A simulation turntable control method and device based on signal source tracking

Abstract

The present invention relates to the field of control technology of non-electric variables, and specifically to a simulation turntable control method and device based on signal source tracking, including: obtaining the angle of the first rotating shaft under each historical regulation and the angle of the second rotating shaft before each regulation; according to the angle of the first rotating shaft under each historical regulation and the angle of the second rotating shaft before each regulation, obtaining the regulation duration of the first rotating shaft at the current moment. According to the best direction angle of the first rotating shaft at the current moment and several moments before the current moment, obtain the reliability of the predicted value of the best direction angle of the first rotating shaft at each moment after the current moment. According to the reliability of the predicted value of the best direction angle of the first rotating shaft at the current moment and the best direction angle of the first rotating shaft at each moment after the current moment, the control turntable tracks the signal source. The present invention improves the response speed and flexibility by adaptively adjusting the optimal PID parameters, and finally realizes accurate tracking of the signal source.

Description

Technical Field

[0001] The present invention relates to the technical field of control of non-electrical variables, and in particular to a simulation turntable control method and device based on signal source tracking. Background Art

[0002] With the rapid development of communication technology, unmanned driving, aerospace and national defense, the demand for accurate positioning and tracking of signal sources is increasing. Signal source tracking systems play a key role in a variety of application scenarios, such as satellite communications, radar monitoring and drone navigation. These systems usually rely on simulation turntables for high-precision signal reception and data acquisition. However, when the signal source changes dynamically, the real-time adjustment and tracking capabilities of the turntable in the existing technology often face challenges, resulting in insufficient accuracy and stability of signal capture. In the existing simulation turntable control method based on signal source tracking, there are technical problems such as poor dynamic adaptability and insufficient angle adjustment accuracy. When adjusting the turntable angle, the traditional control method adopts the corresponding PID control method under fixed PID parameters. It fails to effectively adapt to the rapid changes of the signal source in the real-time environment, resulting in turntable adjustment delays and serious impact on the signal reception quality; at the same time, the optimal tracking angle may change during the turntable adjustment process, and the existing method cannot effectively predict and adjust these changes, resulting in the need for re-calibration after the turntable completes the rotation, wasting time and resources. Summary of the invention

[0003] The invention provides a simulation turntable control method and device based on signal source tracking to solve the existing problems.

[0004] The present invention provides a simulation turntable control method and device based on signal source tracking, which adopts the following technical solutions:

[0005] An embodiment of the present invention provides a simulation turntable control method based on signal source tracking, the method comprising the following steps:

[0006] Obtain several historical and current control times of the first axis, the optimal direction angle, the control time of the second axis, the optimal direction angle, and PID parameters;

[0007] The maximum value of the control time of the first rotating axis under each historical regulation and the control time of the second rotating axis under each historical regulation is recorded as the control time under each historical regulation; according to the optimal direction angle of the first rotating axis under each historical regulation, the optimal direction angle of the second rotating axis and the PID parameters in each regulation process, the control parameter vector of the first rotating axis at the current moment is obtained; according to the control time under each historical regulation, the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis under each historical regulation, an estimated value of the control time of the first rotating axis at the current moment is obtained;

[0008] According to the estimated value of the control time of the first rotating shaft at the current moment, the optimal direction angle of the first rotating shaft at the current moment and at a number of moments before the current moment, the prediction reliability of the optimal direction angle at each moment after the current moment is obtained;

[0009] According to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, the tracking of the signal source by the control turntable is realized.

[0010] Furthermore, the method of obtaining the control parameter vector of the first rotating shaft at the current moment according to the optimal direction angle of the first rotating shaft, the optimal direction angle of the second rotating shaft and the PID parameters in each control process in history includes the following specific steps:

[0011] The history The control parameter vector of the first axis under the secondary control is recorded as ,in, Contains multiple dimensions of data such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second first rotation axis; Indicates the history Secondary adjustment of the angle of the second rotating shaft; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history The PID parameters are proportional gain P, integral gain I and differential gain D.

[0012] Furthermore, the method of obtaining an estimated value of the control time of the first rotating shaft at the current moment according to the control time of each historical control, the control parameter vector of the first rotating shaft at the current moment, and the control parameter vector of the first rotating shaft at each historical control, includes the following specific steps:

[0013] The history The control parameter vector of the second axis under the secondary control is recorded as ,in, Contains multiple dimensions of data such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second rotation axis; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history The differential gain under the secondary control, the PID parameters are proportional gain P, integral gain I and differential gain D;

[0014] According to the history The control parameter vector of the first axis and the control parameter vector of the second axis under the control are obtained to obtain the control parameter vector of the first axis at the current moment. The control parameter vector of the second axis ;

[0015] According to each dimension data of the control parameter vector of the first rotating axis at the current moment and each time of historical control, the control similarity between the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis at each time of historical control is obtained;

[0016] According to the control parameter vector of the first axis at the current moment and the historical The method for obtaining the control similarity of the control parameter vector of the first axis under the first control is to obtain the control parameter vector of the second axis at the current moment and the control parameter vector of the second axis under the first control in history. The similarity of the regulation of the regulation parameter vector of the second axis under the secondary regulation;

[0017] According to the control similarity between the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis under each historical control and the control duration under each historical control, an estimated value of the control duration of the first rotating axis at the current moment is obtained.

[0018] Furthermore, the control similarity between the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis at each historical control is obtained according to each dimension data of the control parameter vector of the first rotating axis at the current moment and each historical control, including the following specific steps:

[0019] Calculate the first axis control parameter vector at the current moment Dimensional data and history The control parameter vector of the first axis under the second control is The difference of the dimension data is taken as the first difference, and the absolute value of the first difference is calculated and compared with the historical The control parameter vector of the first axis under the second control is The ratio of the standard deviation of the dimensional data is used as the The first ratio of the dimension data is 1 minus the history The first axis of all control parameter vectors under the second control The normalized value of the sum of the first ratio of the dimensional data is recorded as the control parameter vector of the first axis at the current moment and the historical The control similarity of the control parameter vector of the first axis under the second control, where: A first quantity threshold is preset.

[0020] Further, the method of obtaining an estimated value of the control time of the first rotating shaft at the current moment according to the control similarity between the control parameter vector of the first rotating shaft at the current moment and the control parameter vector of the first rotating shaft at each historical control and the control time at each historical control comprises the following specific steps:

[0021] Calculate the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis in history The similarity of the control parameter vector of the first axis under the first control is similar to that of the historical first control. The product of the control time of the first axis under the first control is used as the current time and the historical The first product of the second regulation combines the current moment with the historical The average of the first product of the times of regulation is recorded as the estimated value of the regulation time of the first axis at the current moment, where: A first quantity threshold is preset.

[0022] Furthermore, the method of obtaining the prediction reliability of the optimal direction angle at each moment after the current moment based on the estimated value of the control time of the first rotating shaft at the current moment and the optimal direction angle of the first rotating shaft at the current moment and several moments before the current moment includes the following specific steps:

[0023] According to the method for obtaining the estimated value of the control time of the first rotating shaft at the current moment, the estimated value of the control time of the second rotating shaft at the current moment is obtained;

[0024] The maximum value of the estimated value of the control time of the first axis and the estimated value of the control time of the second axis at the current moment is recorded as the final control time in the control process at the current moment. ;

[0025] The current time and the time before the current time The optimal direction angle data of the first axis constitute the angle sequence of the first axis. The interpolation curve of the angle sequence of the first axis and the difference corresponding to each data point are obtained by using the cubic spline interpolation method. The interpolation value corresponding to the moment is recorded as the interpolation value from the current moment to the next moment. The predicted value of the optimal direction angle of the first rotation axis at the moment, where A second quantity threshold is preset;

[0026] According to the optimal direction angle of the first rotating shaft at the current moment and the predicted value of the optimal direction angle of the first rotating shaft at each moment after the current moment, the reliability of the predicted value of the optimal direction angle of the first rotating shaft at each moment after the current moment is obtained;

[0027] According to the current time The reliability of the predicted value of the optimal direction angle of the first axis at the moment is obtained, and the The reliability of the predicted value of the optimal direction angle of the second axis at each moment;

[0028] Move the current time backward The reliability of the predicted value of the optimal direction angle of the first axis at the moment is The minimum value of the reliability of the predicted value of the optimal direction angle of the second axis at the moment is recorded as the value of the optimal direction angle of the second axis at the moment backward from the current moment. The prediction reliability of the optimal direction angle at each moment.

[0029] Furthermore, the reliability of the predicted value of the best direction angle of the first rotating shaft at each moment after the current moment is obtained according to the best direction angle of the first rotating shaft at the current moment and the predicted value of the best direction angle of the first rotating shaft at each moment after the current moment, including the specific steps as follows:

[0030] Calculate the optimal direction angle of the first axis at the current moment and the optimal direction angle of the first axis at the current moment. The difference between the predicted value of the optimal direction angle of the first axis at the moment is taken as the second difference, and the absolute value of the second difference is calculated and the absolute value of the second difference is compared with all moments before the current moment and the moment after the current moment. The maximum value of the absolute value of the difference in the best direction angle of the first axis at the moment is taken as the second ratio, and the second ratio is added to the current moment and the value of the absolute value of the difference in the best direction angle of the first axis at the moment. The product of the reciprocals of the time intervals between the current moment and the next moment. The reliability of the predicted value of the optimal direction angle of the first axis at a certain moment.

[0031] Furthermore, the tracking of the signal source by the control turntable is realized according to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, and the specific steps include the following:

[0032] According to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, the optimal direction angle of the first rotating shaft at the current moment is directly adjusted to the next moment. The optimal PID parameters corresponding to the optimal direction angle at each moment, wherein the PID parameters are proportional gain P, integral gain I and differential gain D;

[0033] Calculate the time from the current moment to the next moment The sum of the optimal proportional gain and the optimal integral gain corresponding to the optimal direction angle at the moment is taken as the first sum. The ratio of the prediction reliability of the best direction angle at the moment to the first sum value is recorded as the current moment backward The degree of preference of regulation at a particular moment;

[0034] According to the current time The method for obtaining the preferred degree of regulation at the moment is to obtain the , , …, The preferred degree of regulation at the moment, where is a preset time threshold;

[0035] The optimal direction angle prediction value of the first rotating axis and the second rotating axis corresponding to the maximum value of the preferred degree of control at all moments after the current moment is used as the final angle control direction of the first rotating axis and the second rotating axis; wherein, the optimal direction angle prediction value of the second rotating axis is obtained according to the method of obtaining the optimal direction angle prediction value of the first rotating axis.

[0036] Further, according to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, the optimal direction angle of the first rotating shaft at the current moment is directly adjusted to the first rotating shaft at the next moment. The optimal PID parameters corresponding to the optimal direction angle at a moment include the following specific steps:

[0037] Three PID value sequences are preset, and a value is selected from each PID value sequence to form a group of PID values. A full permutation method is used to obtain several groups of PID values.

[0038] According to the final control time during the current control process To obtain the method, use Group PID value and , , , get the The current time corresponding to the group PID value is the next The final control time in the moment control process ,Will As the The non-preferred degree of the group PID value, where Indicates the current time and the number of seconds after the current time. The time interval between moments, is the optimal direction angle of the first axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the first rotation axis at the moment, is the optimal direction angle of the second axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the second axis at the moment, is the absolute value function;

[0039] The group of PID values ​​corresponding to the minimum value among the non-preferred degrees of all groups of PID values ​​is recorded as the number of PID values ​​from the current moment to the next moment. PID value at a moment.

[0040] The present invention also proposes a simulation turntable control device based on signal source tracking, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the steps of the aforementioned simulation turntable control method based on signal source tracking.

[0041] The beneficial effects of the technical solution of the present invention are:

[0042] The angle of the first rotating shaft under each historical regulation and the angle of the second rotating shaft before each regulation are obtained; the regulation time of the first rotating shaft at the current moment is obtained according to the angle of the first rotating shaft under each historical regulation and the angle of the second rotating shaft before each regulation; the regulation parameter vector is optimized according to the analysis of historical regulation data, considering the stable time of the traditional PID control process, and significantly improving the stability of the control process. According to the optimal direction angle of the first rotating shaft at the current moment and several moments before the current moment, the reliability of the predicted value of the optimal direction angle of the first rotating shaft at each moment after the current moment is obtained; according to the prediction of the optimal direction angle of the first rotating shaft at the future moment and the evaluation of its reliability, the effectiveness of the control decision is ensured. According to the reliability of the predicted value of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle of the first rotating shaft at each moment after the current moment, the control turntable is tracked to the signal source. So far, the present invention improves the response speed and flexibility by adaptively adjusting the optimal PID parameters, and finally realizes the accurate tracking of the signal source. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1A flowchart of the steps of a simulation turntable control method based on signal source tracking of the present invention;

[0045] Figure 2 This is a curve of the system's response speed to errors. DETAILED DESCRIPTION

[0046] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation method, structure, features and effects of a simulation turntable control method and device based on signal source tracking proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0047] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0048] The specific scheme of a simulation turntable control method and device based on signal source tracking provided by the present invention is described in detail below with reference to the accompanying drawings.

[0049] See also Figure 1 , which shows a flowchart of a simulation turntable control method based on signal source tracking provided by an embodiment of the present invention, the method comprising the following steps:

[0050] Step S001: Obtain several historical and current control durations of the first rotating shaft, the optimal direction angle, the control durations of the second rotating shaft, the optimal direction angle, and PID parameters for each control.

[0051] By changing the position of the moving target or using multi-frequency signals, the direction change of the signal source is simulated to test the turntable's ability to track the signal source in different directions.

[0052] It should be noted that: in this embodiment, a semi-physical simulation is used to use a movable signal source (such as a drone, a vehicle-mounted radar, or a mobile transmitter) to set different moving speeds and trajectories to simulate the dynamic changes of the signal source in a real scene. Through a high-precision dual-axis turntable, the azimuth and pitch angles can be adjusted quickly and accurately, supporting real-time control and feedback to accurately track the signal source.

[0053] Get History The control time of the first axis and the control time of the second axis in each control process are calculated by using the Doppler frequency shift information of the radar signal and the phase difference of multiple receiving antennas to calculate the optimal direction angle of the first axis and the optimal direction angle of the second axis under each control. The optimal tracking direction angle vector at the current moment is obtained as .in, Indicates the optimal direction angle of the first axis at the current moment, It indicates the optimal direction angle of the second shaft at the current moment, and obtains the PID parameters during each control process.

[0054] It should be noted that: in this embodiment, the first quantity threshold is preset The value is 20, and this is used as an example for description.

[0055] The following is a real-time adjustment of the turntable based on the best tracking direction angle obtained in real time.

[0056] Step S002: The maximum value of the control time of the first axis under each historical control and the control time of the second axis under each historical control is recorded as the control time under each historical control; according to the optimal direction angle of the first axis under each historical control, the optimal direction angle of the second axis and the PID parameters in each control process, the control parameter vector of the first axis at the current moment is obtained; according to the control time under each historical control, the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis under each historical control, an estimated value of the control time of the first axis at the current moment is obtained.

[0057] In traditional PID control, fixed PID parameters are used. After obtaining the newly added optimal tracking direction angle, the control system needs to adjust the servo to make the turntable face the corresponding direction. However, fixed parameters will lead to problems such as long adjustment time and large adjustment error under different initial error sizes. For example, when the target position is not much different from the current position, the movement speed of the servo may be slower because it does not need to move quickly to reach the target position; on the contrary, if the target position is very different from the current position, the servo may move at a faster speed to get closer to the target position as soon as possible.

[0058] Considering the traditional PID control process, for the fast-response system of motor control, the control cycle is relatively short, ranging from a few milliseconds to tens of milliseconds. Since the PID control end will cause overshoot due to the fixed PID parameters, the real-time control time prediction is performed based on the fluctuation of the corresponding amplitude in each historical control process.

[0059] The system response speed curve to error is as follows: Figure 2 As shown, in Figure 2In the figure, the horizontal axis represents time in seconds (s), and the vertical axis represents angle. Figure 2 The two curves in are the response speed curves under larger gain and smaller gain. When the corresponding PID parameters (proportional gain, integral gain, differential gain) are too large, the system responds to the error relatively quickly, but with the system overreacting, overshoot and oscillation become more severe; on the contrary, when the corresponding PID parameters are small, the corresponding overshoot and oscillation are small, but the system needs more time to stabilize to the set value, and the corresponding adjustment time is longer.

[0060] In history In the second round of regulation, the historical The regulation time of the first axis under the second regulation is different from the historical The maximum value of the control time of the second axis under the control is recorded as the history The length of regulation under the secondary regulation.

[0061] Due to the different angle differences in control, the corresponding control time will also be affected. On a traditional dual-axis turntable, the second axis will rotate with the adjustment of the first axis. The second axis will affect the torque of the first axis at different angles.

[0062] The history The control parameter vector of the first axis under the secondary control is recorded as .in, Contains multiple dimensions of data such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second first rotation axis; Indicates the history Secondary adjustment of the angle of the second rotating shaft; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history Differential gain under secondary regulation.

[0063] The movement of the first axis will affect the direction of the second axis, but not vice versa;

[0064] The history The control parameter vector of the second axis under the secondary control is recorded as .in, Contains multiple dimensions of data such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second rotation axis; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history Differential gain under secondary regulation.

[0065] According to the above method, the control parameter vector of the first axis at the current moment is obtained: The control parameter vector of the second axis .

[0066] In order to predict the time it takes for the angle to reach the optimal tracking direction at the current moment, the similarity between the various influencing factors is first considered. and the control parameter vector of the second axis at the current moment When the degree of similarity between the control parameter vectors and the historical multiple controls is high, the corresponding historical control duration is more relevant.

[0067] Therefore, the control parameter vector of the first axis at the current moment is consistent with the historical The specific calculation formula of the control similarity of the control parameter vector of the first axis under the secondary control is:

[0068]

[0069] in, Represents the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis in history The similarity of the control parameter vector of the first axis under the second control, represents the first axis control parameter vector at the current moment Dimensional data, Indicates the history The control parameter vector of the first axis under the second control is Dimensional data; is the first difference, Representation History The control parameter vector of the first axis under the second control is The standard deviation of the dimensional data, For the The first ratio of dimensional data, To preset a first quantity threshold, represents the linear normalization function, Represents the number of dimensional data of the control parameter vector of the first axis, represents the absolute value function.

[0070] According to the control parameter vector of the first axis at the current moment and the historical The method for obtaining the control similarity of the control parameter vector of the first axis under the first control is to obtain the control parameter vector of the second axis at the current moment and the control parameter vector of the second axis under the first control in history. The control similarity of the control parameter vector of the second axis under secondary control.

[0071] Therefore, the specific calculation formula for the estimated value of the control time of the first rotating shaft at the current moment is:

[0072]

[0073] in, Indicates the estimated value of the control duration of the first axis at the current moment, To preset a first quantity threshold, Represents the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis in history The similarity of the control parameter vector of the first axis under the secondary control; For the current moment and the history The first product of the sub-regulation, Indicates the history The length of regulation under the secondary regulation.

[0074] Step S003: According to the estimated value of the control time of the first rotating shaft at the current moment, the optimal direction angle of the first rotating shaft at the current moment and several moments before the current moment, the prediction reliability of the optimal direction angle at each moment after the current moment is obtained.

[0075] According to the method for obtaining the estimated value of the control time of the first rotating shaft at the current moment, the estimated value of the control time of the second rotating shaft at the current moment is obtained. .

[0076] The maximum value of the estimated value of the control time of the first axis and the estimated value of the control time of the second axis at the current moment is recorded as the final control time in the control process at the current moment. .

[0077] What needs to be explained is that the final control duration is determined based on the longest time between the two controls. It can be regarded as a function of the control parameter vector about the first axis and the second axis, that is, when a set of parameters is determined The final adjustment time can be obtained.

[0078] What needs to be explained is: Indicates the current time Next The absolute value of the difference in the optimal direction angle of the first axis at the time; Indicates the angle of the second axis at the current moment; Indicates the absolute value of the difference in the optimal direction angle of the second axis at the current moment, Indicates the proportional gain at the current moment, represents the integral gain at the current moment, Indicates the differential gain at the current moment.

[0079] In traditional signal source tracking methods, the angle adjustment of the turntable is usually based on the position feedback of the current signal source. However, due to the reliance on real-time feedback, the system may experience response lag when the target moves quickly or the signal source changes dramatically, resulting in reduced positioning accuracy. In order to improve tracking efficiency and accuracy, it is particularly important to predict the signal source position by analyzing the historical angle change sequence.

[0080] By predicting the future position of the signal source, the reaction time required for the turntable during adjustment can be reduced, thereby improving the response efficiency of the overall system.

[0081] Based on the data from the current moment to the present, the subsequent data is predicted.

[0082] Taking the first axis as an example, the current time and the time before the current time The optimal direction angle data of the first axis constitute the angle sequence of the first axis. The interpolation curve of the angle sequence of the first axis and the difference corresponding to each data point are obtained by using the cubic spline interpolation method. The interpolation value corresponding to the moment is recorded as the interpolation value from the current moment to the next moment. The predicted value of the optimal direction angle of the first rotation axis at a certain moment.

[0083] It should be noted that: in this embodiment, the second quantity threshold is preset The example is 60. In the process of obtaining the interpolation curve by traditional spline interpolation, when the time exceeds the known data range, the accuracy of the interpolation will decrease as the prediction time moves away. Among them, cubic spline interpolation is a numerical analysis method, which is a well-known technology, and the specific method will not be introduced here.

[0084] Therefore, the current moment is backward The specific calculation formula for the reliability of the predicted value of the optimal direction angle of the first rotation axis at a certain moment is:

[0085]

[0086] in, Indicates the number of seconds after the current time. The reliability of the predicted value of the optimal direction angle of the first axis at the moment, Indicates the optimal direction angle of the first rotation axis at the current moment; Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the first rotation axis at a moment; is the second difference, Indicates the current time and the number of seconds after the current time. The time interval between moments, Indicates the number before the current time. The optimal direction angle of the first axis at the moment, Indicates the number before the current time. The optimal direction angle of the first axis at the moment, Indicates all the moments before the current moment and the moments after it The maximum absolute value of the optimal direction angle difference of the first axis at the moment, is the second ratio, represents the absolute value function, To preset a second quantity threshold, Indicates the current moment.

[0087] According to the current time The reliability of the predicted value of the optimal direction angle of the first axis at the moment is obtained, and the The reliability of the predicted value of the optimal direction angle of the second axis at a certain moment.

[0088] Move the current time backward The reliability of the predicted value of the optimal direction angle of the first axis at the moment is The minimum value of the reliability of the predicted value of the optimal direction angle of the second axis at the moment is recorded as the value of the optimal direction angle of the second axis at the moment backward from the current moment. The prediction reliability of the optimal direction angle at each moment.

[0089] Step S004: According to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, the control turntable is controlled to track the signal source.

[0090] In the process of traditional turntable angle control, different PID parameters are adopted, and the corresponding control time will be different, so it is impossible to use the prediction results at a fixed time to perform real-time control of the turntable angle; after obtaining the optimal direction angle at multiple predicted moments after the current moment, consider adjusting directly from the angle at the current moment to the predicted optimal direction angle. This method can ensure that the turntable angle adjustment follows the movement of the signal source in real time to improve the accuracy of signal source tracking.

[0091] In this plan, according to the historical The control parameter vector of the first axis under the secondary control , obtain the estimated value of the control time of the first axis at the current moment, according to the history The control parameter vector of the second axis under secondary control , get the estimated value of the control time of the second axis at the current moment , that is, according to and Get the final control duration during the current control process .

[0092] Presets (Proportional gain P) value sequence , The value sequence of (integral gain I) , The value sequence of (differential gain D) , select a value from the PID value sequence to form a set of PID values, such as , using the full permutation method, several groups of PID values ​​are obtained.

[0093] According to the final control time during the current control process To obtain the method, use Group PID value and , , , get the The current time corresponding to the group PID value is the next The final control time in the moment control process . (Ready to use replace ,use replace )Will As the The non-preferred degree of the group PID value. Indicates the current time and the number of seconds after the current time. The time interval between moments. is the optimal direction angle of the first axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the first rotation axis at the moment, is the optimal direction angle of the second axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the second rotation axis at a certain moment.

[0094] The group of PID values ​​corresponding to the minimum value among the non-preferred degrees of all groups of PID values ​​is recorded as the number of PID values ​​from the current moment to the next moment. PID value at each moment ,in, Indicates adjusting from the current time to the next The optimal proportional gain corresponding to the optimal direction angle at the moment, Indicates adjusting from the current time to the next The optimal integral gain corresponding to the optimal direction angle at the moment is: Indicates adjusting from the current time to the next The optimal differential gain corresponding to the optimal direction angle at each moment.

[0095] Taking into account that the reliability of the prediction results at different times is different, as the difference between the predicted value and the current time increases, the reliability of the prediction result will decrease accordingly; but as the prediction time difference increases, the time available for the turntable to control the angle will also increase. Smaller PID parameters can be used to improve the accuracy of the turntable during the control process and reduce the error size during turntable control.

[0096] Since the proportional gain and integral gain have a greater impact on oscillation, when the proportional gain is too high, the system will respond more strongly to the error. When the integral gain is too large, the system will be too sensitive to the cumulative error, which will lead to the strengthening of the system oscillation phenomenon. and , determine the optimal degree of adjustment at different times:

[0097] For different forecast time periods, the corresponding All are different;

[0098] Therefore, the current moment is backward The specific calculation formula for the optimal degree of regulation at a certain moment is:

[0099]

[0100] in, Indicates the number of seconds after the current time. The degree of preference of regulation at a certain moment, Indicates the number of seconds after the current time. The prediction reliability of the best direction angle at each moment, Indicates adjusting from the current time to the next The optimal proportional gain corresponding to the optimal direction angle at the moment, Indicates adjusting from the current time to the next The optimal integral gain corresponding to the optimal direction angle at the moment is: is the first sum value.

[0101] According to the current time The method for obtaining the preferred degree of regulation at the moment is to obtain the , , …, The preferred degree of regulation at the moment, where is the preset time threshold.

[0102] It should be noted that: the preset time threshold in this embodiment The value is 10, and this example is used for description.

[0103] According to the above method, the preferred degree of regulation at each moment after the current moment is obtained, and the predicted value of the optimal direction angle of the first rotating shaft and the second rotating shaft at the moment corresponding to the maximum value of the preferred degree of regulation at all moments after the current moment is the final angle control direction of the first rotating shaft and the second rotating shaft, and the corresponding PID parameter is the final PID control result. Among them, the predicted value of the optimal direction angle of the second rotating shaft is obtained according to the method for obtaining the predicted value of the optimal direction angle of the first rotating shaft.

[0104] It should be noted that: in this embodiment, all the moments after the current moment only have the , After obtaining the best control angle direction, change the corresponding parameters to the best PID parameters and adjust the current angle towards the predicted best angle direction. In this process, the reliability of the predicted angle can be met, and the corresponding oscillation phenomenon will not be aggravated due to excessive PID parameters, thereby affecting the accuracy of control.

[0105] So far, the present invention is completed.

[0106] In summary, in the embodiment of the present invention, the control time, optimal direction angle, control time, optimal direction angle and PID parameters of the first axis under several historical and current controls are obtained; the maximum value of the control time of the first axis under each historical control and the control time of the second axis under each historical control is recorded as the control time under each historical control; according to the optimal direction angle of the first axis, the optimal direction angle of the second axis and the PID parameters in each control process under each historical control, the control parameter vector of the first axis at the current moment is obtained; according to each historical control, the control time of the first axis is recorded as the control time under each historical control, the control time of the second axis is recorded as the control time of each historical control, and the control time of the first axis is recorded as the control time of each historical control. According to the optimal direction angle of the first axis, the optimal direction angle of the second axis and the PID parameters in each control process, the control time of the first axis is recorded as the control time of the first axis at the current moment; according to each historical control, the control time of the second axis is recorded as the control time of the second axis The control time under the current control, the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis under each historical control are used to obtain the estimated value of the control time of the first axis at the current moment; according to the estimated value of the control time of the first axis at the current moment, the best direction angle of the first axis at the current moment and several moments before the current moment, the predicted reliability of the best direction angle at each moment afterwards from the current moment is obtained; according to the best direction angle of the first axis at the current moment and the predicted reliability of the best direction angle at each moment afterwards from the current moment, the tracking of the signal source by the control turntable is realized.

[0107] The present invention also provides a simulation turntable control device based on signal source tracking, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program stored in the memory to implement the steps of the aforementioned simulation turntable control method based on signal source tracking.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A simulation turntable control method based on signal source tracking, characterized in that: The method comprises the following steps: Obtain the control time, optimal direction angle, control time, optimal direction angle and PID parameters of the first rotating shaft, the second rotating shaft, and each control at the current moment for several historical and current times; The maximum value of the control time of the first rotating axis under each historical regulation and the control time of the second rotating axis under each historical regulation is recorded as the control time under each historical regulation; according to the optimal direction angle of the first rotating axis under each historical regulation, the optimal direction angle of the second rotating axis and the PID parameters in each regulation process, the control parameter vector of the first rotating axis at the current moment is obtained; according to the control time under each historical regulation, the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis under each historical regulation, an estimated value of the control time of the first rotating axis at the current moment is obtained; According to the estimated value of the control time of the first rotating shaft at the current moment, the optimal direction angle of the first rotating shaft at the current moment and at a number of moments before the current moment, the prediction reliability of the optimal direction angle at each moment after the current moment is obtained; According to the prediction reliability of the best direction angle of the first rotating shaft at the current moment and the best direction angle at each moment after the current moment, the control turntable can track the signal source; The method for obtaining the estimated value of the control time of the first rotating shaft at the current moment includes: The history The control parameter vector of the second axis under the secondary control is recorded as ,in, Contains data in multiple dimensions such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second rotation axis; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history Differential gain under sub-regulation; According to the history The control parameter vector of the first axis and the control parameter vector of the second axis under the control are obtained to obtain the control parameter vector of the first axis at the current moment. The control parameter vector of the second axis ; According to each dimension data of the control parameter vector of the first rotating axis at the current moment and each time of historical control, the control similarity between the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis at each time of historical control is obtained; According to the control parameter vector of the first axis at the current moment and the historical The method for obtaining the control similarity of the control parameter vector of the first axis under the first control is to obtain the control parameter vector of the second axis at the current moment and the control parameter vector of the second axis under the first control in history. The similarity of the regulation of the regulation parameter vector of the second axis under the secondary regulation; According to the control similarity between the control parameter vector of the first rotating axis at the current moment and the control parameter vector of the first rotating axis under each historical control, and the control duration under each historical control, an estimated value of the control duration of the first rotating axis at the current moment is obtained; The method for obtaining the prediction reliability of the best direction angle at each moment after the current moment includes: According to the method for obtaining the estimated value of the control time length of the first rotating shaft at the current moment, the estimated value of the control time length of the second rotating shaft at the current moment is obtained; The maximum value of the estimated value of the control time of the first axis and the estimated value of the control time of the second axis at the current moment is recorded as the final control time in the control process at the current moment. ; The current time and the time before the current time The optimal direction angle data of the first axis constitute the angle sequence of the first axis. The interpolation curve of the angle sequence of the first axis and the difference corresponding to each data point are obtained by using the cubic spline interpolation method. The interpolation value corresponding to the moment is recorded as the interpolation value from the current moment to the next moment. The predicted value of the optimal direction angle of the first rotation axis at the moment, where A second quantity threshold is preset; According to the optimal direction angle of the first rotating shaft at the current moment and the predicted value of the optimal direction angle of the first rotating shaft at each moment after the current moment, the reliability of the predicted value of the optimal direction angle of the first rotating shaft at each moment after the current moment is obtained; According to the current time backward The reliability of the predicted value of the optimal direction angle of the first axis at the moment is obtained, and the The reliability of the predicted value of the optimal direction angle of the second axis at each moment; Move the current time backward The reliability of the predicted value of the optimal direction angle of the first axis at the moment is The minimum value of the reliability of the predicted value of the optimal direction angle of the second axis at the moment is recorded as the value of the optimal direction angle of the second axis at the moment backward from the current moment. The prediction reliability of the optimal direction angle at each moment.

2. The simulation turntable control method based on signal source tracking according to claim 1, characterized in that: The method of obtaining the control parameter vector of the first rotating shaft at the current moment according to the optimal direction angle of the first rotating shaft, the optimal direction angle of the second rotating shaft and the PID parameters in each control process in history includes the following specific steps: The history The control parameter vector of the first axis under the secondary control is recorded as ,in, Contains data in multiple dimensions such as: Indicates the history Second and The absolute value of the difference in the optimal direction angle of the second first rotation axis; Indicates the history Secondary adjustment of the angle of the second rotating shaft; Indicates the history Proportional gain under secondary regulation, Indicates the history The integral gain under the secondary regulation is: Indicates the history The PID parameters are proportional gain P, integral gain I and differential gain D.

3. The simulation turntable control method based on signal source tracking according to claim 1 is characterized in that: The method of obtaining the control similarity between the control parameter vector of the first rotating shaft at the current moment and the control parameter vector of the first rotating shaft at each historical control according to each dimension data of the control parameter vector of the first rotating shaft at the current moment and each historical control comprises the following specific steps: Calculate the first axis control parameter vector at the current moment Dimensional data and history The control parameter vector of the first axis under the second control is The difference of the dimension data is taken as the first difference, and the absolute value of the first difference is calculated and compared with the historical The control parameter vector of the first axis under the second control is The ratio of the standard deviation of the dimensional data is used as the The first ratio of the dimension data is 1 minus the history The first axis of all control parameter vectors under the second control The normalized value of the sum of the first ratio of the dimensional data is recorded as the control parameter vector of the first axis at the current moment and the historical The control similarity of the control parameter vector of the first axis under the second control, where: A first quantity threshold is preset.

4. The simulation turntable control method based on signal source tracking according to claim 1 is characterized in that: The method of obtaining an estimated value of the control duration of the first rotating shaft at the current moment according to the control similarity between the control parameter vector of the first rotating shaft at the current moment and the control parameter vector of the first rotating shaft at each historical control and the control duration at each historical control comprises the following specific steps: Calculate the control parameter vector of the first axis at the current moment and the control parameter vector of the first axis in history The similarity of the control parameter vector of the first axis under the first control is similar to that of the historical first control. The product of the control time of the first axis under the first control is used as the current time and the historical The first product of the second regulation combines the current moment with the historical The average of the first product of the times of regulation is recorded as the estimated value of the regulation time of the first axis at the current moment, where: A first quantity threshold is preset.

5. The simulation turntable control method based on signal source tracking according to claim 1 is characterized in that: The reliability of the predicted value of the best direction angle of the first rotating shaft at each moment after the current moment is obtained according to the best direction angle of the first rotating shaft at the current moment and the predicted value of the best direction angle of the first rotating shaft at each moment after the current moment, including the specific steps as follows: Calculate the optimal direction angle of the first axis at the current moment and the optimal direction angle of the first axis at the current moment. The difference between the predicted value of the optimal direction angle of the first axis at the moment is taken as the second difference, and the absolute value of the second difference is calculated and the absolute value of the second difference is compared with all moments before the current moment and the moment after the current moment. The maximum value of the absolute value of the difference in the best direction angle of the first axis at the moment is taken as the second ratio, and the second ratio is added to the current moment and the value of the absolute value of the difference in the best direction angle of the first axis at the moment. The product of the reciprocals of the time intervals between the current moment and the next moment. The reliability of the predicted value of the optimal direction angle of the first axis at a certain moment.

6. The simulation turntable control method based on signal source tracking according to claim 1, characterized in that: The method of tracking the signal source by the control turntable according to the best direction angle of the first rotating shaft at the current moment and the prediction reliability of the best direction angle at each moment after the current moment includes the following specific steps: According to the prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment, the optimal direction angle of the first rotating shaft at the current moment is directly adjusted to the next moment. The optimal PID parameters corresponding to the optimal direction angle at each moment, wherein the PID parameters are proportional gain P, integral gain I and differential gain D; Calculate the time from the current moment to the next moment The sum of the optimal proportional gain and the optimal integral gain corresponding to the optimal direction angle at the moment is taken as the first sum. The ratio of the prediction reliability of the best direction angle at the moment to the first sum value is recorded as the current moment backward The degree of preference of regulation at a particular moment; According to the current time The method for obtaining the preferred degree of regulation at the moment is to obtain the , , …, The preferred degree of regulation at the moment, where is a preset time threshold; The optimal direction angle prediction value of the first rotating axis and the second rotating axis corresponding to the maximum value of the preferred degree of control at all moments after the current moment is used as the final angle control direction of the first rotating axis and the second rotating axis; wherein, the optimal direction angle prediction value of the second rotating axis is obtained according to the method of obtaining the optimal direction angle prediction value of the first rotating axis.

7. The simulation turntable control method based on signal source tracking according to claim 6 is characterized in that: The prediction reliability of the optimal direction angle of the first rotating shaft at the current moment and the optimal direction angle at each moment after the current moment is obtained. The optimal PID parameters corresponding to the optimal direction angle at a moment include the following specific steps: Three PID value sequences are preset, and a value is selected from each PID value sequence to form a group of PID values. A full permutation method is used to obtain several groups of PID values. According to the final control time during the current control process To obtain the method, use Group PID value and , , , get the The current time corresponding to the group PID value is the next The final control time in the moment control process ,Will As the The non-preferred degree of the group PID value, where Indicates the current time and the number of seconds after the current time. The time interval between moments, is the optimal direction angle of the first axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the first rotation axis at the moment, is the optimal direction angle of the second axis at the current moment, Indicates the number of seconds after the current time. The predicted value of the optimal direction angle of the second axis at the moment, is the absolute value function; The group of PID values ​​corresponding to the minimum value among the non-preferred degrees of all groups of PID values ​​is recorded as the number of PID values ​​from the current moment to the next moment. PID value at a moment.

8. A simulation turntable control device based on signal source tracking, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is executed by a processor, the steps of a simulation turntable control method based on signal source tracking as described in any one of claims 1 to 7 are implemented.

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