Rotary table tracking error characteristic analysis and control method and device

Abstract

The invention relates to a rotary table tracking error characteristic analysis and control method and device, and the method comprises the steps: building a simulation analysis model based on a kinematic equation and a kinetic equation of a rotary table; determining at least one variable parameter of the rotary table, and performing parameter characteristic analysis on the rotary table based on the simulation analysis model and the parameter characteristic index under the target working condition to obtain a rotary table tracking error influence index corresponding to each variable parameter; and establishing a turntable feed-forward control simulation analysis model, and combining parameter characteristic analysis and servo feed-forward control to complete turntable tracking error control. Therefore, the problems of low efficiency, difficulty in clearing the influence of variable parameters on tracking errors, difficulty in achieving an optimal control effect and the like due to the fact that parameter adjustment is performed by excessively depending on experience and control effect testing is performed by excessively depending on an experimental platform in a turntable tracking error prediction process in the related technology are solved.

Description

Technical Field

[0001] The present application relates to the technical field of mechatronics, and in particular to a method and device for analyzing and controlling turntable tracking error characteristics. Background Art

[0002] Turntables can achieve precise positioning and motion control, and are widely used in various precision instruments and mechanical equipment, such as machine tools, robotic arms, optical systems, astronomical telescopes, and laser radars. At the same time, turntables are also a common structure on machine tools, and their tracking errors directly affect the processing quality and performance level of machine tool products. With the development of aerospace technology, tracking devices using turntables equipped with optical detectors are also widely used in spacecraft for debris detection, situational awareness, and other fields. Their tracking performance directly affects the technical level of related equipment, and is of great significance for improving equipment accuracy and reliability, and even for improving machine tool technology, aerospace technology, and ensuring national security.

[0003] Servo control is a common method for realizing turntable tracking control. However, the effect of servo control is affected by many variable parameters. Unreasonable control parameters will directly affect the tracking error of the turntable. In related technologies, servo control parameters are often adjusted by experience, and motion tests are often performed on experimental platforms to determine the control effect under different servo control parameters. This method is not targeted, inefficient, and difficult to achieve the optimal effect. By building a turntable simulation analysis model based on MATLAB's simulink simulation module and then completing the parameter characteristic analysis of the turntable, the influence of various variable parameters on the turntable tracking error can be clarified, thereby further improving its tracking control accuracy and efficiency.

[0004] In summary, in the process of adjusting the turntable tracking control parameters, the relevant technologies rely too much on experience for parameter adjustment and too much on experimental platforms for control effect testing. This is inefficient, and it is difficult to clarify the impact of variable parameters on tracking errors and to achieve optimal control effects, which needs to be solved urgently. Summary of the invention

[0005] The present application provides a method and device for analyzing and controlling turntable tracking error characteristics to solve the problems in the related technology of excessive reliance on experience for parameter adjustment and excessive reliance on experimental platforms for control effect testing during turntable tracking error prediction, which is inefficient, makes it difficult to clarify the impact of variable parameters on tracking errors, and makes it difficult to achieve optimal control effects.

[0006] The first aspect of the present application provides a method for analyzing and controlling the tracking error characteristics of a turntable, comprising the following steps: constructing a simulation analysis model of the turntable based on preset kinematic equations and dynamic equations of the turntable; determining at least one variable parameter of the turntable, and under target operating conditions, performing parameter characteristic analysis on the turntable based on the simulation analysis model and preset parameter characteristic indicators to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter; establishing a feedforward control simulation analysis model of the turntable based on a preset servo feedforward control strategy, and performing tracking error control operations on the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence indicator.

[0007] Optionally, in one embodiment of the present application, the simulation analysis model of the turntable is constructed based on the preset kinematic equations and dynamic equations of the turntable, including: determining the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix of the turntable, so as to determine the equivalent moment of inertia of the azimuth axis and the pitch axis of the turntable through the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix; obtaining the pitch-axis dynamic equation and the azimuth-axis dynamic equation based on the equivalent moment of inertia, the preset pitch-axis motor output torque and the azimuth-axis motor output torque; establishing the frame-coupled dynamic equation of the turntable according to the pitch-axis dynamic equation and the azimuth-axis dynamic equation, and determining the state-space equation of the turntable through the frame-coupled dynamic equation; constructing the simulation analysis model of the turntable based on the state-space equation and the preset simulink functional modules.

[0008] Optionally, in one embodiment of the present application, at least one variable parameter of the turntable is determined, and under target operating conditions, based on the simulation analysis model and preset parameter characteristic indicators, parameter characteristic analysis is performed on the turntable to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter, including: setting multiple groups of different numerical values ​​for each variable parameter respectively; based on the simulation analysis model and the multiple groups of different numerical values, obtaining the tracking error curve and tracking error extreme value of each variable parameter before and after the change under the target operating conditions; calculating the parameter characteristic indicator of the turntable according to the tracking error curve and the tracking error extreme value, and analyzing the degree of influence of each variable parameter on the tracking error of the turntable through the parameter characteristic indicator to obtain the turntable tracking error influence indicator corresponding to each variable parameter.

[0009] Optionally, in one embodiment of the present application, a feedforward control simulation analysis model of the turntable is established based on a preset servo feedforward control strategy, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index, including: determining the mechanical structure parameters and motion parameters of the turntable according to the target operating conditions; determining the target variable parameters based on the mechanical structure parameters, the motion parameters and the parameter characteristic indicators; adjusting the target variable parameters through a preset optimization method to obtain the final target variable parameters, and based on the final target variable parameters, the simulation analysis model and a preset speed servo feedforward controller, the turntable performs corresponding tracking control operations.

[0010] The second aspect of the present application provides a turntable tracking error characteristic analysis and control device, including: a modeling module, used to construct a simulation analysis model of the turntable based on preset kinematic equations and dynamic equations of the turntable; a parameter characteristic analysis module, used to determine at least one variable parameter of the turntable, and under target working conditions, based on the simulation analysis model and preset parameter characteristic indicators, perform parameter characteristic analysis on the turntable to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter; a tracking control module, used to establish a feedforward control simulation analysis model of the turntable based on a preset servo feedforward control strategy, and perform tracking error control operations on the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence indicator.

[0011] Optionally, in one embodiment of the present application, the modeling module includes: a first determination unit, used to determine the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix of the turntable, so as to determine the equivalent moment of inertia of the azimuth axis and the pitch axis of the turntable through the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix; a first acquisition unit, used to acquire the pitch-axis dynamic equation and the azimuth-axis dynamic equation based on the equivalent moment of inertia, the preset pitch-axis motor output torque and the azimuth-axis motor output torque; an establishment unit, used to establish the frame-coupled dynamic equation of the turntable according to the pitch-axis dynamic equation and the azimuth-axis dynamic equation, and determine the state-space equation of the turntable through the frame-coupled dynamic equation; a first construction unit, used to construct a simulation analysis model of the turntable based on the state-space equation and the preset simulink functional module.

[0012] Optionally, in one embodiment of the present application, the parameter characteristic analysis module includes: a setting unit, used to set multiple groups of different numerical values ​​for each of the variable parameters respectively; a second acquisition unit, used to obtain the tracking error curve and tracking error extreme value of each variable parameter before and after the change under the target operating conditions based on the simulation analysis model and the multiple groups of different numerical values; a calculation unit, used to calculate the parameter characteristic index of the turntable according to the tracking error curve and the tracking error extreme value, and analyze the degree of influence of each variable parameter on the tracking error of the turntable through the parameter characteristic index, so as to obtain the turntable tracking error influence index corresponding to each variable parameter.

[0013] Optionally, in one embodiment of the present application, the tracking control module includes: a second construction unit, used to construct a servo feedforward controller based on the servo feedforward control strategy and the simulation analysis model, and establish the feedforward control simulation analysis model based on the servo feedforward controller; a second determination unit, used to determine the mechanical structure parameters and motion parameters of the turntable according to the target operating conditions; a third determination unit, used to determine the target variable parameters based on the mechanical structure parameters, the motion parameters and the parameter characteristic indicators; an optimization unit, used to perform parameter optimization operations on the target variable parameters according to a preset parameter optimization strategy of the turntable to obtain target optimized variable parameters, and complete the tracking error control operation of the turntable through the target optimized variable parameters and the feedforward control simulation analysis model.

[0014] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the turntable tracking error characteristic analysis and control method as described in the above embodiment.

[0015] The fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program. When the program is executed by a processor, it implements the above turntable tracking error characteristic analysis and control method.

[0016] The fifth aspect of the present application provides a computer program product, including a computer program, which is executed to implement the above-mentioned turntable tracking error characteristic analysis and control method.

[0017] Therefore, the embodiments of the present application have the following beneficial effects:

[0018] The embodiment of the present application can construct a simulation analysis model of the turntable based on the preset kinematic equation and dynamic equation of the turntable; determine at least one variable parameter of the turntable, and under the target working condition, perform parameter characteristic analysis on the turntable based on the simulation analysis model and the preset parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter in at least one variable parameter; establish a feedforward control simulation analysis model of the turntable based on the preset servo feedforward control strategy, and perform the tracking error control operation of the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence index. The present application can verify the tracking error control effect under different parameter settings through the simulink simulation model, replace the motion experiment verification on the experimental platform, clarify the influence of each parameter change on the turntable tracking error, and effectively improve the turntable tracking accuracy by combining parameter optimization with servo feedforward control. Therefore, the related technology solves the problems of excessive reliance on experience for parameter adjustment and excessive reliance on the experimental platform for control effect testing in the turntable tracking error prediction process, low efficiency, difficulty in clarifying the influence of variable parameters on tracking error, and difficulty in achieving optimal control effect.

[0019] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1 A flow chart of a turntable tracking error characteristic analysis and control method provided according to an embodiment of the present application;

[0022] Figure 2 A turntable simulation analysis model block diagram provided for one embodiment of the present application;

[0023] Figure 3 A schematic diagram of a turntable pitch axis tracking error result provided by an embodiment of the present application;

[0024] Figure 4 A schematic diagram of a turntable azimuth axis tracking error result provided by an embodiment of the present application;

[0025] Figure 5 A schematic diagram of comparing the results of the pitch axis tracking error parameter characteristics of a turntable provided in one embodiment of the present application;

[0026] Figure 6 A schematic diagram of a turntable azimuth axis tracking error parameter characteristic index result comparison provided by an embodiment of the present application;

[0027] Figure 7 A simulation analysis model block diagram of a turntable servo feedforward control provided in one embodiment of the present application;

[0028] Figure 8 A schematic diagram for comparing the optimization effects of a turntable pitch axis tracking error provided by an embodiment of the present application;

[0029] Fig. 9 A schematic diagram for comparing the optimization effects of a turntable azimuth axis tracking error provided by an embodiment of the present application;

[0030] Fig.10 A schematic diagram of the execution logic of a turntable tracking error characteristic analysis and control method provided by one embodiment of the present application;

[0031] Fig.11 is an example diagram of a turntable tracking error characteristic analysis and control device according to an embodiment of the present application;

[0032] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0033] Among them, 10-turntable tracking error characteristic analysis and control device, 100-modeling module, 200-parameter characteristic analysis module, 300-tracking control module, 1201-memory, 1202-processor, 1203-communication interface. DETAILED DESCRIPTION

[0034] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes the turntable tracking error characteristic analysis and control method and device of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a turntable tracking error characteristic analysis and control method, in which a simulation analysis model of the turntable is constructed based on the preset kinematic equations and dynamic equations of the turntable; at least one variable parameter of the turntable is determined, and under the target working condition, the parameter characteristic analysis of the turntable is performed based on the simulation analysis model and the preset parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter in at least one variable parameter; based on the preset servo feedforward control strategy, a feedforward control simulation analysis model of the turntable is established, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index. The present application can verify the tracking error control effect under different parameter settings through the simulink simulation model, replace the motion experiment verification on the experimental platform, clarify the influence of each parameter change on the turntable tracking error, and effectively improve the turntable tracking accuracy by combining parameter optimization with servo feedforward control. This solves the problems of related technologies relying too much on experience for parameter adjustment and too much on experimental platforms for control effect testing during turntable tracking error prediction, resulting in low efficiency, difficulty in clarifying the impact of variable parameters on tracking error, and difficulty in achieving optimal control effect.

[0036] Specifically, Figure 1 A flow chart of a turntable tracking error characteristic analysis and control method provided in an embodiment of the present application.

[0037] like Figure 1 As shown, the turntable tracking error characteristic analysis and control method includes the following steps:

[0038] In step S101, a simulation analysis model of the turntable is constructed based on preset kinematic equations and dynamic equations of the turntable.

[0039] The embodiments of the present application can firstly construct a turntable simulation analysis model based on the pre-derived turntable kinematic and dynamic equations and in combination with the simulink simulation module of MATLAB.

[0040] Optionally, in one embodiment of the present application, a simulation analysis model of the turntable is constructed based on the preset kinematic equations and dynamic equations of the turntable, including: determining the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix of the turntable, so as to determine the equivalent moment of inertia of the azimuth axis and the pitch axis of the turntable through the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix; obtaining the pitch-axis dynamic equation and the azimuth-axis dynamic equation based on the equivalent moment of inertia, the preset pitch-axis motor output torque and the azimuth-axis motor output torque; establishing the frame-coupled dynamic equation of the turntable according to the pitch-axis dynamic equation and the azimuth-axis dynamic equation, and determining the state-space equation of the turntable through the frame-coupled dynamic equation; constructing a simulation analysis model of the turntable based on the state-space equation and the preset simulink functional modules.

[0041] Specifically, the embodiment of the present application first determines the coordinate transformation relationship between the pitch coordinate system-azimuth coordinate system and the azimuth coordinate system-ground coordinate system:

[0042] [x p y p z p ] T =R py [x y y y z y ] T

[0043] [x y y y z y ] T =R yg [x g y g z g ] T

[0044] Among them, [x p y p z p ] T ,[x y y y z y ] T ,[x g y g z g ] T They are the coordinates in the ground coordinate system, azimuth coordinate system, and elevation coordinate system respectively.

[0045] For the elevation angle β and azimuth angle γ, the coordinate transfer matrix R py and R yg It can be expressed as:

[0046]

[0047] For a symmetrical turntable structure, the crown beam matrix of each axis can be expressed as a diagonal matrix I p and I y :

[0048]

[0049] After coordinate transformation, the embodiment of the present application can obtain the equivalent moment of inertia of the azimuth axis and the pitch axis as follows:

[0050] J y =I py ,I z =I yz +I px sin 2 β+I pz cos 2 β

[0051] According to the moment balance equation, the pitch axis dynamic equation can be obtained as follows:

[0052]

[0053] Among them, M p Output torque of the pitch axis motor.

[0054] In addition, the azimuth axis dynamic equation of the embodiment of the present application is:

[0055]

[0056] Among them, M y is the output torque of the azimuth axis motor.

[0057] According to the obtained dynamic equation, the embodiment of the present application can express the angular acceleration of the azimuth angle and the pitch angle by angle and angular velocity, and then express the system dynamic relationship in the form of a state space equation:

[0058]

[0059] Among them, x1, x2, x3 and x4 represent the pitch angle, pitch angular velocity, azimuth angle and azimuth angular velocity to obtain:

[0060]

[0061] According to the above derivation process, the state space equation of the turntable can be obtained:

[0062]

[0063] Among them, the input quantity is the output torque of the two motors:

[0064] u=(M p ,M y ) T

[0065] According to the state space equation of the servo control of the turntable, the embodiment of the present application can use the S-function function of simulink to write the turntable dynamics simulation module, store it in the *.m script file, and build the turntable simulation analysis model, such as Figure 2 shown.

[0066] It should be noted that the above-mentioned drive shaft servo control model is implemented by control, in which the position loop adopts P control and the speed loop adopts PI control. Since the current loop feedback comes from the Hall element inside the driver, the feedback frequency and accuracy are much higher than those of the position loop and speed loop, which are equivalent to 1.

[0067] Therefore, the embodiments of the present application provide reliable technical support for the implementation of subsequent turntable tracking error control by constructing a simulation analysis model of the turntable.

[0068] In step S102, at least one variable parameter of the turntable is determined, and under target operating conditions, a parameter characteristic analysis of the turntable is performed based on a simulation analysis model and preset parameter characteristic indicators to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter.

[0069] Furthermore, the embodiments of the present application also need to calculate the influence index of each variable parameter in at least one variable parameter on the turntable tracking error under the target working conditions based on the turntable simulation analysis model and pre-constructed parameter characteristic indicators, so as to complete the parameter characteristic analysis of the turntable.

[0070] Optionally, in one embodiment of the present application, at least one variable parameter of the turntable is determined, and under target operating conditions, based on a simulation analysis model and preset parameter characteristic indicators, a parameter characteristic analysis of the turntable is performed to obtain a turntable tracking error influence indicator corresponding to each variable parameter in at least one variable parameter, including: setting multiple groups of different numerical values ​​for each variable parameter respectively; obtaining a tracking error curve and a tracking error extreme value before and after each variable parameter is changed under the target operating conditions based on the simulation analysis model and the multiple groups of different numerical values; calculating the parameter characteristic indicator of the turntable according to the tracking error curve and the tracking error extreme value, and analyzing the degree of influence of each variable parameter on the tracking error of the turntable through the parameter characteristic indicator to obtain a turntable tracking error influence indicator corresponding to each variable parameter.

[0071] It should be understood by those skilled in the art that the control effect of the tracking error during the motion of the turntable is affected by the comprehensive influence of multiple variable parameters. Therefore, the embodiment of the present application may adopt the control variable method, and when other parameters remain unchanged, K p ,K v ,T v ,v,a,j,J, that is, each variable parameter in the position loop proportional gain, velocity loop proportional gain, velocity loop integral time constant, velocity, acceleration, jerk, and inertia is set with multiple groups of different values, so as to perform simulation analysis of the tracking error under a given motion and obtain the simulation result of the turntable tracking error.

[0072] Considering the actual application scenarios of the turntable, the embodiments of the present application can select motion trajectories under representative working conditions. Under given working conditions, based on the simulation analysis model of the turntable servo control, the turntable tracking control under given parameters is simulated and analyzed to obtain the turntable pitch axis tracking error results, such as Figure 3 As shown by Figure 3 It can be seen that the horizontal axis is time, the unit is s; the vertical axis is the pitch axis tracking error, the unit is °; the turntable azimuth axis tracking error result is as follows Figure 4 As shown by Figure 4 It can be seen that the horizontal axis is time, the unit is s; the vertical axis is the azimuth axis tracking error, the unit is °.

[0073] In the embodiment of the present application, under given working conditions, the given parameter variation coefficient ε x =log(2), and change K p ,K v ,T v The simulation calculation is carried out based on the simulation control model of the turntable, and the extreme values ​​of the pitch axis tracking error and the azimuth axis tracking error before and after the parameter changes are obtained.

[0074] As a possible way to change the pitch axis position loop proportional gain K p For example, before the parameters are changed, the turntable pitch axis tracking error extreme value e β =0.00308036; Azimuth axis tracking error extreme value e γ =0.00974998; After the parameter is changed, the turntable pitch axis tracking error extreme value Azimuth axis tracking error extreme value

[0075] Afterwards, the embodiment of the present application can obtain the variation coefficients of the tracking errors of the pitch axis and the azimuth axis: and

[0076]

[0077] For the parameter variation coefficient and the pitch axis and azimuth axis tracking error variation coefficient, the embodiment of the present application can calculate the ratio thereof to obtain the turntable pitch axis parameter characteristic index: Characteristic index of azimuth axis parameters

[0078]

[0079] Similarly, the embodiment of the present application can obtain the proportional gain K of the perfunctory velocity loop: v The speed loop integral time constant T v The characteristic index η of the turntable pitch axis parameter when changing β,Kv , η β,Tv and the azimuth axis parameter characteristic index η γ,Kv , η γ,Tv .

[0080] According to the calculation results of parameter characteristic index, the embodiment of the present application can obtain Figure 5 The schematic diagram of the comparison of the turntable pitch axis tracking error parameter characteristic index results is shown, wherein the ordinate represents the value of the parameter characteristic index; Figure 6 This is a schematic diagram of the comparison of the turntable azimuth axis tracking error parameter characteristic index results. Figure 6 It can be seen that the ordinate represents the value of the parameter characteristic index;

[0081] It can be understood that after obtaining the turntable parameter characteristic index, the embodiment of the present application can analyze the influence of each variable parameter on the turntable tracking error; specifically, Figure 5 and Figure 6 It can be seen that when the pitch axis control parameter is used as a variable, the parameter characteristic index of the pitch axis is much greater than the parameter characteristic index of the azimuth axis; at the same time, for both the pitch axis and the azimuth axis, K v The parameter characteristic index of K is the highest, so it is necessary to v Adjustments are made so that the adjustment settings of the control parameters of the drive shaft control system can be completed quickly and accurately to better achieve tracking control of the turntable tracking.

[0082] Therefore, the embodiments of the present application can determine the mechanical structure parameters and motion parameters of the turntable under given working conditions, and determine which control variable parameter to adjust and the adjustment amplitude by calculating the parameter characteristic index of the system control variable parameter, so as to adjust the parameters according to the parameter characteristic index and realize tracking control of the turntable.

[0083] In step S103, based on the preset servo feedforward control strategy, a feedforward control simulation analysis model of the turntable is established, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index.

[0084] Furthermore, the embodiments of the present application also need to combine parameter optimization and servo feedforward control to complete the tracking error control of the turntable to improve the tracking control effect of the turntable.

[0085] Optionally, in one embodiment of the present application, a feedforward control simulation analysis model of a turntable is established based on a preset servo feedforward control strategy, and a tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index, including: constructing a servo feedforward controller based on the servo feedforward control strategy and the simulation analysis model, and establishing a feedforward control simulation analysis model based on the servo feedforward controller; determining the mechanical structure parameters and motion parameters of the turntable according to the target operating conditions; determining the target variable parameters based on the mechanical structure parameters, motion parameters and parameter characteristic indicators; performing parameter optimization operations on the target variable parameters according to the preset turntable parameter optimization strategy to obtain target optimized variable parameters, and completing the tracking error control operation of the turntable through the target optimized variable parameters and the feedforward control simulation analysis model.

[0086] It should be noted that the embodiments of the present application determine the mechanical structure parameters and motion parameters of the turntable according to the target working conditions; select the target variable parameters based on the mechanical structure parameters, motion parameters and parameter characteristic indicators; adjust the target variable parameters based on the preset optimization method to obtain the optimal target variable parameters (i.e., target optimized variable parameters). Figure 2 Adding a speed feedforward controller and a speed servo feedforward controller to the simulation analysis model shown in the figure can obtain the following Figure 7 The turntable servo feedforward control simulation analysis model shown is combined with the control parameter setting after parameter optimization to complete the tracking error control of the turntable, reduce the tracking error, and improve the tracking control effect.

[0087] Figure 8 This is a schematic diagram for comparing the optimization effects of the turntable pitch axis tracking error. Figure 8 As shown, the horizontal axis is time, the unit is s; the vertical axis is the pitch axis tracking error, the unit is °. Fig. 9 The following is a schematic diagram showing the comparison of the optimization effects of the turntable azimuth axis tracking error. Fig. 9 As shown, the horizontal axis is time, the unit is s; the vertical axis is the azimuth axis tracking error, the unit is °.

[0088] Therefore, the embodiment of the present application can verify the tracking error control effect under different parameter settings through the Simulink simulation model, replacing the motion experiment verification on the experimental platform, so as to clarify the influence of each parameter change on the turntable tracking error, and effectively improve the turntable tracking accuracy by combining parameter optimization with servo feedforward control.

[0089] The following describes the execution logic of the turntable tracking error characteristic analysis and control method of the present application in conjunction with the accompanying drawings.

[0090] Fig.10 The following is a schematic diagram of the execution logic of the turntable tracking error characteristic analysis and control method. Fig.10 As shown, the execution process of the turntable tracking error characteristic analysis and control method of the present application is as follows:

[0091] S1001: According to the pre-derived turntable kinematics and dynamics equations, a turntable simulation analysis model is constructed based on the simulink simulation module of MATLAB;

[0092] S1002: Under target working conditions, based on the turntable simulation analysis model and pre-built parameter characteristic indicators, calculating the influence index of each variable parameter in at least one variable parameter on the turntable tracking error, and completing the parameter characteristic analysis of the turntable;

[0093] S1003: Combine parameter optimization with servo feedforward control to complete the tracking error control of the turntable and improve the tracking control effect of the turntable.

[0094] According to the turntable tracking error characteristic analysis and control method proposed in the embodiment of the present application, a simulation analysis model of the turntable is constructed based on the preset kinematic equations and dynamic equations of the turntable; at least one variable parameter of the turntable is determined, and under the target working conditions, the parameter characteristic analysis of the turntable is performed based on the simulation analysis model and the preset parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter in at least one variable parameter; based on the preset servo feedforward control strategy, a feedforward control simulation analysis model of the turntable is established, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index. The present application can verify the tracking error control effect under different parameter settings through the simulink simulation model, replace the motion experiment verification on the experimental platform, clarify the influence of each parameter change on the turntable tracking error, and effectively improve the turntable tracking accuracy by combining parameter optimization with servo feedforward control.

[0095] Secondly, the turntable tracking error characteristic analysis and control device proposed in accordance with the embodiment of the present application is described with reference to the accompanying drawings.

[0096] Fig.11 It is a block diagram of a turntable tracking error characteristic analysis and control device according to an embodiment of the present application.

[0097] like Fig.11 As shown, the turntable tracking error characteristic analysis and control device 10 includes: a modeling module 100 , a parameter characteristic analysis module 200 and a tracking control module 300 .

[0098] The modeling module 100 is used to construct a simulation analysis model of the turntable based on the preset kinematic equations and dynamic equations of the turntable.

[0099] The parameter characteristic analysis module 200 is used to determine at least one variable parameter of the turntable, and under target operating conditions, based on the simulation analysis model and preset parameter characteristic indicators, perform parameter characteristic analysis on the turntable to obtain a turntable tracking error influence indicator corresponding to each variable parameter in at least one variable parameter.

[0100] The tracking control module 300 is used to establish a feedforward control simulation analysis model of the turntable based on a preset servo feedforward control strategy, and perform the tracking error control operation of the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence index.

[0101] Optionally, in one embodiment of the present application, the modeling module 100 includes: a first determining unit, a first acquiring unit, an establishing unit and a first constructing unit.

[0102] Among them, the first determination unit is used to determine the pitch azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix of the turntable, so as to determine the equivalent rotational inertia of the azimuth axis and the pitch axis of the turntable through the pitch azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix.

[0103] The first acquisition unit is used to acquire the pitch axis dynamic equation and the azimuth axis dynamic equation based on the equivalent rotational inertia, the preset pitch axis motor output torque and the azimuth axis motor output torque.

[0104] A unit is established for establishing a frame-coupled dynamic equation of the turntable according to the pitch axis dynamic equation and the azimuth axis dynamic equation, and determining the state space equation of the turntable through the frame-coupled dynamic equation.

[0105] The first construction unit is used to construct a simulation analysis model of the turntable based on the state space equation and the preset simulink function module.

[0106] Optionally, in one embodiment of the present application, the parameter characteristic analysis module 200 includes: a setting unit, a second acquisition unit and a calculation unit.

[0107] The setting unit is used to set multiple groups of different values ​​for each variable parameter.

[0108] The second acquisition unit is used to obtain the tracking error curve and the tracking error extreme value before and after each variable parameter is changed under the target working condition based on the simulation analysis model and multiple groups of different numerical values.

[0109] The calculation unit is used to calculate the parameter characteristic index of the turntable according to the tracking error curve and the tracking error extreme value, and analyze the influence of each variable parameter on the tracking error of the turntable through the parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter.

[0110] Optionally, in one embodiment of the present application, the tracking control module 300 includes: a second construction unit, a second determination unit, a third determination unit and an optimization unit.

[0111] The second construction unit is used to construct a servo feedforward controller based on the servo feedforward control strategy and the simulation analysis model, and to establish a feedforward control simulation analysis model based on the servo feedforward controller.

[0112] The second determination unit is used to determine the mechanical structure parameters and motion parameters of the turntable according to the target working conditions.

[0113] The third determination unit is used to determine the target variable parameters based on the mechanical structure parameters, motion parameters and parameter characteristic indicators.

[0114] The optimization unit is used to perform parameter optimization operations on the target variable parameters according to the preset turntable parameter optimization strategy to obtain the target optimized variable parameters, and complete the tracking error control operation of the turntable through the target optimized variable parameters and the feedforward control simulation analysis model.

[0115] It should be noted that the aforementioned explanation of the embodiment of the turntable tracking error characteristic analysis and control method is also applicable to the turntable tracking error characteristic analysis and control device of this embodiment, and will not be repeated here.

[0116] According to the turntable tracking error characteristic analysis and control device proposed in the embodiment of the present application, it includes a modeling module, which is used to construct a simulation analysis model of the turntable based on the preset kinematic equations and dynamic equations of the turntable; a parameter characteristic analysis module, which is used to determine at least one variable parameter of the turntable, and under the target working conditions, based on the simulation analysis model and the preset parameter characteristic index, the parameter characteristic analysis of the turntable is performed to obtain the turntable tracking error influence index corresponding to each variable parameter in at least one variable parameter; a tracking control module, which is used to establish a feedforward control simulation analysis model of the turntable based on the preset servo feedforward control strategy, and perform the tracking error control operation of the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence index. The present application can verify the tracking error control effect under different parameter settings through the simulink simulation model, replace the motion experiment verification on the experimental platform, clarify the influence of each parameter change on the turntable tracking error, and effectively improve the turntable tracking accuracy by combining parameter optimization with servo feedforward control.

[0117] Fig.12A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0118] A memory 1201 , a processor 1202 , and a computer program stored in the memory 1201 and executable on the processor 1202 .

[0119] When the processor 1202 executes the program, the turntable tracking error characteristic analysis and control method provided in the above embodiment is implemented.

[0120] Furthermore, the electronic device further comprises:

[0121] The communication interface 1203 is used for communication between the memory 1201 and the processor 1202 .

[0122] The memory 1201 is used to store computer programs that can be executed on the processor 1202 .

[0123] The memory 1201 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0124] If the memory 1201, the processor 1202 and the communication interface 1203 are implemented independently, the communication interface 1203, the memory 1201 and the processor 1202 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0125] Optionally, in a specific implementation, if the memory 1201, the processor 1202 and the communication interface 1203 are integrated on a chip, the memory 1201, the processor 1202 and the communication interface 1203 can communicate with each other through an internal interface.

[0126] The processor 1202 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0127] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above turntable tracking error characteristic analysis and control method.

[0128] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the above-mentioned turntable tracking error characteristic analysis and control method.

[0129] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0130] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0131] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0132] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0133] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0134] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0135] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0136] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for analyzing and controlling turntable tracking error characteristics, characterized in that: The following steps are involved: Based on the preset kinematic equations and dynamic equations of the turntable, construct a simulation analysis model of the turntable; Determine at least one variable parameter of the turntable, and under target working conditions, perform parameter characteristic analysis on the turntable based on the simulation analysis model and preset parameter characteristic indicators to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter; Based on a preset servo feedforward control strategy, a feedforward control simulation analysis model of the turntable is established, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index.

2. The method according to claim 1, characterized in that The simulation analysis model of the turntable is constructed based on the preset kinematic equation and dynamic equation of the turntable, including: Determine the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix of the turntable, so as to determine the equivalent moment of inertia of the azimuth axis and the pitch axis of the turntable through the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix; Based on the equivalent moment of inertia, the preset pitch axis motor output torque and the azimuth axis motor output torque, obtaining the pitch axis dynamic equation and the azimuth axis dynamic equation; Establishing the frame-coupled dynamic equation of the turntable according to the pitch-axis dynamic equation and the azimuth-axis dynamic equation, and determining the state space equation of the turntable through the frame-coupled dynamic equation; Based on the state space equation and the preset simulink functional modules, a simulation analysis model of the turntable is constructed.

3. The method according to claim 2, characterized in that The determining of at least one variable parameter of the turntable and, under target working conditions, performing parameter characteristic analysis on the turntable based on the simulation analysis model and preset parameter characteristic indicators to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter includes: Set multiple groups of different values ​​for each variable parameter respectively; Based on the simulation analysis model and the multiple groups of different values, obtaining a tracking error curve and a tracking error extreme value before and after each variable parameter is changed under the target operating condition; The parameter characteristic index of the turntable is calculated according to the tracking error curve and the tracking error extreme value, and the influence degree of each variable parameter on the tracking error of the turntable is analyzed through the parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter.

4. The method according to claim 3, characterized in that The feedforward control simulation analysis model of the turntable is established based on the preset servo feedforward control strategy, and the tracking error control operation of the turntable is performed according to the feedforward control simulation analysis model and the turntable tracking error influence index, including: Based on the servo feedforward control strategy and the simulation analysis model, a servo feedforward controller is constructed, and the feedforward control simulation analysis model is established according to the servo feedforward controller; Determining mechanical structure parameters and motion parameters of the turntable according to the target working conditions; Determining the target variable parameter based on the mechanical structure parameter, the motion parameter and the parameter characteristic index; The target variable parameters are optimized according to the preset parameter optimization strategy of the turntable to obtain the target optimized variable parameters, and the tracking error control operation of the turntable is completed through the target optimized variable parameters and the feedforward control simulation analysis model.

5. A turntable tracking error characteristic analysis and control device, characterized in that: include: A modeling module, used for constructing a simulation analysis model of the turntable based on preset kinematic equations and dynamic equations of the turntable; a parameter characteristic analysis module, used to determine at least one variable parameter of the turntable, and perform parameter characteristic analysis on the turntable under target working conditions based on the simulation analysis model and preset parameter characteristic indicators to obtain a turntable tracking error influence indicator corresponding to each variable parameter in the at least one variable parameter; The tracking control module is used to establish a feedforward control simulation analysis model of the turntable based on a preset servo feedforward control strategy, and perform the tracking error control operation of the turntable according to the feedforward control simulation analysis model and the turntable tracking error influence index.

6. The device according to claim 5, characterized in that The modeling module includes: a first determining unit, configured to determine a pitch-azimuth coordinate transfer matrix and an azimuth ground coordinate transfer matrix of the turntable, so as to determine an equivalent moment of inertia of the azimuth axis and the pitch axis of the turntable through the pitch-azimuth coordinate transfer matrix and the azimuth ground coordinate transfer matrix; A first acquisition unit is used to acquire a pitch axis dynamic equation and an azimuth axis dynamic equation based on the equivalent rotational inertia, a preset pitch axis motor output torque, and an azimuth axis motor output torque; An establishing unit, used for establishing a frame-coupled dynamic equation of the turntable according to the pitch axis dynamic equation and the azimuth axis dynamic equation, and determining a state space equation of the turntable through the frame-coupled dynamic equation; The first construction unit is used to construct a simulation analysis model of the turntable based on the state space equation and the preset simulink function module.

7. The device according to claim 6, characterized in that The parameter characteristic analysis module comprises: A setting unit, used to set a plurality of different numerical values ​​for each variable parameter respectively; A second acquisition unit is used to acquire a tracking error curve and a tracking error extreme value before and after each variable parameter is changed under the target operating condition based on the simulation analysis model and the multiple groups of different numerical values; A calculation unit is used to calculate the parameter characteristic index of the turntable according to the tracking error curve and the tracking error extreme value, and analyze the influence of each variable parameter on the tracking error of the turntable through the parameter characteristic index to obtain the turntable tracking error influence index corresponding to each variable parameter.

8. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the turntable tracking error characteristic analysis and control method as described in any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the turntable tracking error characteristic analysis and control method as described in any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that The computer program is executed to implement the turntable tracking error characteristic analysis and control method as described in any one of claims 1-4.

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