Azimuth-pitch axis system cooperative control method of aviation platform swing sweeping device

Abstract

The invention relates to the field of servo control systems, in particular to an azimuth-pitch axis system cooperative control method of an aviation platform swing sweeping device. According to the method, a swing sweeping device is included, and the swing sweeping device comprises an azimuth axis system, a pitch axis system, an azimuth angle acquisition module, a pitch angle acquisition module, an azimuth controller and a pitch controller. The azimuth angle acquisition module and the pitching angle acquisition module are designed to acquire angle information respectively, information interaction is performed between the azimuth driver and the pitching driver, and cooperative information is transmitted between the azimuth driver and the pitching driver. The two controllers drive the azimuth axis system and the pitch axis system to complete corresponding motion according to a designed and planned motion strategy through information transmitted to each other, the limitation that the two controllers independently control axis system motion is broken through, the accuracy of a platform scanning function and the integrity of a scanning area are improved, and complete and accurate scanning of a two-dimensional target area is completed.

Description

Technical Field

[0001] The present invention relates to the field of servo control systems, and in particular to a method for coordinated control of an azimuth-pitch axis system of an aviation platform sweep device. Background Art

[0002] In recent years, with the continuous development of aviation platforms, new requirements have been put forward for the functions of platforms. In the existing platform scanning function, most platforms use the azimuth axis system to reciprocate and the pitch axis system is locked to achieve the scanning function of the target area. However, in order to expand the target airspace range, the azimuth axis system and the pitch axis system of the platform need to cooperate in coordinated movement during the scanning process to meet the task requirements of covering the entire target area.

[0003] A single controller controls the movement of the azimuth axis system and the pitch axis system to achieve the purpose of expanding the scanning airspace range. However, in the actual design process of the aviation platform, there are many signal communications between the single controller and the internal pitch axis system. However, due to the limitation of the structural size of the azimuth axis system, it is not possible to select a conductive ring with a large number of lines and a large volume. At the same time, when the motor signal is transmitted through the conductive ring to drive the pitch axis system motor 7, it is easy to interfere with other signals. Therefore, the single controller solution is limited by the number of azimuth conductive ring lines and the structural size, and there is an interference signal problem after the pitch axis system motor 7 driving signal passes through the conductive ring, making it difficult to achieve control. As for the solution of multiple controllers controlling the axis systems separately, since each collects a lot of platform feedback information and is independent, there is a problem that the azimuth controller and the pitch controller are difficult to coordinate when driving the movement of their respective axis systems, making it difficult to achieve multi-faceted information interaction and fusion communication and motion control planning, resulting in incomplete or inaccurate platform scanning areas.

[0004] Therefore, the prior art has deficiencies and needs to be improved. Summary of the invention

[0005] The embodiment of the present invention provides a method for coordinated control of the azimuth-pitch axis system of an aviation platform sweep device, so as to at least solve the technical problems of interference with a single controller signal and difficulty in information interaction among multiple controllers.

[0006] According to one embodiment of the present invention, a method for coordinated control of an azimuth-pitch axis system of an aerial platform sweep device is provided, comprising the following steps:

[0007] Azimuth axis system, used for rotational scanning;

[0008] Pitch axis system, used for rotational scanning;

[0009] An azimuth angle acquisition module is connected to the azimuth axis system;

[0010] A pitch angle acquisition module is connected to the pitch axis system;

[0011] An azimuth controller is connected to the azimuth axis system and the azimuth angle acquisition module;

[0012] A pitch controller connected to the pitch axis system, the pitch angle acquisition module and the azimuth controller;

[0013] The control method comprises the following steps:

[0014] The rotation angle information of the azimuth axis system is collected through the azimuth angle collection module and sent to the azimuth controller, and the rotation angle information of the pitch axis system is collected through the pitch angle collection module and sent to the pitch controller;

[0015] Based on the angular rotation information of the azimuth axis system, the azimuth controller controls the movement of the azimuth axis system and sends the movement state of the azimuth axis system to the pitch controller; based on the angular rotation information of the pitch axis system, the pitch controller controls the movement of the pitch axis system and sends the movement state of the pitch axis system to the azimuth axis system, thereby realizing the rotation information interaction between the azimuth axis system and the pitch axis system.

[0016] In one embodiment, the scanning range of the azimuth axis system forms an azimuth angle, wherein the azimuth angle range includes a first scanning point, a second scanning point, a third scanning point, a fourth scanning point and a fifth scanning point in sequence, and the third scanning point is symmetrically arranged about the center; the scanning range of the pitch axis system is the pitch angle between the sixth scanning point and the seventh scanning point.

[0017] In one embodiment, based on the angular rotation information of the azimuth axis system, the azimuth controller controls the movement of the azimuth axis system and sends the movement state of the azimuth axis system to the pitch controller; based on the angular rotation information of the pitch axis system, the pitch controller controls the movement of the pitch axis system and sends the movement state of the pitch axis system to the azimuth controller, and realizing the rotation information interaction between the azimuth axis system and the pitch axis system specifically includes:

[0018] Based on the rotation angle information of the azimuth axis system, the azimuth controller drives the azimuth axis system to rotate in the forward direction at a uniform speed, and initializes the scanning position mark of the azimuth axis system to 0; based on the rotation angle information of the pitch axis system, the pitch controller drives the pitch axis system to rotate and scan to the sixth scanning point and maintain the position unchanged, and initializes the scanning position mark of the pitch axis system to 0.

[0019] During the forward uniform rotation of the azimuth axis system, when the azimuth axis system rotates to the fourth scanning point, the azimuth axis system performs forward deceleration rotation, and the scanning position mark of the azimuth axis system is initialized to 1 and transmitted to the pitch controller;

[0020] Based on the position mark of the azimuth axis system initialized to 1, the pitch controller drives the pitch axis system to rotate to the seventh scanning point and keeps the position unchanged, marks the scanning position of the pitch axis system initially as 1, and transmits it to the azimuth controller;

[0021] Based on the position mark of the pitch axis system initialized to 1, the azimuth controller drives the azimuth axis system to perform reverse acceleration motion. When the reverse acceleration of the azimuth axis system rotates to the fourth scanning point, the azimuth axis system rotates in the reverse direction at a uniform speed, and the scanning position mark of the azimuth axis system is initialized to 3, and transmitted to the pitch controller;

[0022] During the reverse uniform rotation scanning process of the azimuth axis system, when the reverse rotation of the azimuth axis system reaches the second scanning point, the azimuth axis system performs reverse deceleration motion, and the scanning position flag of the azimuth axis system is initialized to 2 and transmitted to the pitch controller;

[0023] Based on the position mark of the azimuth axis system initialized to 2, the pitch controller drives the pitch axis system to rotate to the sixth scanning point and keeps it unchanged, initializes the scanning position mark of the pitch axis system to 0, and transmits it to the azimuth controller;

[0024] Based on the position mark of the pitch axis system initialized to 0, the azimuth controller drives the azimuth axis system to rotate in the forward direction with acceleration. When the azimuth axis system rotates in the forward direction with acceleration to the second scanning point, the azimuth axis system rotates in the forward direction at a uniform speed, and the scanning position mark of the azimuth axis system is initialized to 3.

[0025] The above steps are executed cyclically, so that the azimuth axis system and the elevation axis system are scanned repeatedly within the range of the azimuth angle and the elevation angle.

[0026] In one embodiment, the sweeping device further comprises:

[0027] Azimuth axis system motor, the azimuth controller drives the azimuth axis system motor to rotate, and the azimuth axis system motor drives the azimuth axis system to rotate;

[0028] The pitch axis system motor, the pitch controller drives the pitch axis system motor to rotate, and the pitch axis system motor drives the pitch axis system to rotate.

[0029] In one embodiment, the sweeping device further comprises:

[0030] Azimuth frame, the azimuth axis system is arranged on the azimuth frame, the azimuth axis system motor drives the azimuth frame to rotate, and the azimuth axis system rotates with the azimuth frame;

[0031] The pitch frame, the pitch axis system is arranged in the pitch frame, the pitch axis system motor drives the pitch frame to rotate, and the pitch axis system rotates along with the pitch frame.

[0032] In one embodiment, the sweeping device further comprises:

[0033] The conductive ring is arranged on the azimuth frame and located inside the azimuth axis system, and is used for information exchange between the azimuth controller and the pitch controller.

[0034] In one embodiment, the sweeping device further comprises:

[0035] A dual-axis gyroscope is arranged in the pitch frame and is connected to the azimuth controller and the pitch controller respectively, and is used to collect the rotation angular velocity of the azimuth axis system and the rotation angular velocity of the pitch axis system respectively;

[0036] The azimuth controller receives the rotational angular velocity information of the azimuth axis system for speed closed-loop calculation;

[0037] The pitch controller receives the rotational angular velocity information of the pitch axis system for speed closed-loop operation.

[0038] In one embodiment, the sweeping device further comprises:

[0039] The structural fixing part is arranged on the azimuth axis system, and the azimuth controller is arranged on the structural fixing part.

[0040] In one embodiment, a groove is provided on the structural fixing member, and the azimuth shaft system motor is located in the groove.

[0041] In one embodiment, the sweeping device further comprises:

[0042] Communication cables are used to connect the azimuth controller, conductive ring and pitch controller.

[0043] The azimuth-pitch axis system coordinated control method of the aerial platform sweeping device in the embodiment of the present invention is to design an azimuth angle acquisition module and a pitch angle acquisition module to respectively collect angle information, and to exchange information between the azimuth driver and the pitch driver, and to transmit coordinated information between the two. The two controllers drive the azimuth axis system and the pitch axis system to complete the corresponding movement according to the motion strategy designed and planned through the information transmitted to each other, breaking through the limitation of the dual controllers independently controlling the axis system movement, improving the accuracy of the platform scanning function and the integrity of the scanning area, and completing the complete and accurate scanning of the two-dimensional target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0045] Figure 1 It is a flow chart of the azimuth-pitch axis system coordinated control method of the sweep device of the aviation platform of the present invention;

[0046] Figure 2 It is a structural schematic diagram of the sweeping device of the present invention;

[0047] Figure 3 A schematic diagram of the sweeping action of the sweeping device of the present invention;

[0048] Figure 4 Schematic diagram of the sweeping motion process of the sweeping device of the present invention.

[0049] Reference numerals:

[0050] 1-Structural fixings, 2-Azimuth frame, 3-Azimuth axis system, 4-Azimuth axis system motor, 5-Pitch frame, 6-Pitch axis system, 7-Pitch axis system motor, 8-Azimuth axis system absolute encoder, 9-Pitch axis system absolute encoder, 10-Dual-axis gyroscope, 11-Load, 12-Azimuth controller, 13-Pitch controller, 14-Conductive ring, 15-Communication cable. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] According to an embodiment of the present invention, a method for coordinated control of the azimuth-pitch axis system of an aerial platform sweep device is provided. Figure 1 and Figure 2 , including the following steps:

[0054] The sweeping device comprises:

[0055] Azimuth axis system 3, used for rotational scanning;

[0056] A pitch axis system 6, used for rotational scanning;

[0057] An azimuth angle acquisition module is connected to the azimuth axis system 3;

[0058] A pitch angle acquisition module connected to the pitch axis system 6;

[0059] An azimuth controller 12, connected to the azimuth axis system 3 and the azimuth angle acquisition module;

[0060] A pitch controller 13 connected to the pitch axis system 6, the pitch angle acquisition module and the azimuth controller 12;

[0061] The control method comprises the following steps:

[0062] S100: collecting rotation angle information of the azimuth axis system 3 through the azimuth angle collection module and sending it to the azimuth controller 12, and collecting rotation angle information of the pitch axis system 6 through the pitch angle collection module and sending it to the pitch controller 13;

[0063] S200: Based on the angular rotation information of the azimuth axis system 3, the azimuth controller 12 controls the movement of the azimuth axis system 3 and sends the movement state of the azimuth axis system 3 to the pitch controller 13; based on the angular rotation information of the pitch axis system 6, the pitch controller 13 controls the movement of the pitch axis system 6 and sends the movement state of the pitch axis system 6 to the azimuth axis system 3, thereby realizing the rotation information interaction between the azimuth axis system 3 and the pitch axis system 6.

[0064] In this application, the azimuth angle acquisition module and the pitch angle acquisition module are designed to respectively collect angle information, and the azimuth driver and the pitch driver are exchanged with each other, and the two transmit coordinated information. The two controllers drive the azimuth axis system 3 and the pitch axis system 6 to complete the corresponding movement according to the motion strategy designed and planned through the information transmitted to each other, breaking through the limitation of the dual controllers independently controlling the axis system movement, improving the accuracy of the platform scanning function and the integrity of the scanning area, and completing the complete and accurate scanning of the two-dimensional target area.

[0065] The azimuth axis system 3 and the elevation axis system 6 have a range of motion and respective motion intervals during the entire platform scanning process. The two correspond to each other, transmit information to each other at specific angle positions, and cooperate to complete the scanning action.

[0066] In one embodiment, reference Figure 2 The sweeping device further comprises:

[0067] Azimuth axis system motor 4, the azimuth controller 12 drives the azimuth axis system motor 4 to rotate, and the azimuth axis system motor 4 drives the azimuth axis system 3 to rotate;

[0068] The pitch axis system motor 7 and the pitch controller 13 drive the pitch axis system motor 7 to rotate, and the pitch axis system motor 7 drives the pitch axis system 6 to rotate.

[0069] Further, refer to Figure 2 The sweeping device further comprises:

[0070] An azimuth frame 2, an azimuth axis system 3 is arranged on the azimuth frame 2, an azimuth axis system motor 4 drives the azimuth frame 2 to rotate, and the azimuth axis system 3 rotates along with the azimuth frame 2;

[0071] The pitch frame 5 and the pitch axis system 6 are arranged in the pitch frame 5 . The pitch axis system motor 7 drives the pitch frame 5 to rotate, and the pitch axis system 6 rotates along with the pitch frame 5 .

[0072] Specifically, the azimuth angle acquisition module is an azimuth axis absolute encoder 8, and the pitch angle acquisition module is an pitch axis absolute encoder 9.

[0073] The azimuth controller 12 drives the azimuth axis motor 4 to drive the azimuth frame 2 to rotate. During this movement, the azimuth controller 12 communicates with the azimuth axis absolute encoder 8 to receive the rotation angle information of the azimuth axis 3 for angle closed-loop calculation and angle logic judgment.

[0074] The pitch controller 13 drives the pitch axis motor 7 to drive the pitch frame 5 to rotate. During this movement, the pitch controller 13 communicates with the pitch axis absolute encoder 9 to receive the rotation angle information of the pitch axis 6 for angle closed-loop calculation and angle logic judgment.

[0075] In one embodiment, reference Figure 2 The sweeping device further comprises:

[0076] The conductive ring 14 is arranged on the azimuth frame 2 and is located inside the azimuth axis system 3 , and is used for information exchange between the azimuth controller 12 and the pitch controller 13 .

[0077] Specifically, during the simultaneous movement of the azimuth axis system 3 and the pitch axis system 6, the azimuth controller 12 and the pitch controller 13 communicate with each other via the serial port of the conductive ring 14, and the azimuth axis system 3 performs a scanning reciprocating motion of uniform speed-deceleration-acceleration-uniform speed-deceleration-acceleration with scanning angle and scanning speed requirements. The azimuth motion state is judged through the angle information and angular velocity information of the azimuth axis system 3, the azimuth motion flag is modified, and the flag is transmitted to the pitch controller 13 through the communication line.

[0078] The pitch controller 13 analyzes the motion flag transmitted by the azimuth controller 12, moves a fixed angle at a specific azimuth position, and pitches and locks the azimuth axis system 3 during the uniform motion, and transmits the pitch position flag information back to the azimuth controller 12 through the communication line. The azimuth controller 12 and the pitch controller 13 exchange their respective information with each other, complete the linkage between the azimuth axis system 3 and the pitch axis system 6, and jointly and accurately complete the function of scanning a certain two-dimensional area, so that the payload 11 can collect effective information of the target airspace.

[0079] Further, refer to Figure 2 The sweeping device further comprises:

[0080] The dual-axis gyroscope 10 is arranged in the pitch frame 5 and is connected to the azimuth controller 12 and the pitch controller 13 respectively, and is used to collect the rotation angular velocity of the azimuth axis system 3 and the rotation angular velocity of the pitch axis system 6 respectively;

[0081] The azimuth controller 12 receives the rotational angular velocity information of the azimuth axis system 3 for speed closed-loop calculation;

[0082] The pitch controller 13 receives the rotational angular velocity information of the pitch axis system 6 for speed closed-loop operation.

[0083] Specifically, the azimuth controller 12 communicates with the dual-axis gyroscope 10 through the conductive ring 14 to receive the angular velocity information of the azimuth axis system 3 for speed closed-loop operation. The pitch controller 13 communicates with the dual-axis gyroscope 10 to receive the angular velocity information of the pitch axis system 6 for speed closed-loop operation.

[0084] refer to Figure 2 The sweeping device of the present application includes an azimuth structure fixing part 1, an azimuth frame 2, an azimuth axis system 3, an azimuth axis system motor 4, a pitch frame 5, a pitch axis system 6, a pitch axis system motor 7, an azimuth axis system absolute encoder 8, a pitch axis system absolute encoder 9, a dual-axis gyroscope 10, a payload 11, an azimuth controller 12, a pitch controller 13, a conductive ring 14, and a communication cable 15.

[0085] Among them, the pitch controller 13, the load 11 and the dual-axis gyroscope 10 are installed inside the pitch frame 5, and move with the azimuth axis system 3 and the pitch axis system 6. The dual-axis gyroscope 10 collects the angular velocity of the azimuth axis system 3 and the pitch axis system 6. The azimuth axis system absolute encoder 8 is installed on the azimuth axis system 3 to collect the angle value of the azimuth axis system 3; the pitch axis system absolute encoder 9 is installed on the pitch axis system 6 to collect the angle value of the pitch axis system 6. The azimuth axis system 3 and the azimuth controller 12 are installed on the structural fixing part 1.

[0086] The azimuth axis system 3 is equipped with an azimuth axis system motor 4 to drive the azimuth frame 2 to rotate; the azimuth absolute encoder is installed on the platform azimuth axis system 3 to collect the rotation angle information of the azimuth axis system 3. The pitch frame 5 is installed on the azimuth frame 2 through the pitch axis system 6, and the pitch axis system motor 7 is installed on the pitch axis system 6 to drive the pitch axis system 6 to perform pitch rotation. The pitch axis system absolute encoder 9 is installed on the platform pitch axis system 6 to collect the rotation angle information of the pitch axis system 6.

[0087] A groove is provided on the structural fixing member 1, and the azimuth axis system motor 4 is located in the groove, and the groove serves to position the azimuth axis system motor 4. The azimuth controller 12 and the pitch controller 13 communicate with each other in a serial port manner, and the communication cable 15 connects the azimuth controller 12 and the pitch controller 13 through a conductive ring 14 so as to transmit cooperative information between the two controllers.

[0088] This application is mainly used on aviation platforms. In order to achieve the purpose of accurately covering the target area to be scanned, information is exchanged between the azimuth driver and the pitch driver. The controllers complete different movements according to the designed motion strategies through the information transmitted to each other, breaking through the limitation of dual controllers independently controlling the axis movement, and improving the accuracy of the platform scanning function and the integrity of the scanning area.

[0089] In one embodiment, reference Figure 3 and Figure 4 The scanning range of the azimuth axis system 3 forms an azimuth angle, wherein the azimuth angle range includes the first scanning point A, the second scanning point B, the third scanning point E, the fourth scanning point C and the fifth scanning point D in sequence, and are symmetrically arranged with the third scanning point E as the center; the scanning range of the pitch axis system 6 is the pitch angle between the sixth scanning point F and the seventh scanning point G.

[0090] Specifically, the scanning range angle of the azimuth angle is (2θ+2σ), with the third scanning point E as the zero position, that is, the movement zero position of the azimuth axis system 3, the first scanning point A and the second scanning point B and the fourth scanning point C and the fifth scanning point D are symmetrically arranged with the zero position as the axis, so that the azimuth angle is scanned in the angle range of -σ, -θ, θ, σ, and the scanning range is divided into [(-θ-α), (θ+α)] with the zero position as the center, and the total scanning range is the angle range between the first scanning point A and the fifth scanning point D. -σ, -θ, θ, σ can be set as needed.

[0091] refer to Figure 3According to the angle information of the azimuth axis absolute encoder 8, the azimuth axis 3 sweep motion is divided into azimuth positive uniform speed section II, azimuth positive deceleration section III, azimuth reverse acceleration section IV, azimuth reverse uniform speed section I, azimuth reverse deceleration section V, and azimuth positive acceleration section VI. Point A is the left edge point of the azimuth axis scanning; Point B is the left acceleration and deceleration switching point of the azimuth axis scanning; Point C is the right acceleration and deceleration switching point of the azimuth axis scanning; Point D is the right edge point of the azimuth axis scanning; Point E is the azimuth zero position. θ is the uniform speed interval of the azimuth axis scanning; σ is the acceleration and deceleration interval of the azimuth axis scanning; α is the upper and lower visual axis switching angle of the pitch axis. Reference Figure 4 , the C1 azimuth axis system scans the positive deceleration point; the C2 azimuth axis system scans the positive acceleration point; the B1 azimuth axis system scans the positive deceleration point; the B2 azimuth axis system scans the positive acceleration point.

[0092] During the platform sweeping process, the pitch axis system 6 mainly moves at the sixth scanning point F and the seventh scanning point G. The angle between the two positions is the pitch angle α. After the device of the present application is powered on, the azimuth controller 12 and the pitch controller 13 receive instructions at the same time, and each moves according to the above scanning point position, and the azimuth axis system 3 is positive in the clockwise direction.

[0093] Step S200 specifically includes:

[0094] Based on the rotation angle information of the azimuth axis system 3, the azimuth controller 12 drives the azimuth axis system 3 to rotate at a uniform forward speed (positive uniform speed section II), and initializes the scanning position mark of the azimuth axis system 3 to 0; based on the rotation angle information of the pitch axis system 6, the pitch controller 13 drives the pitch axis system 6 to rotate and scan to the sixth scanning point F and maintain the position unchanged, and initializes the scanning position mark of the pitch axis system 6 to 0.

[0095] In the forward uniform rotation of the azimuth axis system 3, when the azimuth axis system 3 rotates to the fourth scanning point C, the azimuth axis system 3 performs forward deceleration rotation (forward deceleration section III), and the scanning position mark of the azimuth axis system 3 is initialized to 1 and transmitted to the pitch controller 13;

[0096] Based on the position mark of the azimuth axis system 3 initialized to 1, the pitch controller 13 drives the pitch axis system 6 to rotate to the seventh scanning point G and keeps the position unchanged, marks the scanning position of the pitch axis system 6 initially as 1, and transmits it to the azimuth controller 12;

[0097] Based on the position mark of the pitch axis system 6 initialized to 1, the azimuth controller 12 drives the azimuth axis system 3 to perform reverse acceleration motion (reverse acceleration segment IV). When the reverse acceleration of the azimuth axis system 3 rotates to the fourth scanning point C, the azimuth axis system 3 rotates at a reverse uniform speed (reverse uniform speed segment I), and the scanning position mark of the azimuth axis system 3 is initialized to 3, and transmitted to the pitch controller 13;

[0098] During the reverse uniform rotation scanning process of the azimuth axis system 3, when the azimuth axis system 3 rotates in the reverse direction to the second scanning point, the azimuth axis system 3 performs reverse deceleration motion (reverse deceleration section V), and the scanning position flag of the azimuth axis system 3 is initialized to 2 and transmitted to the pitch controller 13;

[0099] Based on the position mark of the azimuth axis system 3 initialized to 2, the pitch controller 13 drives the pitch axis system 6 to rotate to the sixth scanning point and keeps it unchanged, initializes the scanning position mark of the pitch axis system 6 to 0, and transmits it to the azimuth controller 12;

[0100] Based on the position mark of the pitch axis system 6 initialized to 0, the azimuth controller 12 drives the azimuth axis system 3 to rotate in the forward accelerated direction (forward acceleration segment VI). When the azimuth axis system 3 rotates in the forward accelerated direction to the second scanning point B, the azimuth axis system 3 rotates in the forward uniform speed (forward uniform speed segment II), and the scanning position mark of the azimuth axis system 3 is initialized to 3.

[0101] The above steps are executed cyclically, so that the azimuth axis system 3 and the elevation axis system 6 are scanned repeatedly within the range of the azimuth angle and the elevation angle.

[0102] The following step S200 is described in detail:

[0103] refer to Figure 3 and Figure 4 After the sweep device is powered on, the azimuth controller 12 and the pitch controller 13 receive instructions at the same time and move respectively.

[0104] The azimuth controller 12 receives information from the azimuth axis absolute encoder 8 and the dual-axis gyroscope 10, and runs the azimuth drive algorithm to perform closed-loop control of the azimuth axis motor 4. The azimuth axis motor 4 drives the azimuth frame 2 to rotate, and the azimuth axis 3 follows the azimuth frame 2 to rotate in a forward uniform speed, and the azimuth scanning position mark is initialized to 0;

[0105] At the same time, after receiving the platform instruction, the pitch controller 13 receives the information of the pitch axis absolute encoder 9 and the dual-axis gyroscope 10, runs the pitch driving algorithm to perform closed-loop control of the pitch axis motor 7, the pitch axis motor 7 drives the pitch frame 5, the pitch axis 6 follows the pitch frame 5 to move at an angle α to the sixth scanning point and keeps the position unchanged, and initializes the pitch scanning position mark to 0. α can be set as needed.

[0106] During the forward uniform rotation of the azimuth axis system 3, it is determined whether the rotation angle of the azimuth axis system 3 is equal to θ, that is, whether the movement reaches the fourth scanning point ( Figure 4When the azimuth axis system 3 rotates to the fourth scanning point, the azimuth axis system 3 starts to perform forward deceleration motion, initializes the scanning position mark of the azimuth axis system 3 to 1, and transmits it to the pitch controller 13 through the communication cable 15.

[0107] After receiving the flag position, the pitch controller 13 drives the pitch axis motor 7 to drive the pitch axis 6 to move the angle α to the seventh scanning point G and keep the position unchanged, initializes the pitch scanning position flag to 1, and transmits it to the azimuth controller 12 through the communication cable 15.

[0108] After receiving the flag position, the azimuth controller 12 controls the azimuth axis system 3 to accelerate the reverse rotation. During this process, it is determined whether the movement reaches the fourth scanning point C ( Figure 4 At point C2, C1 and C2 are Figure 3 The fourth scanning point position in the azimuth axis 3, the two directions are opposite), when the azimuth axis system 3 accelerates in the reverse direction to the fourth scanning point C, the azimuth axis system 3 starts to move in the reverse uniform speed, initializes the azimuth scanning position mark to 3, and transmits it to the pitch controller 13 through the communication cable 15.

[0109] During the reverse uniform motion of the azimuth frame 2, the azimuth controller 12 determines whether the rotation angle of the azimuth axis system 3 is equal to -θ, that is, whether the motion reaches the second scanning point B ( Figure 4 When the second scanning point is reached, the azimuth axis system 3 is controlled to start reverse deceleration movement, the scanning position mark of the azimuth axis system 3 is initialized to 2, and is transmitted to the pitch controller 13 through the communication cable 15.

[0110] After receiving the mark position, the pitch controller 13 drives the pitch frame 5 to move to the angle α to the sixth scanning point F and maintains the position unchanged, initializes the scanning position mark of the pitch axis system 6 to 0, and transmits it to the azimuth controller 12 through the communication cable 15.

[0111] After receiving the mark position, the azimuth controller 12 drives the azimuth axis system 3 to perform forward acceleration motion, during which it is determined whether the motion reaches the second scanning point B ( Figure 4 At point B1, both B1 and B2 are Figure 3 When the azimuth axis system 3 is accelerated to rotate to the second scanning point in the positive direction, the azimuth frame 22 performs positive uniform motion, and initializes the scanning position mark of the azimuth axis system 3 to 3. This motion is repeated to complete the platform scanning action.

[0112] If the controller receives the platform end command during the scanning process, the azimuth axis motor 4 and the pitch axis motor 7 stop moving, and the platform exits the scanning function. This operation can solve the problem that the azimuth controller 12 and the pitch controller 13 cannot work together due to structural limitations during the scanning process of the aerial platform, and a platform scanning azimuth-pitch coordinated control strategy based on interactive information is designed to accurately complete the function of scanning the target area.

[0113] The above are only preferred embodiments 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 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 method for coordinated control of the azimuth-pitch axis system of an aviation platform sweep device, characterized in that: The sweeping device comprises: Azimuth axis system, used for rotational scanning; Pitch axis system, used for rotational scanning; An azimuth angle acquisition module connected to the azimuth axis system; A pitch angle acquisition module connected to the pitch axis system; An azimuth controller connected to the azimuth axis system and the azimuth angle acquisition module; A pitch controller connected to the pitch axis system, the pitch angle acquisition module and the azimuth controller; The control method comprises the following steps: The rotation angle information of the azimuth axis system is collected by the azimuth angle collection module and sent to the azimuth controller, and the rotation angle information of the pitch axis system is collected by the pitch angle collection module and sent to the pitch controller; Based on the angular rotation information of the azimuth axis system, the azimuth controller controls the movement of the azimuth axis system and sends the movement state of the azimuth axis system to the pitch controller; based on the angular rotation information of the pitch axis system, the pitch controller controls the movement of the pitch axis system and sends the movement state of the pitch axis system to the azimuth axis system, thereby realizing the rotation information interaction between the azimuth axis system and the pitch axis system.

2. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 1, characterized in that: The scanning range of the azimuth axis system forms an azimuth angle, wherein the azimuth angle range includes a first scanning point, a second scanning point, a third scanning point, a fourth scanning point and a fifth scanning point in sequence, and the third scanning point is symmetrically arranged with respect to the center; the scanning range of the pitch axis system is the pitch angle between the sixth scanning point and the seventh scanning point.

3. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 2, characterized in that: Based on the angular rotation information of the azimuth axis system, the azimuth controller controls the movement of the azimuth axis system and sends the movement state of the azimuth axis system to the pitch controller; based on the angular rotation information of the pitch axis system, the pitch controller controls the movement of the pitch axis system and sends the movement state of the pitch axis system to the azimuth controller, and realizing the rotation information interaction between the azimuth axis system and the pitch axis system specifically includes: Based on the rotation angle information of the azimuth axis system, the azimuth controller drives the azimuth axis system to rotate at a uniform speed in a forward direction, and initializes the scanning position mark of the azimuth axis system to 0; based on the rotation angle information of the pitch axis system, the pitch controller drives the pitch axis system to rotate and scan to the sixth scanning point and keeps the position unchanged, and initializes the scanning position mark of the pitch axis system to 0; During the forward uniform rotation of the azimuth axis system, when the azimuth axis system rotates to the fourth scanning point, the azimuth axis system performs forward deceleration rotation, and the scanning position mark of the azimuth axis system is initialized to 1 and transmitted to the pitch controller; Based on the position mark of the azimuth axis system initialized to 1, the pitch controller drives the pitch axis system to rotate to the seventh scanning point and keeps the position unchanged, and initializes the scanning position mark of the pitch axis system to 1, and transmits it to the azimuth controller; Based on the position mark of the pitch axis system initialized to 1, the azimuth controller drives the azimuth axis system to perform reverse acceleration movement. When the reverse acceleration of the azimuth axis system rotates to the fourth scanning point, the azimuth axis system rotates in the reverse uniform speed, and the scanning position mark of the azimuth axis system is initialized to 3, and transmitted to the pitch controller; During the reverse uniform rotation scanning process of the azimuth axis system, when the reverse rotation of the azimuth axis system reaches the second scanning point, the azimuth axis system performs reverse deceleration motion, initializes the scanning position flag of the azimuth axis system to 2, and transmits it to the pitch controller; Based on the position mark of the azimuth axis system initialized to 2, the pitch controller drives the pitch axis system to rotate to the sixth scanning point and keeps it unchanged, initializes the scanning position mark of the pitch axis system to 0, and transmits it to the azimuth controller; Based on the position mark of the pitch axis system initialized to 0, the azimuth controller drives the azimuth axis system to rotate in a positive direction with acceleration. When the azimuth axis system rotates in a positive direction with acceleration to the second scanning point, the azimuth axis system rotates in a positive direction with a uniform speed, and the scanning position mark of the azimuth axis system is initialized to 3. The above steps are executed cyclically, so that the azimuth axis system and the elevation axis system are repeatedly scanned within the range of the azimuth angle and the elevation angle.

4. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 3, characterized in that: The sweeping device further comprises: Azimuth axis system motor, the azimuth controller drives the azimuth axis system motor to rotate, and the azimuth axis system motor drives the azimuth axis system to rotate; The pitch axis system motor is driven by the pitch controller to rotate, and the pitch axis system motor drives the pitch axis system to rotate.

5. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 4, characterized in that: The sweeping device further comprises: An azimuth frame, the azimuth axis system is arranged on the azimuth frame, the azimuth axis system motor drives the azimuth frame to rotate, and the azimuth axis system rotates with the azimuth frame; The pitch frame, the pitch axis system is arranged in the pitch frame, the pitch axis system motor drives the pitch frame to rotate, and the pitch axis system rotates with the pitch frame.

6. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 5, characterized in that: The sweeping device further comprises: A conductive ring is arranged on the azimuth frame and located inside the azimuth axis system, and is used for information exchange between the azimuth controller and the pitch controller.

7. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to claim 6, characterized in that: The sweeping device further comprises: A dual-axis gyroscope, arranged in the pitch frame, connected to the azimuth controller and the pitch controller respectively, and used to collect the rotation angular velocity of the azimuth axis system and the rotation angular velocity of the pitch axis system respectively; The azimuth controller receives the rotational angular velocity information of the azimuth axis system for speed closed-loop calculation; The pitch controller receives the rotational angular velocity information of the pitch axis system for closed-loop speed operation.

8. The method for coordinated control of the azimuth-pitch axis system of the sweeping device of an aviation platform according to claim 7, characterized in that: The sweeping device further comprises: A structural fixing part is arranged on the azimuth axis system, and the azimuth controller is arranged on the structural fixing part.

9. The method for coordinated control of the azimuth-pitch axis system of the sweep device of an aviation platform according to claim 8, characterized in that: The structural fixing member is provided with a groove, and the azimuth shaft system motor is located in the groove.

10. The azimuth-pitch axis coordinated control method of the sweep device of an aviation platform according to any one of claims 6 to 9, characterized in that: The sweeping device further comprises: A communication cable is used to connect the azimuth controller, the conductive ring and the pitch controller.

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