Ship / vehicle-mounted photoelectric general high-precision servo control system and method

Abstract

The invention discloses a ship / vehicle-mounted photoelectric universal high-precision servo control system and method, and relates to the technical field of photoelectric system control, and the system comprises a comprehensive control module, a shafting control module, a sensing module, an angle measurement unit, an image processing unit, a servo driving unit, a fiber-optic gyroscope, a power supply module and a man-machine interaction module. The sensing module is used for carrying out information collection on a target and obtaining a target video signal. According to the method, the gyro integral is used as a double-loop control mode of a position closed loop and a gyro speed closed loop, and a simplified linear state observer is added, so that the anti-disturbance performance and the response speed of the photoelectric equipment are improved, the stability precision and the tracking precision of the photoelectric equipment are improved, and through a calibration method, the stability and the tracking precision of the photoelectric equipment are improved. The time delay between the deviation value of the image plate and the speed value of the gyroscope is accurately measured, the time consistency of information required by target tracking is ensured, and the stability and the tracking precision of the system are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of optoelectronic system control, and in particular to a ship / vehicle-mounted optoelectronic universal high-precision servo control system and method. Background Art

[0002] Most general optoelectronic systems use PID control algorithms. In self-stabilizing mode, a gyroscope is used for closed-loop speed loop control. When aiming, an angle encoder or resolver system angle is used for closed-loop position loop + gyro speed loop control. When tracking, an angle deviation is used for closed-loop position loop + gyro speed loop control. For equipment with higher requirements, time control will be performed on system data to improve the stability and tracking accuracy of the system. In complex environments, such as vibration, a notch filter will be added to avoid resonance.

[0003] The traditional speed + position PID servo control system often has insufficient anti-disturbance performance (the rocking of the ship is regarded as disturbance), slow response speed, and when using images to track targets, it is difficult to improve the tracking accuracy due to the limitations of image frame rate and image delay; accurate time control will greatly increase the complexity and cost of the equipment; in the face of vibration, the notch filter can only alleviate the resonance of a certain frequency range, and will reduce the servo bandwidth of the servo system. In recent years, many engineers have proposed sliding mode control and fuzzy control methods, but their debugging parameters are often large, and the debugging is difficult, and the effects on different systems are often very different, and they are not universal. Summary of the invention

[0004] In order to solve the above technical problems, a ship / vehicle-mounted optoelectronic universal high-precision servo control system and method are provided. The technical solution solves the problems mentioned in the above background technology, such as insufficient anti-disturbance performance and slow response speed. When tracking targets using images, the tracking accuracy is difficult to improve due to the limitations of image frame rate and image delay. There are many debugging parameters, and the debugging is difficult and lacks universality.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A ship / vehicle-mounted optoelectronic universal high-precision servo control system, comprising an integrated control module, a shaft control module, a sensor module, an angle measurement unit, an image processing unit, a servo drive unit, a fiber optic gyroscope, a power supply module and a human-computer interaction module;

[0007] The sensor module is used to collect information about the target and obtain a target video signal. The output end of the sensor module interacts with the input end of the shaft control module to transmit the target video signal and receive a control signal.

[0008] The output end of the angle measuring unit interacts with the input end of the shaft system control module to collect target angle data and transmit it to the shaft system control module;

[0009] The fiber optic gyroscope is electrically connected to the shaft system control module and is used to collect target speed information and transmit it to the shaft system control module;

[0010] The power supply module is used to supply power to other modules.

[0011] Preferably, the input end of the image processing unit is electrically connected to the output end of the axis control module, and the output end of the image processing unit is electrically connected to the input end of the human-computer interaction module, for receiving video signals and transmitting them to the human-computer interaction module, and the image processing unit interacts with the integrated control module to achieve tracking control.

[0012] Preferably, the input end of the servo drive unit is electrically connected to the output end of the integrated control module for receiving a servo control signal, the output end of the servo drive unit is electrically connected to the input end of the shaft system control module for transmitting the servo drive signal, and the integrated control module interacts with the shaft system control module for integrated control.

[0013] Furthermore, a ship / vehicle-mounted optoelectronic universal high-precision servo control method is proposed to implement the above-mentioned servo control system, comprising:

[0014] Acquiring target sensor data, wherein the target sensor data includes target video information and target angle data;

[0015] Based on the target video information and the human-computer interaction instruction, the servo control mode information is obtained, wherein the servo control mode includes a self-stabilization mode and a tracking mode;

[0016] Acquire servo control information according to the servo control mode information and the target angle data;

[0017] Adjust the system position and height according to the servo control information.

[0018] Optionally, acquiring servo control information according to the servo control mode information and the target angle data specifically includes:

[0019] If the servo control mode is the self-stabilizing mode, obtain the rocker given data, and its integral value is used as the position loop given information;

[0020] According to the given data of the joystick and the feedback of the fiber optic gyroscope, the position loop feedback information of the fiber optic gyroscope integration is obtained;

[0021] According to the feedback information of the position loop and based on the transfer function of the position loop, the speed loop given information is obtained;

[0022] Based on the feedback from the fiber optic gyroscope, obtain the speed feedback information;

[0023] Based on the speed loop given information and speed feedback information, the servo control information is obtained based on the speed loop transfer function;

[0024] The position loop transfer function is:

[0025]

[0026] In the formula, G p is the position loop transfer function, P p is the system position loop proportional gain, P i is the system position loop integral gain, P d is the differential gain of the system position loop, s = σ + jω, represents a complex variable, where σ is the system response rate, j is an imaginary unit, and ω is the system oscillation frequency;

[0027] The speed loop transfer function is:

[0028]

[0029] In the formula, G c is the speed loop transfer function, K p is the system speed loop proportional gain, K i is the system speed loop integral gain, K d is the system speed loop differential gain;

[0030] The motor and load transfer function is:

[0031]

[0032] In the formula, G m is the motor and load transfer function, K m is the motor gain factor, T m is the motor response time.

[0033] Optionally, acquiring servo control information according to the servo control mode information and the target angle data specifically includes:

[0034] If the servo control mode is the tracking mode, the angle deviation value of the target in the picture based on the center of the picture plus the angle of the optical axis in the inertial space where the gyro integration is located is taken as the position of the target in the inertial space to obtain the target position data;

[0035] According to the pixel position data of the target in the picture in the target position data, the deviation angle based on the center of the picture is calculated in proportion through the field of view angle, and the position feedback based on the fiber optic gyroscope integration is added to serve as the position loop given information of the target in the inertial space;

[0036] According to the position loop given information and the position loop transfer function, the speed loop given information is obtained;

[0037] According to the speed loop given information and the speed loop feedback data of the fiber optic gyroscope, the servo control information is obtained based on the speed loop transfer function.

[0038] Optionally, the acquiring servo control information according to the servo control mode information and the target angle data further includes:

[0039] If the servo control mode is the tracking mode, the target position data is obtained;

[0040] According to the target position data, the angle information based on the fiber optic gyroscope integration is used as the position loop feedback information;

[0041] According to the position loop feedback information and the position loop transfer function, the position given data is obtained;

[0042] According to the position given data and the speed loop transfer function, the speed given data is obtained;

[0043] Treat the axis motion control of the optoelectronic device as a second-order linear system and expand it to obtain a linear control system;

[0044] Establish an observer for the linear control system and obtain an extended state observer;

[0045] Based on the extended state observer, an observer state equation is obtained;

[0046] According to the given data of the speed loop and the observer state equation, the disturbance compensation information is calculated;

[0047] According to the disturbance compensation information, the disturbance is compensated to the output of the speed loop to obtain the servo control information.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] The present invention proposes a ship / vehicle-mounted optoelectronic universal high-precision servo control system and method. By using gyro integration as a dual-loop control mode of a position closed loop and a gyro speed closed loop, and adding a simplified linear state observer, the anti-disturbance performance and response speed of the optoelectronic device are improved, thereby improving its stability accuracy and tracking accuracy. Through a calibration method, the time delay between the image plate deviation and the gyro speed value is accurately measured, ensuring the time consistency of the information required for tracking the target, and greatly improving the stability and tracking accuracy of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a structural block diagram of a ship / vehicle-mounted optoelectronic universal high-precision servo control system proposed by the present invention;

[0051] Figure 2 A flow chart of a ship / vehicle-mounted optoelectronic universal high-precision servo control method proposed by the present invention;

[0052] Figure 3 is a flow chart of the system servo control signal in the present invention;

[0053] Figure 4 This is the control block diagram of the traditional optoelectronic system self-stabilization mode;

[0054] Figure 5 This is a control block diagram of the system self-stabilization mode in the present invention;

[0055] Figure 6 This is the control block diagram of the tracking mode of the traditional optoelectronic system;

[0056] Figure 7 This is a control block diagram of the system tracking mode in the present invention;

[0057] Figure 8 This is a time delay measurement diagram of the image board deviation in the system tracking mode of the present invention;

[0058] Fig. 9 This is the control block diagram of the system tracking mode after adding LESO in the present invention;

[0059] Fig.10 This is the stable tracking test effect of the swing platform in the present invention. DETAILED DESCRIPTION

[0060] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0061] Reference Figure 1 As shown, a ship / vehicle-mounted optoelectronic universal high-precision servo control system in an embodiment of the present invention includes an integrated control module, an axis control module, a sensor module, an angle measurement unit, an image processing unit, a servo drive unit, a fiber optic gyroscope, a power supply module and a human-computer interaction module;

[0062] The sensor module is used to collect information about the target and obtain a target video signal. The output end of the sensor module interacts with the input end of the shaft control module to transmit the target video signal and receive a control signal.

[0063] The output end of the angle measuring unit interacts with the input end of the shaft system control module to collect target angle data and transmit it to the shaft system control module;

[0064] The fiber optic gyroscope is electrically connected to the shaft system control module and is used to collect target speed information and transmit it to the shaft system control module;

[0065] The power supply module is used to supply power to other modules.

[0066] The input end of the image processing unit is electrically connected to the output end of the axis control module, and the output end of the image processing unit is electrically connected to the input end of the human-computer interaction module, for receiving video signals and transmitting them to the human-computer interaction module. The image processing unit interacts with the integrated control module to achieve tracking control.

[0067] The input end of the servo drive unit is electrically connected to the output end of the integrated control module for receiving a servo control signal. The output end of the servo drive unit is electrically connected to the input end of the shaft system control module for transmitting the servo drive signal. The integrated control module interacts with the shaft system control module for integrated control.

[0068] Reference Figure 3 As shown in the figure, the integrated control board of the optoelectronic equipment plays a connecting role. For the upper system, the main control board receives various control instructions from the upper system. The integrated control board receives the control instructions sent by the upper computer and parses them and sends them to each functional board. The functional board controls each functional module, and reports the system status collected by each board. The display and control software monitors the status information of each optoelectronic module. The image board searches for the target, locks the gate, and sends the target miss amount to the main control board through the serial port.

[0069] Reference Figure 2 As shown, further, in combination with the above-mentioned ship / vehicle-mounted optoelectronic universal high-precision servo control system, a ship / vehicle-mounted optoelectronic universal high-precision servo control method is proposed, including:

[0070] Acquiring target sensor data, wherein the target sensor data includes target video information and target angle data;

[0071] Based on the target video information and the human-computer interaction instruction, the servo control mode information is obtained, wherein the servo control mode includes a self-stabilization mode and a tracking mode;

[0072] Acquire servo control information according to the servo control mode information and the target angle data;

[0073] Adjust the system position and height according to the servo control information.

[0074] Reference Figure 4 As shown in the figure, when the joystick set value R(S) is 0, the speed of the gyro induction is used as negative feedback to make the motor rotate in the opposite direction to offset the swing speed D(S) and achieve the stability of the optical axis. When the joystick set value R(S)≠0, the swing speed D(S) is the speed of controlling the photoelectric rotation.

[0075] The speed loop transfer function model of the PID controller is:

[0076]

[0077] In the formula, G c is the speed loop transfer function, K p is the system speed loop proportional gain, K i is the system speed loop integral gain, K d is the system speed loop differential gain;

[0078] The transfer function model of the motor and load is:

[0079]

[0080] In the formula, G m is the motor and load transfer function, K m is the motor gain factor, T m is the motor response time;

[0081] Here, due to the motor response time T m It is much longer than the electrical delay time, so the effect of the system electrical delay on the system response is ignored.

[0082] Analysis of stable accuracy,

[0083]

[0084] The above formula shows that by adjusting the PID controller G c By changing the parameters of the system, the zero-pole configuration of the system can be changed, thereby adjusting the stability and dynamic response of the system. Considering the actual situation, the speed loop K d Generally it is set to 0, then:

[0085]

[0086] Analyzing the above formula, when s→0 and s≠0, E(s)=0, which means that at low frequency, the system can respond to the change of given R(S) and interference D(S) so that E(s)=0, and the system can achieve zero error tracking for the step function;

[0087] When s→∞, E(s)≈R(S)-D(S), which means that the system cannot achieve zero error stability for high-frequency given and disturbances.

[0088] The natural angular frequency of the system is:

[0089]

[0090] The system damping ratio is:

[0091]

[0092] Analyze its characteristic polynomial and configure the PID controller G c Parameters, when (K p K m +1) 2 =4T m K m K i When the system damping δ=1, there are two negative real roots At this time, the system's dynamic response speed is fast and there is no overshoot;

[0093] The zero points of the system are z1=0,

[0094] Obviously, the speed loop integral parameter K i The larger the value, the higher the natural angular frequency of the system, that is, the stronger the system rigidity. When setting parameters, in order to increase the rigidity of the system, increase K i , making α1 and α2 far away from z1 and z2, but too large K i , which will cause the system to become unstable.

[0095] However, when the system is in a swinging state, the speed is generally not constant, but increases or decreases. Consider the system's response to the ramp function. The response of the ship is simulated by the uniform acceleration motion. Applying the final value theorem, we have:

[0096]

[0097] It can be seen that the larger the integral parameter is, the smaller the error is, but the error cannot be eliminated, which means that during the speed change and swing of the photoelectric carrier, the simple speed loop cannot achieve zero speed error stability. When the speed error is integrated, the actual optical axis position deviation is divergent, and the spatial stability of the optical axis cannot be guaranteed.

[0098] parameter Figure 5 As shown, observing formula (1), it is found that the reason why the error cannot be completely eliminated is that after the Laplace transform of the ramp function is applied with the final value theorem, an integral link is actually introduced into the Laplace transform of E(s), which causes it to fail to converge to 0. Therefore, in order to improve the stability of the system against speed swing, it is considered to introduce an integral link in the control system to achieve the order reduction of E(s).

[0099] Design the servo stability control model block diagram as follows Figure 5 , the gyro's speed feedback is integrated and used as the new position loop feedback, and a position loop PID controller is added.

[0100] The position loop transfer function is:

[0101]

[0102] In the formula, G p is the position loop transfer function, P p is the proportional gain of the system position loop, P i is the system position loop integral gain, P d is the differential gain of the system position loop, s = σ + jω, represents a complex variable, where σ is the system response rate, j is an imaginary unit, and ω is the system oscillation frequency;

[0103] Same P d =0, then:

[0104]

[0105] Also consider the case of uniform acceleration of the swing stage and photoelectric self-stabilization, that is, R(S) = 0. Using the terminal value theorem:

[0106]

[0107] Comparing the control results of formula (1), it is shown that in this control mode, for the speed change of the swing table, the spatial position error of the optical axis can be controlled within a limited range without diverging and expanding. The position loop P i Determines the size of the optical axis stability error, but too large P i It will cause the system to become unstable.

[0108] After the optimization of the control mode, the speed loop remains the same as before, and the parameters can be set in the same way, so the rigidity of the system can be guaranteed.

[0109] For the optimization of the servo control mode for optical axis stability, the control of the newly added position loop can be understood as the position loop control of the optical axis in the geodetic coordinate system, because the system speed sensed by the gyroscope, after integrating it, is the spatial position angle of the optical axis.

[0110] Reference Figure 6 As shown, the target position is the current encoder angle measurement value plus the deviation of the image board feedback, R(S)=ErrPix(s)+Ang_t0, then E(s)=ErrPix(s), the position loop outputs the speed given value, and then through the speed closed-loop control, finally achieves tracking target 0 error.

[0111] However, in reality, the speed sensed by the gyroscope in this mode is the movement of the photoelectric relative to the earth coordinate system, while the angle measurement is the angle of the photoelectric relative to the carrier, and the two have different reference coordinate systems. When the carrier is stationary, the angle and speed of movement in the carrier coordinate system are the same as those in the earth coordinate system, but when the carrier moves, errors will occur between the two, and the size of the error is positively correlated with the amplitude of the carrier's movement.

[0112] Similarly, for the sake of convenience, let the inner loop speed control

[0113]

[0114] but

[0115]

[0116] When the carrier is stationary, D(S) = 0;

[0117] When the target moves at a constant speed,

[0118] Applying the final value theorem, we have:

[0119]

[0120] Conversely, when the target is stationary and the carrier is shaking at a constant speed, let R(S) = 0.

[0121] Applying the final value theorem, we have

[0122]

[0123] It can be seen that without integration, the error cannot be completely eliminated, but is related to the position loop gain coefficient P p Inversely proportional to P p If the value is too large, the dynamic gain will be too large, resulting in overshoot or even instability. With integration, the error will eventually be eliminated, but the convergence speed depends on P. i The size of the P i It will cause system oscillation.

[0124] Considering the target is stationary and the carrier is shaking with uniform acceleration, let R(S) = 0.

[0125] Applying the final value theorem, we have

[0126]

[0127] It can be seen that for variable speed sway, the error cannot be completely eliminated.

[0128] Therefore, if Figure 7 As shown, the position loop during tracking is optimized according to the self-stabilizing mode loop;

[0129] Also consider the photoelectric tracking situation when the swing table is in uniform acceleration motion, R(S) = 0, Using the terminal value theorem:

[0130]

[0131] Considering the uniform speed of the swing platform and the photoelectric tracking situation, R(S) = 0, Using the terminal value theorem:

[0132]

[0133] By comparison, it is found that the optimized servo control architecture can achieve zero error tracking for uniform swing, which is independent of the integral parameter of the position loop and converges faster than the encoder position control. For variable speed swing, there will be a following error, but the error is limited and will not diverge.

[0134] It can be seen that after the tracking mode is optimized, what changes are the dynamic performance and anti-disturbance performance of the system, so in the stable tracking process, the tracking accuracy of the system can be improved.

[0135] Through analysis, we can understand that the target position R(S) is actually the integral position of the gyroscope, plus the image deviation angle, which can be considered as the spatial angle position of the target position relative to the photoelectric. This position is actually based on the geodetic coordinate system and will not change with the swing of the carrier. Therefore, the accuracy of its position will be greatly improved.

[0136] parameter Figure 8 As shown, Figure 8 The curve in the upper middle part represents the deviation variation curve of the image board. Figure 8 The curve in the middle and lower part is the integral of the gyro speed. The optoelectronic system sends out data from both in real time. When the image board locks a fixed target, the optoelectronic system is controlled to rotate left and right. When the optoelectronic system rotates to the left and right reversal point, the gyro integral angle and the target deviation angle curve of the image board will produce peaks and valleys, and the time difference between them is the delay time of the image board deviation signal relative to the gyro. Generally, the delay of the gyro is only a few milliseconds, which can be ignored relative to the system response time. When tracking the target, the deviation ErrPix of the image board, plus the gyro integral angle iGyro_ts of the optoelectronic system before Ts time, is considered to be the angular position of the target in space before Ts time. In most cases, the moving angular velocity of the target is much lower than the shaking speed of the ship / car, so the angular error of its spatial angular position within the image delay time can be ignored.

[0137] Reference Fig. 9As shown in the figure, the extended state observer ESO is the core of the Active Disturbance Rejection Controller (ADRC). It attributes the uncertainty of the system model and the unknown internal and external disturbances to the total disturbance of the system as an extended state of the system. It can track each state variable of the system and estimate the real-time action amount of the total disturbance of the system. Feeding this disturbance estimate back to the control quantity can realize real-time compensation of the disturbance.

[0138] For a second-order linear system (the axis motion control of the optoelectronic equipment includes speed and position control, which is considered a second-order system):

[0139]

[0140] x1 represents position, x2 represents velocity. At this time, we expand the real-time action of the acceleration f(x1, x2) acting on the open-loop system into a new state variable x3, denoted as x3(t) = f(x1, x2), and record Then the system can be expanded into a new linear control system:

[0141]

[0142] The observer established for this expanded system is:

[0143]

[0144] The expanded system state observer is called the extended state observer (ESO), and the variable x3(t) is called the expanded state.

[0145] The extended state observer is a dynamic process that only uses the input and output information of the original object, but does not use any information about the function f(x1, x2) that describes the object transfer relationship. It can be used to "linearize" nonlinear and uncertain systems under external disturbances into simple "integrator series type", thereby converting the design problem of complex systems into the design of simple "integrator series type" systems.

[0146] The linear extended state observer (LESO) refers to the direct use of the observation error without nonlinear processing in the observer equation. The general discrete form of the third-order LESO is:

[0147]

[0148] By analyzing the extended state observer, we can know that the main purpose of ESO is to obtain a compensation value z3 that can quickly and stably make e=y-z1 approach 0. According to the estimated value z3 of the expanded state x3, if the parameter b is known, the final control amount can be taken as:

[0149] or The system can quickly converge to the desired state. To find the appropriate parameters so that the system can converge stably and quickly, a stable observer state equation can be considered:

[0150] λ(s)=s 3 +β1s 2 +β2s+β3=(s+ω0) 3 ;

[0151] Then β1=3ω0, β2=3ω02, β3=ω03.

[0152] This method uses the observer bandwidth ω0 to configure the poles of the observer. It is generally believed that the characteristic equation form with better stability and better transition process is (s+ω0) 3 According to this method, the triple poles of the observer need to be configured at -ω0.

[0153] The observer bandwidth ω0 is an adjustable parameter of the controller. Generally, the adaptability range of the observer bandwidth is very wide, and it is relatively easy to adjust the appropriate parameters. Since the servo bandwidth of a two-axis two-frame optoelectronic device usually does not exceed 20, ω0 can be set at 20-50.

[0154] Another parameter b0, according to It is known that its role can be understood as the influence coefficient of the current control quantity u on the speed quantity z2 of the next cycle, and it is also the inverse of the feedback coefficient of the acceleration quantity z3. The smaller b0 is, the faster the system responds to high-frequency disturbance D(S). If it is too small, the system is prone to self-excitation. The larger b0 is, the less sensitive the system is to high-frequency disturbance. After actual debugging, it is more appropriate to set b0 to a parameter similar to the control frequency.

[0155] Compared with the traditional control method, the universal servo control method of the present invention has obvious improvements in the self-stabilization and tracking accuracy of the optoelectronic device. Fig.10 The tracking effect is as follows after actual testing on the equipment. Under the conditions of rolling amplitude of 15° / 8s and pitching amplitude of 15° / 8s, Fig. 9 As shown in the picture: Figure (a) is the effect diagram at time T+0, Figure (b) is the effect diagram at time T+1, Figure (c) is the effect diagram at time T+2, Figure (d) is the effect diagram at time T+3, Figure (e) is the effect diagram at time T+4, Figure (f) is the effect diagram at time T+5, Figure (g) is the effect diagram at time T+6, Figure (h) is the effect diagram at time T+7, and Figure (i) is the effect diagram at time T+8;

[0156] The following table shows the data tested on the swing table.

[0157] Table 1 Performance comparison between the servo control method of the present invention and the traditional servo control method

[0158]

[0159] Through actual comparison, the universal servo control method of the present invention, on the basis of maintaining the classic PID control method, can improve the stability and tracking accuracy of the servo system by more than 60% by optimizing the control framework and adding ESO anti-disturbance technology. In addition, the method is easy to implement, the parameter adjustment is simple, and the applicability is strong.

[0160] In summary, the advantages of the present invention are: on the basis of retaining the versatility of the PID algorithm, by optimizing its control system framework, adding a simplified linear state observer, improving the anti-disturbance performance and response speed of the optoelectronic device, thereby improving its stability accuracy and tracking accuracy.

[0161] The present invention optimizes the gyro stabilization speed closed-loop control mode of the optoelectronic system in the traditional self-stabilization mode into a dual-loop control mode with gyro integration as the position closed-loop + gyro speed closed-loop, and adds a simplified linear state observer, which can quickly estimate and compensate for disturbances; when optoelectronically tracking a target, the deviation of the target extracted by the image board is added to the position of the gyro integration as the position loop given, and the high-frequency gyro integration feedback is used to increase the update frequency of the position loop deviation in disguise; at the same time, the present invention can accurately measure the time delay between the image board deviation and the gyro speed value through a calibration method, thereby completing the time consistency of information required for tracking the target without time synchronization.

[0162] The universal servo control method of the present invention can not only retain the simple and easy debugging characteristics of the traditional PID servo control algorithm, but also has good anti-interference ability and can compensate for system delays. Without increasing the system hardware cost and debugging complexity, the stability and tracking accuracy of the system are greatly improved.

[0163] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A ship / vehicle-mounted optoelectronic universal high-precision servo control system, characterized in that: It includes integrated control module, shaft control module, sensor module, angle measurement unit, image processing unit, servo drive unit, fiber optic gyroscope, power module and human-computer interaction module; The sensor module is used to collect information about the target and obtain a target video signal. The output end of the sensor module interacts with the input end of the shaft control module to transmit the target video signal and receive a control signal. The output end of the angle measuring unit interacts with the input end of the shaft system control module to collect target angle data and transmit it to the shaft system control module; The fiber optic gyroscope is electrically connected to the shaft system control module and is used to collect target speed information and transmit it to the shaft system control module; The power supply module is used to supply power to other modules.

2. A ship / vehicle-mounted optoelectronic universal high-precision servo control system according to claim 1, characterized in that: The input end of the image processing unit is electrically connected to the output end of the axis control module, and the output end of the image processing unit is electrically connected to the input end of the human-computer interaction module, for receiving video signals and transmitting them to the human-computer interaction module. The image processing unit interacts with the integrated control module to achieve tracking control.

3. The ship / vehicle-mounted optoelectronic universal high-precision servo control system according to claim 1, characterized in that: The input end of the servo drive unit is electrically connected to the output end of the integrated control module for receiving a servo control signal. The output end of the servo drive unit is electrically connected to the input end of the shaft system control module for transmitting the servo drive signal. The integrated control module interacts with the shaft system control module for integrated control.

4. A ship / vehicle-mounted optoelectronic universal high-precision servo control method, used to implement the servo control method according to any one of claims 1 to 3, characterized in that: include: Acquiring target sensor data, wherein the target sensor data includes target video information and target angle data; Based on the target video information and the human-computer interaction instruction, the servo control mode information is obtained, wherein the servo control mode includes a self-stabilization mode and a tracking mode; Acquire servo control information according to the servo control mode information and the target angle data; Adjust the system position and height according to the servo control information.

5. A ship / vehicle-mounted optoelectronic universal high-precision servo control method according to claim 4, characterized in that: The acquiring of servo control information according to the servo control mode information and the target angle data specifically includes: If the servo control mode is the self-stabilizing mode, obtain the rocker given data, and its integral value is used as the position loop given information; According to the given data of the joystick and the feedback of the fiber optic gyroscope, the position loop feedback information of the fiber optic gyroscope integration is obtained; According to the feedback information of the position loop and based on the transfer function of the position loop, the speed loop given information is obtained; Based on the feedback from the fiber optic gyroscope, obtain the speed feedback information; Based on the speed loop given information and speed feedback information, the servo control information is obtained based on the speed loop transfer function; The position loop transfer function is: In the formula, G p is the position loop transfer function, P p is the system position loop proportional gain, P i is the system position loop integral gain, P d is the differential gain of the system position loop, s = σ + jω, represents a complex variable, where σ is the system response rate, j is an imaginary unit, and ω is the system oscillation frequency; The speed loop transfer function is: In the formula, G c is the speed loop transfer function, K p is the system speed loop proportional gain, K i is the system speed loop integral gain, K d is the system speed loop differential gain; The motor and load transfer function is: In the formula, G m is the motor and load transfer function, K m is the motor gain factor, T m is the motor response time.

6. A ship / vehicle-mounted optoelectronic universal high-precision servo control method according to claim 4, characterized in that: The acquiring of servo control information according to the servo control mode information and the target angle data specifically includes: If the servo control mode is the tracking mode, the angle deviation value of the target in the picture based on the center of the picture plus the angle of the optical axis in the inertial space where the gyro integration is located is taken as the position of the target in the inertial space to obtain the target position data; According to the pixel position data of the target in the picture in the target position data, the deviation angle based on the center of the picture is calculated in proportion through the field of view angle, and the position feedback based on the fiber optic gyroscope integration is added to serve as the position loop given information of the target in the inertial space; According to the position loop given information and the position loop transfer function, the speed loop given information is obtained; According to the speed loop given information and the speed loop feedback data of the fiber optic gyroscope, the servo control information is obtained based on the speed loop transfer function.

7. A ship / vehicle-mounted optoelectronic universal high-precision servo control method according to claim 6, characterized in that: The step of acquiring servo control information according to the servo control mode information and the target angle data further includes: If the servo control mode is the tracking mode, the target position data is obtained; According to the target position data, the angle information based on the fiber optic gyroscope integration is used as the position loop feedback information; According to the position loop feedback information and the position loop transfer function, the position given data is obtained; According to the position given data and the speed loop transfer function, the speed given data is obtained; Treat the axis motion control of the optoelectronic device as a second-order linear system and expand it to obtain a linear control system; Establish an observer for the linear control system and obtain an extended state observer; Based on the extended state observer, an observer state equation is obtained; According to the given data of the speed loop and the observer state equation, the disturbance compensation information is calculated; According to the disturbance compensation information, the disturbance is compensated to the output of the speed loop to obtain the servo control information.

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