Method and system for suppressing vibration disturbance of photoelectric pod infrared assembly refrigerating machine

Abstract

The embodiment of the invention provides a method for suppressing vibration disturbance of a photoelectric pod infrared assembly refrigerating machine, and relates to the technical field of automatic control, and the method comprises the steps: S1, estimating the current vibration frequency of the refrigerating machine; s2, selecting a band-pass filter according to the current vibration frequency of the refrigerator; s3, calculating a disturbance torque estimation value of the refrigerator on the platform according to the gyro angular velocity component after band-pass filtering; and S4, calculating a feedforward control quantity according to the obtained disturbance torque estimated value, and superposing the calculated feedforward control quantity on a feedback control quantity of the photoelectric pod stabilized platform. According to the method, the disturbance torque of the refrigerator to the platform can be estimated, and the influence of the vibration disturbance torque of the infrared refrigerator assembly is counteracted before the disturbance torque does not influence the stability of the platform. The method does not need to increase the cost and complexity of the system, and can be directly integrated into a stability control algorithm of the photoelectric pod, thereby greatly reducing the influence on a stable platform when the infrared refrigerator works, and obviously improving the stability precision of the photoelectric pod.

Description

Technical Field

[0001] The invention relates to the field of automatic control technology, and in particular to a method and system for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod. Background Art

[0002] Infrared thermal imager is one of the important sensors in the optoelectronic pod and is the key component to achieve the day and night target detection of the optoelectronic pod. At present, in order to improve the detection distance of the optoelectronic pod, the medium and large optoelectronic pods mostly use refrigerated infrared thermal imager. The refrigerated infrared thermal imager will produce strong vibration when the refrigerator is working, which will act on the optoelectronic stabilization platform in the pod, thereby interfering with the optoelectronic stabilization platform, causing the aiming line of the optoelectronic pod to shake, affecting the stability accuracy of the optoelectronic pod. The vibration of the refrigerator has become an important reason affecting the improvement of the stability accuracy of the optoelectronic pod.

[0003] At present, in order to reduce the impact of the infrared refrigerator on the aiming line of the optoelectronic pod, the stabilizing platform is often strengthened structurally to reduce the amount of shaking of the aiming line of the stabilizing platform when the infrared refrigerator is working. This method has a certain effect, but the effect is limited. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a method for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod, so as to solve the problem in the prior art that strong vibration generated when the refrigerator is working interferes with detection.

[0005] In order to achieve the above object, the present invention provides a method for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod, comprising:

[0006] S1: Estimate the current vibration frequency of the refrigerator;

[0007] S2: selecting a bandpass filter according to the current vibration frequency of the refrigerator to perform bandpass filtering on the gyro signal of the optoelectronic pod;

[0008] S3: Calculate the estimated value of the interference torque of the refrigerator on the platform according to the gyro angular velocity component after bandpass filtering;

[0009] S4: Calculate a feedforward control quantity according to the obtained estimated value of the disturbance torque, and superimpose the calculated feedforward control quantity on the feedback control quantity of the optoelectronic pod stabilization platform.

[0010] The method for suppressing vibration disturbance of the refrigerator of the photoelectric pod infrared component provided by the present invention also has the following characteristics: S1 comprises:

[0011] If the refrigerator speed is known, the current vibration frequency is calculated based on the refrigerator speed;

[0012] If the speed of the refrigerator is unknown, the single-axis gyroscope data of the optoelectronic pod stabilization platform is collected when the refrigerator is working, and the single-axis gyroscope data is calculated by FFT calculation to obtain the gyroscope spectrum data. The frequency corresponding to the main value of the amplitude of the gyroscope spectrum within the operating frequency range of the refrigerator is the current vibration frequency of the refrigerator.

[0013] The method for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod provided by the present invention also has the following characteristics: the bandpass filter includes multiple bandpass filters covering the operating frequency band of the refrigerator, and the passband width of the bandpass filter is 3-6 Hz.

[0014] The method for suppressing vibration disturbance of the refrigerator of the infrared component of the optoelectronic pod provided by the present invention also has the following characteristics: S3 includes: the estimated value τ of the interference torque of the refrigerator on the platform d for:

[0015]

[0016] Where J is the moment of inertia, ω d is the gyro angular velocity component after bandpass filtering.

[0017] The method for suppressing vibration disturbance of the refrigerator of the photoelectric pod infrared component provided by the present invention also has the following characteristics: the S4 includes the feedforward control quantity u d for:

[0018] u d =K d τ d

[0019] Among them, τ d is the estimated value of the interference torque of the refrigerator on the platform, K d It is the proportional coefficient between the control quantity of the motor output by the stable control method and the output torque of the motor.

[0020] The second object of the present invention is to provide a system for suppressing vibration disturbances of a refrigerator of an infrared component of an optoelectronic pod, wherein the system is used to implement the suppression method as described in any of the above items.

[0021] The system for suppressing vibration disturbance of refrigerator of infrared assembly of optoelectronic pod provided by the present invention also has the feature that the system is arranged between the refrigerator controller and the gyroscope of optoelectronic pod.

[0022] The system for suppressing vibration disturbance of refrigerator of infrared assembly of optoelectronic pod provided by the present invention also has the following characteristics: the system comprises:

[0023] A vibration frequency estimation module, used to estimate the current vibration frequency of the refrigerator;

[0024] A bandpass filtering module, including a plurality of bandpass filters, for bandpass filtering the gyro signal of the optoelectronic pod;

[0025] The interference torque estimation module is used to calculate the estimated value of the interference torque of the refrigerator on the platform;

[0026] The compensation module is used to compensate the feedback control quantity of the optoelectronic pod stabilization platform.

[0027] Compared with the prior art, the beneficial effects that can be achieved by at least one of the above technical solutions adopted in the embodiments of this specification include at least the following: the technical solution provided by the present invention can estimate the disturbance torque of the refrigerator on the platform, and offset the influence of the vibration disturbance torque of the infrared refrigerator component before the disturbance torque affects the stability of the platform. It does not need to increase the cost and complexity of the system, and can be directly integrated into the stability control algorithm of the optoelectronic pod, and can be used together with the measures for strengthening the stable platform in the commonly used structure, thereby greatly reducing the influence of the infrared refrigerator on the stable platform when it is working, and significantly improving the stability accuracy of the optoelectronic pod. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a flow chart of a suppression method provided by an embodiment of the present invention;

[0030] Figure 2 It is a block diagram of the working principle of the suppression system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0032] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0033] At present, Stirling refrigerators are mostly used for cooling in infrared components. The operating frequency of the refrigerator will change with the working state of the infrared, and the approximate frequency is 20Hz-80Hz. The frequency of the infrared refrigerator changes relatively slowly, and the amplitude changes greatly at different stages. When the refrigerator is cooling, it will simultaneously disturb the azimuth axis and the pitch axis of the optoelectronic pod, and the impact on one axis will be greater than the other, which is related to the installation direction of the refrigerator.

[0034] In the embodiment of the present invention, Figure 1-2 As shown, a method for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod is provided, comprising:

[0035] S1: Estimate the current vibration frequency of the refrigerator;

[0036] S2: selecting a bandpass filter according to the current vibration frequency of the refrigerator to perform bandpass filtering on the gyro signal of the optoelectronic pod;

[0037] S3: Calculate the estimated value of the interference torque of the refrigerator on the platform according to the gyro angular velocity component after bandpass filtering;

[0038] S4: Calculate a feedforward control quantity according to the obtained estimated value of the disturbance torque, and superimpose the calculated feedforward control quantity on the feedback control quantity of the optoelectronic pod stabilization platform.

[0039] In some embodiments, the S1 includes:

[0040] If the refrigerator speed is known, the current vibration frequency is calculated based on the refrigerator speed;

[0041] If the speed of the refrigerator is unknown, the single-axis gyroscope data of the optoelectronic pod stabilization platform is collected when the refrigerator is working, and the single-axis gyroscope data is calculated by FFT calculation to obtain the gyroscope spectrum data. The frequency corresponding to the main value of the amplitude of the gyroscope spectrum within the operating frequency range of the refrigerator is the current vibration frequency of the refrigerator.

[0042] In some embodiments, the bandpass filter includes multiple bandpass filters covering the operating frequency band of the refrigerator, and the passband width of the bandpass filter is 3-6 Hz. According to the current operating frequency of the refrigerator, a suitable bandpass is selected to perform bandpass filtering on the gyro signal of the optoelectronic pod. Since the components of other interference torques in the narrower frequency band where the operating frequency of the refrigerator is located are very small, the filtered gyro signal reflects the magnitude of the influence of the interference torque of the refrigerator on the platform on the stable platform.

[0043] In some embodiments, S3 includes: the estimated value τ of the interference torque of the refrigerator on the platform d for:

[0044]

[0045] Where J is the moment of inertia, ω d is the gyro angular velocity component after bandpass filtering.

[0046] In some embodiments, it is characterized in that the S4 includes the feedforward control amount u d for:

[0047] u d =K d τ d

[0048] Among them, τ d is the estimated value of the interference torque of the refrigerator on the platform, K d It is the proportional coefficient between the control quantity of the motor output by the stable control method and the output torque of the motor.

[0049] In the above embodiment, since the vibration frequency of the refrigerator is relatively fixed and changes slowly, the disturbance of the refrigerator to the platform can be separated from other disturbances by processing the gyro data through a bandpass filter, and the disturbance torque of the refrigerator to the platform can be estimated through the gyro data, and the feedforward control quantity u is superimposed on the feedback control quantity. d , offset the interference torque and improve the system stability accuracy.

[0050] Based on the same inventive concept, an embodiment of the present invention also provides a system for suppressing vibration disturbances of a refrigerator of an optoelectronic pod infrared component, as described in the following embodiments. Since the principle of solving the problem by a system for suppressing vibration disturbances of a refrigerator of an optoelectronic pod infrared component is similar to the method for suppressing vibration disturbances of a refrigerator of an optoelectronic pod infrared component, the implementation of a system for suppressing vibration disturbances of a refrigerator of an optoelectronic pod infrared component can refer to the implementation of the method for suppressing vibration disturbances of a refrigerator of an optoelectronic pod infrared component, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0051] A system for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod comprises: a vibration frequency estimation module, a bandpass filtering module, an interference torque estimation module and a compensation module.

[0052] A vibration frequency estimation module, used to estimate the current vibration frequency of the refrigerator;

[0053] A bandpass filtering module, including a plurality of bandpass filters, for bandpass filtering the gyro signal of the optoelectronic pod;

[0054] The interference torque estimation module is used to calculate the estimated value of the interference torque of the refrigerator on the platform;

[0055] The compensation module is used to compensate the feedback control quantity of the optoelectronic pod stabilization platform.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for suppressing vibration disturbance of a refrigerator of an infrared component of an optoelectronic pod, characterized in that: include: S1: Estimate the current vibration frequency of the refrigerator; S2: selecting a bandpass filter according to the current vibration frequency of the refrigerator to perform bandpass filtering on the gyro signal of the optoelectronic pod; S3: Calculate the estimated value of the interference torque of the refrigerator on the platform according to the gyro angular velocity component after bandpass filtering; S4: Calculate a feedforward control quantity according to the obtained estimated value of the disturbance torque, and superimpose the calculated feedforward control quantity on the feedback control quantity of the optoelectronic pod stabilization platform.

2. The method for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly according to claim 1 is characterized in that: The S1 includes: If the refrigerator speed is known, the current vibration frequency is calculated based on the refrigerator speed; If the speed of the refrigerator is unknown, the single-axis gyroscope data of the optoelectronic pod stabilization platform is collected when the refrigerator is working, and the single-axis gyroscope data is calculated by FFT calculation to obtain the gyroscope spectrum data. The frequency corresponding to the main value of the amplitude of the gyroscope spectrum within the operating frequency range of the refrigerator is the current vibration frequency of the refrigerator.

3. The method for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly according to claim 1 is characterized in that: The bandpass filter includes a plurality of bandpass filters covering the operating frequency band of the refrigerator, and the passband width of the bandpass filter is 3-6 Hz.

4. The method for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly according to claim 1 is characterized in that: S3 includes: the estimated value τ of the interference torque of the refrigerator on the platform d for: Where J is the moment of inertia, ω d is the gyro angular velocity component after bandpass filtering.

5. The method for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly according to claim 1 is characterized in that: The S4 includes the feedforward control quantity u d for: you d =K d t d Among them, τ d is the estimated value of the interference torque of the refrigerator on the platform, K d It is the proportional coefficient between the control quantity of the motor output by the stable control method and the output torque of the motor.

6. A system for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly, characterized in that: The system is used to implement the suppression method according to any one of claims 1 to 5.

7. The system for suppressing vibration disturbance of refrigerator of photoelectric pod infrared assembly according to claim 6 is characterized in that: The system is arranged between the refrigerator controller and the gyroscope of the optoelectronic pod.

8. The system for suppressing refrigeration vibration disturbance of the infrared component of the optoelectronic pod according to claim 6 is characterized in that: The system comprises: A vibration frequency estimation module, used to estimate the current vibration frequency of the refrigerator; A bandpass filtering module, including a plurality of bandpass filters, for bandpass filtering the gyro signal of the optoelectronic pod; The interference torque estimation module is used to calculate the estimated value of the interference torque of the refrigerator on the platform; the compensation module is used to compensate the feedback control amount of the optoelectronic pod stabilizing platform.

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