Photoelectric platform control system and method based on extended state observer

Abstract

The invention discloses a photoelectric platform control system and method based on an extended state observer, and the method comprises the steps: transmitting a feedback signal of a photoelectric platform to a remote computer in a wireless transmission manner, and arranging a controller and the extended state observer on the remote computer, a control signal calculated by the remote computer is wirelessly transmitted to the photoelectric platform, so that the photoelectric platform is wirelessly controlled on the remote computer. According to the method, remote control of the fast reflecting mirror can be realized, a plurality of photoelectric platforms can be controlled by a single remote computer, the cost is saved, and the computing power of the remote computer is fully utilized. And the expansion state observer is used for observing disturbance errors including wireless transmission errors, so that the anti-interference capability of wireless control is improved.

Description

Technical Field

[0001] The present invention relates to the field of optical mechanical control technology, and in particular to an optoelectronic platform control system and method based on an extended state observer. Background Art

[0002] With the development of optoelectronic technology, optoelectronic platforms are increasingly used in optoelectronic tracking, precision measurement, space detection, laser communication and other fields. Especially in situations where high control accuracy is required, precise adjustment usually requires real-time feedback signals and efficient control. Traditional optoelectronic platform control methods often rely on wired connections, which have problems such as complex wiring, high costs and poor flexibility. Especially in the scenario of multi-platform collaborative control, the cost of setting up and maintaining hardware facilities is extremely high.

[0003] In recent years, with the continuous development of wireless communication technology, remote control methods based on wireless transmission have become an ideal solution. Wireless control can avoid the limitations of traditional wired control and make the control of multiple optoelectronic platforms more convenient. However, the existing wireless control system still has certain deficiencies in anti-interference and control accuracy, especially in the transmission process. Factors such as errors, delays and noise may have a negative impact on the control effect, resulting in a decrease in the stability and reliability of the system. Summary of the invention

[0004] In order to solve the above problems, the use of an extended state observer to observe disturbances in the system, especially various disturbances including wireless transmission errors, has become an effective solution. The extended state observer can not only estimate and compensate for system errors in real time, but also effectively improve the robustness of the system, ensuring that high control accuracy and stability can be maintained in harsh transmission environments. Therefore, the present invention proposes an optoelectronic platform control method based on an extended state observer, which can realize efficient wireless control of the optoelectronic platform on a remote computer, and has stronger anti-interference ability, providing a new solution for the precise control of the optoelectronic platform.

[0005] The present invention adopts the following technical solution:

[0006] According to a first aspect of the present invention, there is provided an optoelectronic platform control system based on an extended state observer, comprising:

[0007] The optoelectronic platform end includes an optoelectronic platform and a platform wireless module connected to the optoelectronic platform, wherein the platform wireless module is used to receive sensor signals of respective optoelectronic platforms and transmit the sensor signals to the remote wireless module by wireless transmission, and is used to transmit control signals to respective optoelectronic platforms after receiving control signals from the remote wireless module, so as to realize control of the optoelectronic platform;

[0008] The remote computer end includes: a remote wireless module, which is used to transmit the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer can observe the state quantity and total disturbance of each optoelectronic platform; the extended state observer is used to transmit the state quantity and total disturbance to the controller through a wired connection; the controller is used to transmit the control signal of each optoelectronic platform to the remote wireless module through a wired connection after processing and calculation; the remote wireless module is used to send the control signal to the platform wireless module of the corresponding optoelectronic platform end through wireless transmission.

[0009] According to a second aspect of the present invention, there is provided a control method for an optoelectronic platform based on an extended state observer, which is executed by the above-mentioned optoelectronic platform control system, and the method comprises:

[0010] S410, the platform wireless modules receive sensor signals of respective photoelectric platforms, and transmit the sensor signals to the remote wireless modules by wireless transmission;

[0011] S420, the remote wireless module transmits the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer observes the state quantity and total disturbance of each optoelectronic platform;

[0012] S430, the expanded state observer transmits the state quantity and the total disturbance to the controller via a wired connection. After being processed and calculated by the controller, the control signal of each optoelectronic platform is transmitted to the remote wireless module via a wired connection. The remote wireless module sends the control signal to the platform wireless module at the corresponding optoelectronic platform end via wireless transmission.

[0013] S440, after receiving the control signal, the platform wireless module at the optoelectronic platform end transmits the control signal to the respective optoelectronic platform to realize the control of the optoelectronic platform.

[0014] Compared with the existing technology, the present invention has the following beneficial effects:

[0015] 1. A control method for an optoelectronic platform based on an extended state observer. The wireless control method overcomes the problems of traditional optoelectronic platform control methods, which often rely on wired connections, and have complex wiring, high costs, and poor flexibility. This method can achieve efficient wireless control of the optoelectronic platform on a remote computer. The extended state observer can observe the total disturbance including wireless transmission errors, and has stronger anti-disturbance capabilities, providing a new solution for the precise control of the optoelectronic platform.

[0016] 2. A control method for an optoelectronic platform based on an extended state observer can remotely control multiple optoelectronic platforms with a remote computer, making full use of the computing power of the remote computer and saving costs. The extended state observer can observe the state quantity, reduce the number of sensors, and save costs.

[0017] 3. A control method for optoelectronic platforms based on an extended state observer can modify the control algorithm of each optoelectronic platform on a remote computer. This method achieves flexible configuration and real-time optimization of optoelectronic platform control by centralizing the control algorithm on the remote computer. Users can remotely modify the control algorithm of each platform to improve performance. At the same time, algorithm adjustment can effectively compensate for the delay problem caused by wireless transmission, ensuring that the system maintains high accuracy and robustness in a dynamic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall framework of the optoelectronic platform control system based on the extended state observer according to the present invention.

[0019] Figure 2 It is a schematic diagram of the optoelectronic platform end of the optoelectronic platform control system based on the extended state observer according to the present invention.

[0020] Figure 3 It is a schematic diagram of the pitch and azimuth axes of an optoelectronic platform according to the optoelectronic platform control method based on an extended state observer of the present invention.

[0021] Figure 4 The figure is a flow chart of the optoelectronic platform control method based on the extended state observer according to the present invention. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and specific examples.

[0023] Figure 1 FIG. 1 is a schematic diagram of the overall framework of the photoelectric platform control system based on the extended state observer according to the present invention. Figure 1 As shown, the optoelectronic platform control system includes a remote computer terminal and an optoelectronic platform terminal. The remote computer terminal includes a controller, an extended state observer, and a remote wireless module. The optoelectronic platform terminal includes one or more optoelectronic platforms, each of which is wired to a platform wireless module. Figure 1For simplicity, only two optoelectronic platforms (the first optoelectronic platform and the second optoelectronic platform) and two platform wireless modules (the first platform wireless module and the second platform wireless module) are shown. The remote wireless module can perform real-time two-way data transmission with the platform wireless module connected to each optoelectronic platform. The controller includes the control algorithm of one or more optoelectronic platforms, and the extended state observer can observe the state quantity of one or more optoelectronic platforms and the total disturbance including the wireless transmission disturbance error. The extended state observer can transmit the state quantity and the total disturbance to the controller through a wired connection. After processing and calculation by the controller, the control signal of each optoelectronic platform is transmitted to the remote wireless module through a wired connection. The remote wireless module sends the control signal to the platform wireless module at the corresponding optoelectronic platform end through wireless transmission. After receiving the control signal, the platform wireless module at the optoelectronic platform end transmits the control signal to the respective optoelectronic platform to realize the control of the optoelectronic platform.

[0024] like Figure 1 The platform wireless module at the optoelectronic platform end can receive the sensor signal of each optoelectronic platform, and can transmit the sensor signal to the remote wireless module by wireless transmission. The remote wireless module can transmit the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer can observe the state quantity and total disturbance of each optoelectronic platform.

[0025] like Figure 2 and Figure 3 The optoelectronic platform shown includes a digital-to-analog conversion module, a power driver, a pitch and azimuth axis drive motor, a sensor, and an analog-to-digital conversion module. The digital-to-analog conversion module can convert a control signal in the form of a digital signal into an analog signal, and then transmit the analog signal to the power driver through wired transmission. After the power driver amplifies the signal, it drives the pitch and azimuth axis drive motors. The pitch and azimuth axis drive motors can respectively drive the optoelectronic platform's visual axis to rotate around the pitch axis and the azimuth axis, and the pitch axis and the azimuth axis intersect vertically. The sensor can measure the position information of the optoelectronic platform's visual axis, and the analog-to-digital conversion module converts the analog quantity of the sensor information into a digital quantity, and then transmits the sensor signal to the platform wireless module connected to the optoelectronic platform through a wired connection.

[0026] According to an embodiment of the present invention, a photoelectric platform control system based on an extended state observer is provided. Figure 1 As shown, the system includes the following modules:

[0027] The optoelectronic platform end includes one or more optoelectronic platforms, each of which is wired to a platform wireless module, the platform wireless module is used to receive sensor signals of the respective optoelectronic platforms, and transmit the sensor signals to the remote wireless module by wireless transmission, and is used to transmit the control signal to the respective optoelectronic platform after receiving the control signal from the remote wireless module, so as to realize the control of the optoelectronic platform;

[0028] The remote computer end includes: a remote wireless module, which is used to transmit the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer can observe the state quantity and total disturbance of each optoelectronic platform; the extended state observer is used to transmit the state quantity and total disturbance to the controller through a wired connection; the controller is used to transmit the control signal of each optoelectronic platform to the remote wireless module through a wired connection after processing and calculation; the remote wireless module is used to send the control signal to the platform wireless module of the corresponding optoelectronic platform end through wireless transmission.

[0029] Furthermore, the optoelectronic platform may include:

[0030] A digital-to-analog conversion module is used to convert a control signal in the form of a digital signal into an analog signal, and then transmit the analog signal to the power driver through wired transmission;

[0031] A power driver, for driving the pitch and azimuth axis driving motors after amplifying the signal;

[0032] The pitch and azimuth axis driving motors are used to drive the optical-electronic platform's visual axis to rotate around the pitch axis and azimuth axis respectively;

[0033] A sensor for measuring the position information of the optical axis of the optoelectronic platform;

[0034] The analog-to-digital conversion module is used to convert the analog quantity of the sensor signal into a digital quantity, and then transmit the sensor signal to the platform wireless module connected to the optoelectronic platform through a wired connection.

[0035] According to an embodiment of the present invention, a control method for an optoelectronic platform based on an extended state observer is provided. Figure 4 As shown, the method comprises the following steps:

[0036] S410, the platform wireless modules receive sensor signals of respective photoelectric platforms, and transmit the sensor signals to the remote wireless modules by wireless transmission;

[0037] S420, the remote wireless module transmits the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer observes the state quantity and total disturbance of each optoelectronic platform;

[0038] S430, the expanded state observer transmits the state quantity and the total disturbance to the controller via a wired connection. After being processed and calculated by the controller, the control signal of each optoelectronic platform is transmitted to the remote wireless module via a wired connection. The remote wireless module sends the control signal to the platform wireless module at the corresponding optoelectronic platform end via wireless transmission.

[0039] S440, after receiving the control signal, the platform wireless module at the optoelectronic platform end transmits the control signal to the respective optoelectronic platform to realize the control of the optoelectronic platform.

[0040] Furthermore, the control of the optoelectronic platform in the above step S440 may include:

[0041] S4401, the digital-to-analog conversion module converts the control signal in the form of a digital signal into an analog signal, and then transmits the analog signal to the power driver through wired transmission;

[0042] S4402, after the power driver amplifies the signal, the pitch and azimuth axis driving motors are driven, and the pitch and azimuth axis driving motors respectively drive the optical axis of the optoelectronic platform to rotate around the pitch axis and the azimuth axis;

[0043] S4403, the sensor measures the position information of the optical platform's visual axis, the analog-to-digital conversion module converts the analog quantity of the sensor information into a digital quantity, and then transmits the sensor signal to the platform wireless module connected to the optical platform through a wired connection.

[0044] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0045] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for the purpose of explaining or limiting the subject matter of the present invention.

Claims

1. An optoelectronic platform control system based on an extended state observer, characterized in that: include: The optoelectronic platform end includes one or more optoelectronic platforms, each of which is wired to a platform wireless module, the platform wireless module is used to receive sensor signals of the respective optoelectronic platforms, and transmit the sensor signals to the remote wireless module by wireless transmission, and is used to transmit the control signal to the respective optoelectronic platform after receiving the control signal from the remote wireless module, so as to realize the control of the optoelectronic platform; The remote computer terminal includes: a remote wireless module for transmitting the received sensor signal of each photoelectric platform to the extended state observer, so that the extended state observer can observe the state quantity and total disturbance of each photoelectric platform; The extended state observer is used to transmit the state quantity and the total disturbance to the controller through a wired connection; the controller is used to transmit the control signal of each optoelectronic platform to the remote wireless module through a wired connection after processing and calculation; the remote wireless module is used to send the control signal to the platform wireless module at the corresponding optoelectronic platform end through wireless transmission.

2. The optoelectronic platform control system based on the extended state observer according to claim 1, characterized in that: The optoelectronic platform includes: A digital-to-analog conversion module is used to convert a control signal in the form of a digital signal into an analog signal, and then transmit the analog signal to the power driver through wired transmission; A power driver, for driving the pitch and azimuth axis driving motors after amplifying the signal; The pitch and azimuth axis driving motors are used to drive the optical-electronic platform's visual axis to rotate around the pitch axis and azimuth axis respectively; A sensor for measuring the position information of the optical axis of the optoelectronic platform; The analog-to-digital conversion module is used to convert the analog quantity of the sensor signal into a digital quantity, and then transmit the sensor signal to the platform wireless module connected to the optoelectronic platform through a wired connection.

3. The optoelectronic platform control system based on the extended state observer according to claim 1, characterized in that: In the case where the optoelectronic platform end includes a plurality of optoelectronic platforms, the number of the optoelectronic platforms is two, and the number of the platform wireless modules is two.

4. The optoelectronic platform control system based on the extended state observer according to claim 1, characterized in that: The controller contains the control algorithm for one or more optoelectronic platforms.

5. The optoelectronic platform control system based on the extended state observer according to claim 1, characterized in that: The total disturbance includes a wireless transmission disturbance error.

6. A control method for an optoelectronic platform based on an extended state observer, characterized in that: The method is performed by an optoelectronic platform control system based on an extended state observer according to any one of claims 1 to 5, and comprises: S410, the platform wireless modules receive sensor signals of respective photoelectric platforms, and transmit the sensor signals to the remote wireless modules by wireless transmission; S420, the remote wireless module transmits the received sensor signal of each optoelectronic platform to the extended state observer, so that the extended state observer observes the state quantity and total disturbance of each optoelectronic platform; S430, the expanded state observer transmits the state quantity and the total disturbance to the controller via a wired connection. After being processed and calculated by the controller, the control signal of each optoelectronic platform is transmitted to the remote wireless module via a wired connection. The remote wireless module sends the control signal to the platform wireless module at the corresponding optoelectronic platform end via wireless transmission. S440, after receiving the control signal, the platform wireless module at the optoelectronic platform end transmits the control signal to the respective optoelectronic platform to realize the control of the optoelectronic platform.

7. The optoelectronic platform control method based on the extended state observer according to claim 6 is characterized in that: The optoelectronic platform includes a digital-to-analog conversion module, a power driver, pitch and azimuth axis drive motors, a sensor, and an analog-to-digital conversion module. The control of the optoelectronic platform in step S440 includes: S4401, the digital-to-analog conversion module converts the control signal in the form of a digital signal into an analog signal, and then transmits the analog signal to the power driver through wired transmission; S4402, after the power driver amplifies the signal, the pitch and azimuth axis driving motors are driven, and the pitch and azimuth axis driving motors respectively drive the optical axis of the optoelectronic platform to rotate around the pitch axis and the azimuth axis; S4403, the sensor measures the position information of the optical platform's visual axis, the analog-to-digital conversion module converts the analog quantity of the sensor information into a digital quantity, and then transmits the digital quantity sensor signal to the platform wireless module connected to the optical platform through a wired connection.

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