Weak energy tracking control verification system and method

Abstract

The invention relates to a weak energy tracking control verification system and method, and belongs to the technical field of tracking control. According to the invention, an automatic processing mechanism is adopted, single-shaft electric turntable control and information fusion are respectively carried out, the data processing efficiency is improved, manual operation is reduced, and the modules are mutually coordinated. According to the invention, an automatic and integrated design means is applied, data fusion and analysis are integrated on one computer, data can be automatically counted, and a comparison test can be automatically completed. Compared with a manual operation rotary table, the system saves manpower, material resources and financial resources, greatly improves the production efficiency, and has positive significance in tracking control verification work in a laboratory environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of tracking control, and in particular relates to a weak energy tracking control verification system and method. Background Art

[0002] During flight, as the distance to the target gets closer, the detected laser energy gradually becomes stronger. Under weak energy conditions, due to the existence of system noise, the measured misalignment angle is inaccurate when the signal-to-noise ratio is low. In the existing tracking control strategy, a linear control method is usually adopted. Under the condition of inaccurate measured misalignment angle, the tracking control process will be slow. In severe cases, the optical axis convergence speed will be slow and the convergence time will be long, resulting in a significant reduction in the terminal guidance time. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The technical problem to be solved by the present invention is to realize rapid tracking control under weak energy conditions and to provide a weak energy tracking control verification system and method for a test device under laboratory conditions.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a weak energy tracking control verification system, which includes a test device, a test cable, a computer operating platform, a single-axis electric turntable, a single-axis electric turntable control and data cable and a laser target simulator;

[0007] The test device is a product under test, which is sensitive to laser energy and can stably track laser signals, and is used to receive laser light waves reflected by the target, and provide the guidance system with target location information and line of sight angular velocity, wherein the target location information includes the heading frame angle and the pitch frame angle;

[0008] The test cable is used to connect the test device and the computer operating platform, so that the computer operating platform transmits control instructions to the test device, and the test device transmits test data to the computer operating platform;

[0009] The computer operation platform is used to send control instructions to the test device, receive test data from the test device, send control instructions to the single-axis electric turntable, and receive test data from the single-axis electric turntable, and use the collected test data to perform analysis and calculation to obtain test data such as initial capture time of the corresponding test device, stable tracking time of the test device, and overshoot;

[0010] The single-axis electric turntable is used to carry the test device, and realizes the turntable angle rotation according to the control instructions of the computer operating platform, and feeds back the angle information measured by the single-axis electric turntable to the computer operating platform;

[0011] The single-axis electric turntable control and data cable is used to connect the single-axis electric turntable and the computer operating platform, so that the computer operating platform sends control instructions to the single-axis electric turntable, and the single-axis electric turntable transmits measurement data to the computer operating platform;

[0012] The laser target simulator is used to provide laser energy to the test device, so that the test device can track the laser target.

[0013] The present invention also provides a method for implementing weak energy tracking control verification using the system, comprising the following steps:

[0014] Step 1: Preparation

[0015] Prepare the test device, test cables, computer operation platform, single-axis electric turntable, single-axis electric turntable control and data cables and laser target simulator under indoor conditions, and the computer operation platform is equipped with system control software;

[0016] Step 2: Zero position calibration.

[0017] a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source;

[0018] b) Open the system control software in the computer operating platform;

[0019] c) Perform self-check on the test device through the system control software;

[0020] d) After the self-test passes, the system control software sends a power-on command to the test device and tracks the target;

[0021] e) Check the heading frame angle value through the system control software. If it is not 0 degrees, slightly adjust the relative position of the single-axis electric turntable and the laser target simulator to make the heading frame angle

[0022] The degree value is close to 0 degrees, and then the single-axis electric turntable is reset to zero;

[0023] Step 3: Verification of weak energy tracking control in heading direction

[0024] a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source. Set the laser output energy of the laser target simulator to 1 mW;

[0025] b) Open the system control software in the computer operating platform;

[0026] c) Perform self-check on the test device through the system control software;

[0027] d) After the self-test passes, the system control software sends a power-on command to the test device and tracks the target;

[0028] e) Use the system control software in the computer operating platform to start adjusting the angle of the single-axis electric turntable c hx , check the heading frame angle d in the system control software hx If the heading frame angle displays a "+" value, the single-axis electric turntable adjustment direction is positive, and negative

[0029] It is negative; c hx is the heading frame angle d hx f) Calculate the initial capture time Tc of the headings of 0°, +3°, +5° and 0°, -3°, -5° respectively. hx , Stable tracking time Tw hx , Overshoot and record it in the form;

[0030] g) Shut down the system control software;

[0031] h) Adjust the angle of the single-axis electric turntable back to zero;

[0032] Step 4: Verification of weak energy tracking control in pitch direction

[0033] a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source. Set the laser output energy of the laser target simulator to 1 mW;

[0034] b) Open the system control software in the computer operating platform;

[0035] c) Rotate the test device 90° for fixed installation;

[0036] d) The test device shall be self-checked through the system control software and the self-check shall pass;

[0037] e) Send power-on instructions to the test device through the system control software and track the target;

[0038] f) Use the system control software in the computer operating platform to start adjusting the angle of the single-axis electric turntable c fy , check the pitch frame angle d in the system control software fy If the pitch frame angle displays a "+" value, the single-axis electric turntable adjustment direction is positive, otherwise it is negative. fy is the pitch frame angle d fy Corresponding single-axis electric turntable 4 angles;

[0039] g) Calculate the pitch positive direction 0°, +3°, +5° and the pitch negative direction 0°, -3°,

[0040] Initial capture time Tc at -5°fy , Stable tracking time Tw fy , Overshoot and record it in the form;

[0041] h) Shut down the system control software;

[0042] i) Adjust the single-axis electric turntable angle back to zero.

[0043] (III) Beneficial effects

[0044] The advantages of the present invention are:

[0045] 1) The present invention provides a weak energy tracking control verification system, which adopts an automated processing mechanism to perform single-axis electric turntable control and information fusion respectively, thereby improving data processing efficiency, reducing manual operations, and coordinating between modules.

[0046] 2) The present invention provides a weak energy tracking control verification system, which uses automated and integrated design methods to integrate data fusion and analysis on a single computer, and can automatically collect data and automatically complete comparative tests. Compared with manually operated turntables, this system saves manpower, material resources, and financial resources, greatly improves production efficiency, and has positive significance for tracking control verification work in laboratory environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A structural schematic diagram of a weak energy tracking control verification system provided by the present invention;

[0048] In the figure: 1-test device, 2-test cable, 3-computer operating platform, 4-single-axis electric turntable, 5-single-axis electric turntable control and data cable and 6-laser target simulator. DETAILED DESCRIPTION

[0049] In order to make the purpose, content and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples.

[0050] The present invention utilizes the single characteristic of the misalignment angle measurement sign, considers adding bang-bang control before the linear control method, and designs a weak energy tracking control verification system. No matter where the target is located in the field of view, the sign of the misalignment angle measurement is unique and has the characteristic of singleness. By utilizing this characteristic, a bang-bang control algorithm is adopted to realize the rapid pullback of the optical axis. When the misalignment angle measurement sign changes, the tracking control strategy is switched to linear control to achieve stable tracking of the target. In view of the above algorithm improvement, it is considered to use a laser target simulator and a single-axis electric turntable to realize the comparative verification of the tracking control strategy. The turntable is used to rotate the test device to the positions of 0°, ±3°, ±5°, etc. in the field of view. By comparing the initial capture time, stable tracking time, overshoot and other indicators, the stable tracking time under various conditions is obtained, and the result is used to compare with the linear control algorithm to verify the advancement and rationality of the bang-bang control + linear control algorithm.

[0051] The structure of the system is shown as follows Figure 1 As shown, the weak energy tracking control verification system includes a test device, a test cable, a computer operating platform, a single-axis electric turntable, a single-axis electric turntable control and data cable, and a laser target simulator.

[0052] The test device is a product under test, which is sensitive to laser energy and can stably track laser signals, and is used to receive laser light waves reflected by the target, and provide the guidance system with relevant information such as the target position (including heading frame angle, pitch frame angle), line of sight angular velocity, etc.;

[0053] The test cable is used to connect the test device and the computer operating platform, so that the computer operating platform transmits control instructions to the test device, and the test device transmits test data to the computer operating platform;

[0054] The computer operation platform is used to send control instructions to the test device, receive test data from the test device, send control instructions to the single-axis electric turntable, and receive test data from the single-axis electric turntable, and use the collected test data to perform analysis and calculation to obtain test data such as the initial capture time of the corresponding test device, the stable tracking time of the test device, and the overshoot;

[0055] The single-axis electric turntable is used to carry the test device, and realizes the turntable angle rotation according to the control instructions of the computer operating platform, and feeds back the angle information measured by the single-axis electric turntable to the computer operating platform for calculation;

[0056] The single-axis electric turntable control and data cable is used to connect the single-axis electric turntable and the computer operating platform, so that the computer operating platform sends control instructions to the single-axis electric turntable, and the single-axis electric turntable transmits measurement data to the computer operating platform.

[0057] The laser target simulator is used to provide laser energy to the test device, so that the test device can track the laser target.

[0058] The present invention also proposes a weak energy tracking control verification method, which specifically includes the following steps:

[0059] Step 1: Use the computer operating platform to put the test device and the single-axis electric turntable into power-on and working mode, and put the laser target simulator into power-on and start-up state;

[0060] Step 2: The computer operating platform sends a tracking instruction to the test device, so that the test device is in a tracking state;

[0061] Step 3: The computer operating platform sends a start test command to the single-axis electric turntable, so that the single-axis electric turntable starts to enter the automatic test state;

[0062] Step 4: After the test is completed, statistics and comparison are performed on indicators such as the initial capture time of the test device, the stable tracking time of the test device, and the overshoot.

[0063] The following description will be given with reference to the accompanying drawings.

[0064] Please refer to Figure 1 , Figure 1 It is a structural schematic diagram of a weak energy tracking control verification system of the present invention. The weak energy tracking control verification system comprises a test device 1, a test cable 2, a computer operating platform 3, a single-axis electric turntable 4, a single-axis electric turntable control and data cable 5 and a laser target simulator 6. The test device 1, the test cable 2, the computer operating platform 3, the single-axis electric turntable 4 and the single-axis electric turntable control and data cable 5 are connected in sequence to form a complete data transmission chain.

[0065] The testing device 1 is used to receive laser light waves reflected by a target and provide the guidance system with information such as the target's location, line of sight angular velocity, etc.

[0066] The test cable 2 is used to connect the test device 1 and the computer operating platform 3, transmit the control instructions of the computer operating platform 3, and return the test data of the test device 1.

[0067] The computer operating platform 3 is used to receive the test data of the test device 1 transmitted by the test cable 2, and is used for analysis and mathematical calculation to obtain the test data such as the initial capture time of the corresponding test device, the stable tracking time of the test device, and the overshoot.

[0068] The single-axis electric turntable 4 is used to carry the test device 1, and can rotate to a specified position for testing according to the control instructions of the computer operating platform 3, and transmit the position information of the single-axis electric turntable 4 to the computer operating platform 3 for comprehensive analysis and data calculation through the single-axis electric turntable control and data cable 5.

[0069] The single-axis electric turntable control and data cable 5 is used to connect the single-axis electric turntable 4 and the computer operating platform 3, transmit the control instructions of the computer operating platform 3 to the single-axis electric turntable 4, and transmit the position information of the single-axis electric turntable 4 to the computer operating platform 3, so as to facilitate the computer operating platform 3 to perform comprehensive calculations and data calculations on the position information.

[0070] The laser target simulator 6 is used to receive the control instruction output by the laser energy digital control module to adjust the amplitude of the laser energy and output a parallel laser beam to the outside.

[0071] The weak energy tracking control verification method is specifically introduced below.

[0072] Step 1: Preparation.

[0073] Prepare the test device 1, test cable 2, computer operation platform 3, single-axis electric turntable 4, single-axis electric turntable control and data cable 5 and laser target simulator 6 under indoor conditions. A computer operation platform 3 is installed with system control software 1.

[0074] Step 2: Zero position calibration.

[0075] a) Turn on the laser target simulator 6, set the laser frequency to 20 Hz, and preheat it for 10 minutes to stabilize the light source;

[0076] b) Figure 1 In this state, open the system control software 1 in the computer operating platform 3;

[0077] c) Perform self-test on the test device 1 through the system control software 1, and the self-test should pass;

[0078] d) Send a power-on command to the test device 1 through the system control software 1 and track the target; e) Check the heading frame angle value through the system control software 1. If it is not 0 degrees,

[0079] Adjust the relative position of the single-axis electric turntable 4 and the laser target simulator 6 so that the heading

[0080] The frame angle value is close to 0 degrees, and then the single-axis electric turntable 4 is reset;

[0081] Step 3: Verification of weak energy tracking control in heading direction.

[0082] a) Turn on the laser target simulator 6, set the laser frequency to 20 Hz, and preheat it for 10 minutes to stabilize the light source. Set the laser output energy of the laser target simulator 6 to 1 mW;

[0083] b) Figure 1 In this state, open the system control software 1 in the computer operating platform 3;

[0084] c) Perform self-test on the test device 1 through the system control software 1, and the self-test should pass;

[0085] d) Send a power-on command to the test device 1 through the system control software 1 and track the target; e) Use the system control software 1 in the computer operating platform 3 to start adjusting the angle of the single-axis electric turntable 4 (defined as c hx ), check the heading frame angle (defined as d hx ), if the heading frame angle displays a "+" value, the adjustment direction of the single-axis electric turntable 4 is positive, otherwise it is negative; c hx is the heading frame angle d hx For example, adjust the single-axis electric turntable 4 angles c hx To the positive heading: 0°, +3°, +5°; negative heading: 0°, -3°, -5°, and obtain the respective "heading frame angle" values ​​(d hx ), the heading frame angle positive or negative calibration is shown in Table 1;

[0086] Table 1 Heading frame angle positive or negative weak energy tracking control verification table

[0087]

[0088]

[0089] f) Calculate the initial capture time Tc for the positive headings of 0°, +3°, +5° and the negative headings of 0°, -3°, -5° respectively hx , Stable tracking time Tw hx , Overshoot And record it in the table.

[0090] g) Close the system control software 1;

[0091] h) Adjust the single-axis electric turntable 4 angles back to zero.

[0092] Step 4: Verification of weak energy tracking control in pitch direction.

[0093] a) Turn on the laser target simulator 6, set the laser frequency to 20 Hz, and preheat it for 10 minutes to stabilize the light source. Set the laser output energy of the laser target simulator 6 to 1 mW;

[0094] b) Figure 1 In this state, open the system control software 1 in the computer operating platform 3;

[0095] c) Rotate the test device 1 90° for fixed installation;

[0096] d) Perform self-test on the test device 1 through the system control software 1, and the self-test should pass;

[0097] e) Send a power-on command to the test device 1 through the system control software 1 and track the target; f) Use the system control software 1 in the computer operating platform 3 to start adjusting the single-axis electric drive

[0098] The angle of the stage 4 (defined as c fy ), check the pitch frame angle (defined as d fy ), if the pitch frame angle displays a "+" value, the adjustment direction of the single-axis electric turntable 4 is positive, otherwise it is negative. fy is the pitch frame angle d fy For example, adjust the single-axis electric turntable 4 angles c fy To positive pitch direction: 0°, +3°, +5°; to negative pitch direction: 0°, -3°,

[0099] -5°, and obtain the respective "pitch frame angle" value (d fy ), the positive or negative calibration of the pitch frame angle is shown in Table 2;

[0100] Table 2 Pitch frame angle positive or negative weak energy tracking control verification table

[0101]

[0102] g) Calculate the pitch positive direction 0°, +3°, +5° and the pitch negative direction 0°, -3°,

[0103] Initial capture time Tc at -5° fy , Stable tracking time Tw fy , Overshoot And record it in the table.

[0104] h) Close the system control software 1;

[0105] i) Adjust the single-axis electric turntable 4 angles back to zero.

[0106] Step five: Organize.

[0107] a) Remove the test cable 2 and the single-axis electric turntable control and data cable 5, visually check whether the appearance of the test device 1 is intact, whether there are any redundant objects, and whether the zero-position positioning pins are complete, and safely place the test device 1 in an anti-static turnover box;

[0108] b) Visually check whether the computer operating platform 3, the single-axis electric turntable 4 and the laser target simulator 6 are turned off and whether the power is cut off;

[0109] c) Organize site and related records.

[0110] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A weak energy tracking control verification system, characterized in that: The system includes a test device, a test cable, a computer operating platform, a single-axis electric turntable, a single-axis electric turntable control and data cable and a laser target simulator; The test device is a product under test, which is sensitive to laser energy and can stably track laser signals, and is used to receive laser light waves reflected by the target, and provide the guidance system with target location information and line of sight angular velocity, wherein the target location information includes the heading frame angle and the pitch frame angle; The test cable is used to connect the test device and the computer operating platform, so that the computer operating platform transmits control instructions to the test device, and the test device transmits test data to the computer operating platform; The computer operation platform is used to send control instructions to the test device, receive test data from the test device, send control instructions to the single-axis electric turntable, and receive test data from the single-axis electric turntable, and use the collected test data to perform analysis and calculation to obtain test data such as initial capture time of the corresponding test device, stable tracking time of the test device, and overshoot; The single-axis electric turntable is used to carry the test device, and realizes the turntable angle rotation according to the control instructions of the computer operating platform, and feeds back the angle information measured by the single-axis electric turntable to the computer operating platform; The single-axis electric turntable control and data cable is used to connect the single-axis electric turntable and the computer operating platform, so that the computer operating platform sends control instructions to the single-axis electric turntable, and the single-axis electric turntable transmits measurement data to the computer operating platform; The laser target simulator is used to provide laser energy to the test device, so that the test device can track the laser target.

2. The system according to claim 1, characterized in that The system is applied in the field of tracking control technology.

3. A method for implementing weak energy tracking control verification using the system of claim 1 or 2, characterized in that: The following steps are involved: Step 1: Preparation Prepare the test device, test cables, computer operation platform, single-axis electric turntable, single-axis electric turntable control and data cables and laser target simulator under indoor conditions, and the computer operation platform is equipped with system control software; Step 2: Zero position calibration. a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source; b) Open the system control software in the computer operating platform; c) Perform self-check on the test device through the system control software; d) After the self-test passes, the system control software sends a power-on command to the test device and tracks the target; e) Check the heading frame angle value through the system control software. If it is not 0 degrees, slightly adjust the relative position of the single-axis electric turntable and the laser target simulator to make the heading frame angle value close to 0 degrees, and then reset the single-axis electric turntable; Step 3: Verification of weak energy tracking control in heading direction a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source. Set the laser output energy of the laser target simulator to 1 mW; b) Open the system control software in the computer operating platform; c) Perform self-check on the test device through the system control software; d) After the self-test passes, the system control software sends a power-on command to the test device and tracks the target; e) Use the system control software in the computer operating platform to start adjusting the angle of the single-axis electric turntable c hx , check the heading frame angle d in the system control software hx If the heading frame angle displays a "+" value, the single-axis electric turntable adjustment direction is positive, otherwise it is negative; c hx is the heading frame angle d hx Corresponding single-axis electric turntable angle; f) Calculate the initial capture time Tc for the positive headings of 0°, +3°, +5° and the negative headings of 0°, -3°, -5° respectively hx , Stable tracking time Tw hx , Overshoot and record it in the form; g) Shut down the system control software; h) Adjust the angle of the single-axis electric turntable back to zero; Step 4: Verification of weak energy tracking control in pitch direction a) Turn on the laser target simulator, set the laser frequency to 20 Hz, and start preheating to stabilize the light source. Set the laser output energy of the laser target simulator to 1 mW; b) Open the system control software in the computer operating platform; c) Rotate the test device 90° for fixed installation; d) The test device shall be self-checked through the system control software and the self-check shall pass; e) Send power-on instructions to the test device through the system control software and track the target; f) Use the system control software in the computer operating platform to start adjusting the angle of the single-axis electric turntable c fy , check the pitch frame angle d in the system control software fy If the pitch frame angle displays a "+" value, the single-axis electric turntable adjustment direction is positive, otherwise it is negative. fy is the pitch frame angle d fy Corresponding single-axis electric turntable 4 angles; g) Calculate the initial capture time Tc of the positive pitch direction 0°, +3°, +5° and the negative pitch direction 0°, -3°, -5° respectively fy , Stable tracking time Tw fy , Overshoot and record it in the form; h) Shut down the system control software; i) Adjust the single-axis electric turntable angle back to zero.

4. The method according to claim 3, characterized in that It also includes step five, sorting: a) Remove the test cables and the single-axis electric turntable control and data cables, visually check whether the appearance of the test device is intact, whether there are any redundant objects, and whether the zero-position positioning pins are complete, and place the test device safely in an anti-static turnover box; b) Visually check whether the computer operating platform, single-axis electric turntable and laser target simulator are turned off and whether they have been powered off; c) Organize site and related records.

5. The method according to claim 3, characterized in that The laser target simulator warm-up time is 10 minutes.

6. The method according to claim 3, characterized in that In step 3, adjust the angle c of the single-axis electric turntable respectively. hx To the positive heading: 0°, +3°, +5°; negative heading: 0°, -3°, -5°, and obtain the respective "heading frame angle" value d hx .

7. The method according to claim 3, characterized in that In step 4, adjust the angle c of the single-axis electric turntable respectively. fy To the positive pitch direction: 0°, +3°, +5°; to the negative pitch direction: 0°, -3°, -5°, and obtain the respective "pitch frame angle" value d fy .

8. The method according to any one of claims 3 to 7, characterized in that The method is applied in the field of tracking control technology.

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