the system input, interference observation feedforward compensation control and interference observation feedback compensation control loops are constructed for interference based on interference estimation values ​​to achieve composite compensation control of interference.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A control method for an optoelectronic tracking system based on interference observation composite compensation control comprises the following steps:

[0007] Based on the dynamic equations of the fast reflector and the voice coil motor, and combined with the motion relationship of the fast reflector during the deflection process, the transfer function of the photoelectric tracking system is constructed, and the mathematical model of the photoelectric tracking system is obtained through the transfer function of the photoelectric tracking system.

[0008] Design a disturbance feedback controller for disturbance observation feedback compensation control based on the mathematical model of the optoelectronic tracking system;

[0009] The difference between the theoretical output of the mathematical model of the optoelectronic tracking system and the actual output of the optoelectronic tracking system under the action of a given input voltage when there are external multi-source interferences is input into the interference feedback controller to obtain the interference feedback compensation estimation value, which is fed back to the input of the transfer function of the optoelectronic tracking system to form interference observation feedback compensation control;

[0010] Through the mathematical model of the optoelectronic tracking system, the state space expression of the optoelectronic tracking system is obtained, the expanded state variables are selected, the expanded state space expression is constructed, and the expanded state observer of the estimated value of the corresponding expanded state variable is obtained;

[0011] The estimated error of the expanded state observer is obtained by the difference between the expanded state space expression and the expanded state observer, so that it satisfies the Hurwitz matrix and the gain selection of the expanded state observer is designed by the pole placement method.

[0012] The estimated value of the expanded state variable is used as the estimated value of the disturbance feedforward compensation to feed forward the input of the mathematical model of the optoelectronic tracking system to construct the disturbance observation feedforward compensation control;

[0013] The disturbance observation feedback compensation control and the disturbance observation feedforward compensation control are used simultaneously to form the disturbance observation composite compensation control.

[0014] The beneficial effects of the present invention are:

[0015] The present invention regards interference as a control object and uses interference observation composite compensation control to perform feedforward and feedback dual control on interference in the optoelectronic tracking system. Compared with traditional methods, this method has higher accuracy and faster response speed in response and control of interference; the proposed interference observation composite compensation control design pays more attention to actual performance and robustness, and has relatively low requirements on the accuracy of the model. It can significantly improve the interference robustness of the system, enhance the interference suppression capability of the system, reduce the impact on the rapidity of the system, and has strong scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a flow chart of the control method of the optoelectronic tracking system based on interference observation composite compensation control of the present invention;

[0017] Figure 2 A control block diagram of a control method for an optoelectronic tracking system according to the present invention;

[0018] Figure 3 It is a position output comparison diagram of different compensation control methods when input mutation occurs under the influence of external multi-source interference in the simulation of the present invention;

[0019] Figure 4 This is a comparison diagram of position errors when different compensation control methods are stable under the influence of external multi-source interference simulated by the present invention;

[0020] Figure 5 This is a comparison diagram of interference estimation values ​​when different compensation control methods are stable under the influence of external multi-source interference simulated by the present invention. DETAILED DESCRIPTION

[0021] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0022] In optoelectronic tracking systems, traditional methods mainly make the best use of sensors and achieve real-time compensation through feedforward disturbance estimation. They mainly explore solutions to the problem from the perspective of interference suppression. However, the performance of the disturbance observer depends largely on the accuracy of the mathematical model of the optoelectronic tracking system. If the model is not accurate, the performance of the observer may be greatly reduced, and it takes a certain amount of time to accurately estimate the disturbance, which may reduce the response speed of the system and make it difficult to achieve accurate estimation when facing severe interference. Therefore, Figure 1 As shown in FIG. 1 , it is a flow chart of the control method of the optoelectronic tracking system based on interference observation composite compensation control proposed by the present invention, which specifically includes the following steps:

[0023] Based on the dynamic equations of the fast reflector and the voice coil motor, and combined with the motion relationship of the fast reflector during the deflection process, the transfer function of the photoelectric tracking system is constructed, and the mathematical model of the photoelectric tracking system is obtained through the transfer function of the photoelectric tracking system.

[0024] Design a disturbance feedback controller for disturbance observation feedback compensation control based on the mathematical model of the optoelectronic tracking system;

[0025] The difference between the theoretical output of the mathematical model of the optoelectronic tracking system and the actual output of the optoelectronic tracking system under the action of a given input voltage when there are external multi-source interferences is input into the interference feedback controller to obtain the interference feedback compensation estimation value, which is fed back to the input of the transfer function of the optoelectronic tracking system to form interference observation feedback compensation control;

[0026] Through the mathematical model of the optoelectronic tracking system, the state space expression of the optoelectronic tracking system is obtained, the expanded state variables are selected, the expanded state space expression is constructed, and the expanded state observer of the estimated value of the corresponding expanded state variable is obtained;

[0027] The estimated error of the expanded state observer is obtained by the difference between the expanded state space expression and the expanded state observer, so that it satisfies the Hurwitz matrix and the gain selection of the expanded state observer is designed by the pole placement method.

[0028] The estimated value of the expanded state variable is used as the estimated value of the disturbance feedforward compensation to feed forward the input of the mathematical model of the optoelectronic tracking system to construct the disturbance observation feedforward compensation control;

[0029] The disturbance observation feedback compensation control and the disturbance observation feedforward compensation control are used simultaneously to form the disturbance observation composite compensation control.

[0030] Specifically, the dynamic equation of the fast reflection mirror is:

[0031] ,

[0032] in, is the torque applied in the direction of rotation of the fast mirror axis, is the moment of inertia of the fast reflector and the flexible support rotating part, is the deflection angle of the fast mirror, is the differential of the deflection angle, i.e. the deflection velocity, is the differential of the deflection velocity, i.e. the deflection acceleration, is the torsional stiffness of the flexible support fast mirror shaft, is the equivalent damping coefficient of the flexible support and the voice coil motor, is the mass of the voice coil motor rotor, is the distance from the voice coil motor force application point to the fast reflector axis;

[0033] The dynamic equation of the voice coil motor is:

[0034] ,

[0035] in, is the axial displacement of the voice coil motor, is the speed of the voice coil motor when it performs axial displacement, is the acceleration of the voice coil motor during axial displacement, is the working voltage of the voice coil motor, is the operating current of the voice coil motor, is the operating current of the voice coil motor The differential of is the inductance of the voice coil motor coil, is the resistance of the voice coil motor, is the voice coil motor torque coefficient, is the back EMF coefficient of the voice coil motor, is the equivalent damping other than the back EMF of the voice coil motor, is the elastic force on the voice coil motor, is the elastic coefficient;

[0036] The motion relationship of the fast reflector during the deflection process is:

[0037] ,

[0038] Based on the dynamic equations of the fast reflector and the voice coil motor, and combined with the motion relationship of the fast reflector during the deflection process, the transfer function of the optoelectronic tracking system is constructed:

[0039] ,

[0040] in, represents the complex frequency variable in the Laplace transform domain, is the transfer function of the optoelectronic tracking system, is the position deflection of the optoelectronic tracking system, is the given input voltage of the photoelectric tracking system;

[0041] The mathematical model of the photoelectric tracking system is obtained through the transfer function of the photoelectric tracking system:

[0042] ,

[0043] in, is the mathematical model of the optoelectronic tracking system. is the gain, is the resonant frequency, is the damping coefficient, is the inertia link coefficient, is the first constant parameter, is the second constant parameter, is the third constant parameter.

[0044] Furthermore, the interference feedback controller of the interference observation feedback compensation control is designed based on the mathematical model of the optoelectronic tracking system. for:

[0045] ,

[0046] in, is the inverse of the mathematical model of the optoelectronic tracking system, is the first adjustment parameter of the disturbance feedback controller, It is the second adjustment parameter of the disturbance feedback controller.

[0047] Furthermore, the difference between the theoretical output of the mathematical model of the photoelectric tracking system and the actual output of the photoelectric tracking system under the action of a given input voltage when there are external multi-source interferences for:

[0048] ,

[0049] in, It is the external multi-source interference that exists during the operation of the system. These are internal disturbances caused by parameter changes and unmodeled dynamics during system operation.

[0050] Furthermore, the state space expression of the photoelectric tracking system is obtained by the mathematical model of the photoelectric tracking system:

[0051] ,

[0052] in, It is the input of the mathematical model of the optoelectronic tracking system and the input of the optoelectronic tracking system without the use of disturbance observation feedback compensation control. is the output of the optoelectronic tracking system, is the first state variable of the system, is the second state variable of the system, yes The differential of yes The differential of is the time domain expression value of external multi-source interference;

[0053] Selecting the expansion state variable , construct the expanded state space expression:

[0054] ,

[0055] In which, it is assumed that the expansion state variable Differential is an unknown but bounded function;

[0056] Get the corresponding estimated expansion state The extended state observer is as follows:

[0057] ,

[0058] in, is the first state variable The estimated value of yes The differential of is the second state variable The estimated value of yes The differential of is the expanded state variable The estimated value of yes The differential of , and is the desired observer gain of the extended state observer.

[0059] Furthermore, the estimated error of the extended state observer is obtained by the difference between the extended state space expression of the optoelectronic tracking system and the extended state observer: :

[0060] ,

[0061] Among them, the estimated error , is the estimation error Differentiation of, the system matrix , control matrix ,

[0062] Make it satisfy the Hurwitz matrix and use the pole placement method to design the gain selection of the extended state observer:

[0063] ,

[0064] in, is the identity matrix, is the bandwidth of the extended state observer, , , ,when When is a positive constant, the extended state observer has bounded input and bounded output and is stable.

[0065] Furthermore, the estimated value of the expanded state variable Before the disturbance feedforward compensation estimate is fed forward to the input of the mathematical model of the optoelectronic tracking system, a disturbance observation feedforward compensation control is constructed, where the disturbance observation feedforward compensation control rate is:

[0066] ,

[0067] in, is the output of the closed-loop controller.

[0068] Example

[0069] The design process and simulation effect of the present invention are described in detail below by taking a certain photoelectric tracking system as an example:

[0070] The mathematical model of the optoelectronic tracking system is as follows:

[0071] ,

[0072] Design of external multi-source interference , position input of the optoelectronic tracking system Position output with optoelectronic tracking system The closed-loop controller of the position loop is as follows:

[0073] ,

[0074] The designed disturbance feedback controller of disturbance observation feedback compensation control is as follows:

[0075] ,

[0076] The bandwidth of the designed extended state observer (ESO) for disturbance observation feedforward compensation control is as follows:

[0077] .

[0078] The specific performances of using disturbance observation feedforward compensation control, using disturbance observation feedback compensation control and using disturbance observation compound compensation control are compared. Figure 2 This is a control block diagram of the photoelectric tracking system control method of the present invention. Figure 3 This is a position output comparison diagram of different compensation control methods when input mutation occurs under the influence of external multi-source interference in the present invention. Through observation, it is found that under simulation conditions, the interference observation composite compensation control tracks the fastest and has the smallest overshoot when input mutation occurs, and has the best dynamic performance. At the same time, Figure 4 This is a comparison chart of the position errors of different compensation control methods under the influence of external multi-source interference simulated by the present invention when they are stable, which shows that the interference suppression ability of the optoelectronic tracking system based on interference observation composite compensation control is the strongest, far better than the effect of using a single method. Figure 5 This is a comparison chart of the interference estimation values ​​when different compensation control methods are stable under the influence of external multi-source interference simulated by the present invention. Among them, the interference estimation value of the interference observation composite compensation control method is closest to the actual interference of the external multi-source interference, indicating that the interference observation composite compensation control method can most effectively estimate the external multi-source interference.

[0079] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A control method for an optoelectronic tracking system based on interference observation composite compensation control, characterized in that: The following steps are involved: Based on the dynamic equations of the fast reflector and the voice coil motor, and combined with the motion relationship of the fast reflector during the deflection process, the transfer function of the photoelectric tracking system is constructed, and the mathematical model of the photoelectric tracking system is obtained through the transfer function of the photoelectric tracking system. Design a disturbance feedback controller for disturbance observation feedback compensation control based on the mathematical model of the optoelectronic tracking system; The difference between the theoretical output of the mathematical model of the optoelectronic tracking system and the actual output of the optoelectronic tracking system under the action of a given input voltage when there are external multi-source interferences is input into the interference feedback controller to obtain the interference feedback compensation estimation value, which is fed back to the input of the transfer function of the optoelectronic tracking system to form interference observation feedback compensation control; Through the mathematical model of the optoelectronic tracking system, the state space expression of the optoelectronic tracking system is obtained, the expanded state variables are selected, the expanded state space expression is constructed, and the expanded state observer of the estimated value of the corresponding expanded state variable is obtained; The estimated error of the expanded state observer is obtained by the difference between the expanded state space expression and the expanded state observer, so that it satisfies the Hurwitz matrix and the gain selection of the expanded state observer is designed by the pole placement method. The estimated value of the expanded state variable is used as the estimated value of the disturbance feedforward compensation to feed forward the input of the mathematical model of the optoelectronic tracking system to construct the disturbance observation feedforward compensation control; The disturbance observation feedback compensation control and the disturbance observation feedforward compensation control are used simultaneously to form the disturbance observation composite compensation control.

2. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 1 is characterized in that: The dynamic equation of the fast reflection mirror is: ， in, is the torque applied in the direction of rotation of the fast mirror axis, is the moment of inertia of the fast reflector and the flexible support rotating part, is the deflection angle of the fast mirror, is the differential of the deflection angle, i.e. the deflection velocity, is the differential of the deflection velocity, i.e. the deflection acceleration, is the torsional stiffness of the flexible support fast mirror shaft, is the equivalent damping coefficient of the flexible support and the voice coil motor, is the mass of the voice coil motor rotor, is the distance from the voice coil motor force application point to the fast reflector axis; The dynamic equation of the voice coil motor is: ， in, is the axial displacement of the voice coil motor, is the speed of the voice coil motor when it performs axial displacement, is the acceleration of the voice coil motor during axial displacement, is the working voltage of the voice coil motor, is the operating current of the voice coil motor, is the operating current of the voice coil motor The differential of is the inductance of the voice coil motor coil, is the resistance of the voice coil motor, is the voice coil motor torque coefficient, is the back EMF coefficient of the voice coil motor, is the equivalent damping other than the back EMF of the voice coil motor, is the elastic force on the voice coil motor, is the elastic coefficient; The motion relationship of the fast reflector during the deflection process is: ， Based on the dynamic equations of the fast reflector and the voice coil motor, and combined with the motion relationship of the fast reflector during the deflection process, the transfer function of the optoelectronic tracking system is constructed: ， in, represents the complex frequency variable in the Laplace transform domain, is the transfer function of the optoelectronic tracking system, is the position deflection of the optoelectronic tracking system, is the given input voltage of the photoelectric tracking system; The mathematical model of the photoelectric tracking system is obtained through the transfer function of the photoelectric tracking system: ， in, is the mathematical model of the optoelectronic tracking system. is the gain, is the resonant frequency, is the damping coefficient, is the inertia link coefficient, is the first constant parameter, is the second constant parameter, is the third constant parameter.

3. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 2 is characterized in that: The disturbance feedback controller of the disturbance observation feedback compensation control is designed based on the mathematical model of the optoelectronic tracking system. for: ， in, is the inverse of the mathematical model of the optoelectronic tracking system, is the first adjustment parameter of the disturbance feedback controller, It is the second adjustment parameter of the disturbance feedback controller.

4. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 3 is characterized in that: The difference between the theoretical output of the mathematical model of the photoelectric tracking system and the actual output of the photoelectric tracking system under the action of a given input voltage when there are external multi-source interferences for: ， in, It is the external multi-source interference that exists during the operation of the system. These are internal disturbances caused by parameter changes and unmodeled dynamics during system operation.

5. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 4 is characterized in that: The state space expression of the photoelectric tracking system obtained by the mathematical model of the photoelectric tracking system is: ， in, It is the input of the mathematical model of the optoelectronic tracking system and the input of the optoelectronic tracking system without the use of disturbance observation feedback compensation control. is the output of the optoelectronic tracking system, is the first state variable of the system, is the second state variable of the system, yes The differential of yes The differential of is the time domain expression value of external multi-source interference; Selecting the expansion state variable , construct the expanded state space expression: ， In which, it is assumed that the expansion state variable Differential is an unknown but bounded function; Get the estimated value of the corresponding expanded state variable The extended state observer is as follows: ， in, is the first state variable of the system The estimated value of yes The differential of is the second state variable of the system The estimated value of yes The differential of is the expanded state variable The estimated value of yes The differential of , and is the desired observer gain of the extended state observer.

6. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 5 is characterized in that: The estimated error of the extended state observer is obtained by the difference between the extended state space expression of the optoelectronic tracking system and the extended state observer. : ， Among them, the estimated error , is the estimation error Differentiation of, the system matrix , control matrix , Make it satisfy the Hurwitz matrix and use the pole placement method to design the gain selection of the extended state observer: ， in, is the identity matrix, is the bandwidth of the extended state observer, , , ,when When is a positive constant, the extended state observer has bounded input and bounded output and is stable.

7. The control method of an optoelectronic tracking system based on interference observation composite compensation control according to claim 6 is characterized in that: The estimated value of the expanded state variable Before the disturbance feedforward compensation estimate is fed forward to the input of the mathematical model of the optoelectronic tracking system, a disturbance observation feedforward compensation control is constructed, where the disturbance observation feedforward compensation control rate is: ， in, is the output of the closed-loop controller.

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