A frame-type backscan compensation control method for an optoelectronic platform

Abstract

The present invention provides a method for controlling backsweep compensation for an optoelectronic platform frame, comprising: step 1, initializing frame parameters; step 2, determining a line of sight motion trajectory within a backsweep cycle, dividing the line of sight motion trajectory into multiple trajectory segments, and generating trajectory parameters for each trajectory segment; step 3, generating feedforward data based on the trajectory parameters of step 2, and adding the trajectory parameters and the feedforward data to a backsweep controller according to time; and step 4, using the backsweep controller to perform feedforward control of backsweep compensation for the optoelectronic platform frame. The present invention utilizes a feedforward control method to generate trajectory planning for the angular position, angular velocity, and angular acceleration of the frame motion, thereby achieving backsweep compensation for the optoelectronic platform frame under a high speed ratio. Compared to direct closed-loop control, this method can effectively improve the speed and frequency of backsweep.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic control, and in particular relates to a frame-type backscan compensation control method for an optoelectronic platform. Background Art

[0002] An optoelectronic platform installed on a fast-flying platform is mainly used for photographic reconnaissance of the ground. During the exposure process of the optical sensor, backscanning is required to compensate for the image blur caused by the high-speed movement of the flying platform, and the line of sight can stably maintain the same imaging scene to produce a clear image.

[0003] The existing backscan compensation method is to add a fast mirror to the optical path, using the fast mirror's high precision, large bandwidth and rapid movement to control the line of sight to produce a small-angle reciprocating motion, so that the line of sight remains inertial and always aims at the same area during the sensor exposure process. However, this backscan compensation method increases the difficulty and complexity of optical design. For multi-sensor optical systems, since only one fast mirror is usually used, a multi-sensor common optical path design must be adopted. The multi-sensor common optical path has very high requirements for processing accuracy, cost, and assembly process, and the fast mirror itself is relatively expensive and large in size. Therefore, in some high-value, large-volume optoelectronic equipment, a multi-sensor common optical path solution is more commonly used.

[0004] To avoid complex optical designs and high costs, an actuator was designed that uses a frame-based backscanning method instead of a fast-reflecting mirror for backscan compensation. However, due to the heavy loads associated with the frame-based backscanning method and the limited torque of the actuator motor, traditional control methods struggle to achieve high-precision, fast-response frame-based backscanning motion.

[0005] Zhang Xiaoting, an author from the Shenzhen Graduate School of Harbin Institute of Technology, published "Curve Motion Trajectory Control Based on Speed ​​Compensation," proposing an adaptive real-time interpolation algorithm based on NURBS curves to control the offset between the feed speed and the planned speed to always be within an error range to ensure the smoothness of the feed speed. This algorithm is used for CNC machine tool parts processing, but has not been used in the control field. Qu Weiran, an author from the School of Automation at Beijing University of Aeronautics and Astronautics, published "Design of Inertial Image Stabilization Control System Based on Scanning Mirrors." Based on the inertial stabilization platform of the scanning mirror, he designed an image stabilization control algorithm for the transmission-type image stabilization configuration with inertial stabilization wheels to further improve the image stabilization accuracy.

[0006] Chinese patent publication number CN112689084 discloses an airborne optoelectronic reconnaissance imaging system and an electronic image stabilization method. This system utilizes an image stabilization platform composed of inertial devices and servo control components to compensate for the relative motion of the imaging sensor. The electronic image stabilization method primarily addresses the problem of image jitter caused by irregular jitter of the optoelectronic detection platform along with the carrier aircraft. However, it does not consider the problem of periodic backscan imaging.

[0007] How can we leverage the optoelectronic platform's inherent framing motion to compensate for image blur caused by carrier motion during the sensor's exposure time through backscanning, without using a fast-reflection mirror? Existing framing control methods suffer from slow response speeds and poor control accuracy, making them difficult to meet the demands for fast and precise compensation. Summary of the Invention

[0008] The purpose of the present invention is to solve the shortcomings of the existing frame control methods in the art that are difficult to meet the requirements of fast and accurate compensation, and to provide an optoelectronic platform frame backscan compensation control method. By using a positive feed control method, the angular position, angular velocity and angular acceleration trajectory planning of the frame movement are generated to achieve backscan compensation of the optoelectronic platform frame under a high speed ratio.

[0009] To achieve the above objectives, the technical solutions provided by the present invention are:

[0010] A photoelectric platform frame-type backscan compensation control method, comprising:

[0011] Step 1: Initialize the parameters of the framework, where the parameters include: maximum angular acceleration α max , the current initial position sight angle θ stop , desired sight angle θ zero , desired line of sight angular velocity ω exp , operation cycle T s , the gaze time required for imaging t k ;

[0012] Step 2: determining a sight line motion trajectory within a backscan cycle, dividing the sight line motion trajectory into multiple trajectory segments, and generating trajectory parameters for each trajectory segment, wherein the trajectory parameters include: sight line angle, velocity, and acceleration;

[0013] Step 3: Generate feedforward data based on the trajectory parameters of step 2, and add the trajectory parameters and the feedforward data to the backsweep controller according to time; wherein the feedforward data includes a velocity and acceleration feedforward table;

[0014] Step 4: The backsweep controller is used to feedforward control the backsweep compensation of the optoelectronic platform frame, wherein: when the backsweep start requirement is met, the backsweep controller generates a backsweep start signal; when the backsweep end requirement is met, the backsweep controller generates a backsweep end signal; when the backsweep preset requirement is met, the backsweep controller generates a backsweep initialization signal.

[0015] As a further limitation of the present invention, in step 2, dividing the sight line movement trajectory into a plurality of trajectory segments includes:

[0016] The eye movement trajectory is divided into four stages, S1-S4, where:

[0017] The S1 phase includes the line of sight moving from the initial position θ stop Move to the exposure start position θ zero ,In the S1 stage, the angular velocity of the line of sight decelerates from 0 to the angular velocity that needs to be compensated for backscan;

[0018] The S2 stage includes the speed maintenance stage during the gaze movement. The angular velocity of the gaze remains unchanged during the S2 stage;

[0019] Phase S3 includes the gaze movement back to the initial position θ stop In the acceleration stage, the angular velocity of the line of sight in stage S3 is accelerated from the angular velocity maintained in the backsweep in stage S2 to a suitable angular velocity;

[0020] The S4 stage includes the deceleration stage of the line of sight movement. In the S4 stage, the line of sight angle returns to the initial position θ stop , the line of sight speed is 0.

[0021] As a further limitation of the present invention, in step 2, generating trajectory parameters of each trajectory segment includes:

[0022] (21) Calculate the angle, angular velocity, and angular acceleration trajectory of the S1 stage. The control frame in the S1 stage uniformly decelerates the angular motion. When the line of sight motion in the S1 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is:

[0023]

[0024] In formula (1), k represents the kth calculation cycle, a(k) represents the angular acceleration at the kth calculation cycle, and w exp represents the desired line-of-sight angular velocity, θ zero represents the desired sight angle, θ stop represents the sight angle of the current initial position, w(k) represents the angular velocity at the kth calculation cycle, θ(k) represents the angle at the kth calculation cycle, t s represents the operation cycle, t1 represents the time when the S1 stage ends;

[0025] (22) Calculate the angle, angular velocity, and angular acceleration trajectory of the S2 stage. The control frame in the S2 stage moves at a uniform angular speed, and the line of sight angular velocity is equal to the desired velocity. The calculation formula is:

[0026]

[0027] In formula (2), θ2 represents the sight line position at the end of stage S1, and t2 represents the time when stage S1 ends;

[0028] (23) Calculate the angle, angular velocity, and angular acceleration trajectory of the S3 stage. The control frame in the S3 stage uniformly accelerates the angular motion so that the angular velocity of the line of sight changes direction and reaches ω3, so that when the angular velocity is 0 in the next deceleration stage, the angular position just returns to the preset angle of the next backsweep cycle. The calculation formula is:

[0029]

[0030] In formula (3), α max represents the maximum angular acceleration, ω3 represents the line of sight velocity at the end of stage S3, t3 represents the time at the end of stage S3, and θ3 represents the line of sight position at the end of stage S3;

[0031] (24) Calculate the angle, angular velocity, and angular acceleration trajectory of the S4 stage. The control frame in the S4 stage uniformly decelerates the angular motion. When the line of sight motion in the S4 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is:

[0032]

[0033] Where t4 represents the time when the S4 stage ends.

[0034] As a further limitation of the present invention, the step three is specifically:

[0035] According to the sight angle, velocity and acceleration of step 2, a velocity and acceleration feedforward table is generated, and the calculated angle, velocity and acceleration feedforward table is added to the backsweep controller according to time; wherein:

[0036] The frame-type backsweep compensation servo system is a three-loop closed-loop control system, which includes a current loop, a speed loop, and a position loop. GM represents a current loop controller, Gc represents a speed loop controller, Gf represents a position loop control, KI represents a current sampling gain, Kg represents a speed sampling gain, Kp represents a position sampling gain, a(k), w(k), and θ(k) represent the backsweep trajectory generated in step 2, θ(k) serves as an input command for the position loop, w(k) serves as a positive feed input for the speed loop, and a(k) serves as a positive feed input for the current loop.

[0037] As a further limitation of the present invention, in step 4:

[0038] When the backsweep start requirement is met, the backsweep controller generates a backsweep start signal, including:

[0039] Determine the angle and speed values, when the expected sight angle θ meets the backscan requirement zero and the desired line-of-sight angular velocity ω exp When , a signal for backsweep to start is generated;

[0040] When the backsweep end requirement is met, the backsweep controller generates a backsweep end signal, including:

[0041] When maintaining the desired line of sight angular velocity ω exp The gaze time t exceeds the imaging requirement k After that, a backscan end signal is generated;

[0042] When the backscan preset requirements are met, the backscan controller generates a backscan initialization signal, including:

[0043] When the sight angle returns to the preset angle of the backscan, the sight angle of the current initial position is maintained, the backscan is completed, and the next backscan start signal is waited for.

[0044] As a further limitation of the present invention, steps 1 to 4 are executed cyclically according to a servo control cycle to complete backscan compensation.

[0045] The advantages of the present invention are:

[0046] 1. The present invention uses a feedforward control method to generate the angular position, angular velocity and angular acceleration trajectory planning of the frame motion, and realizes the backsweep compensation of the optoelectronic platform frame under high speed ratio. Compared with direct closed-loop control, it can effectively improve the speed and frequency of the backsweep.

[0047] 2. The present invention does not require the addition of a fast-reflecting mirror. Instead, it can achieve the backscan compensation function by utilizing the frame of the optoelectronic platform itself, compensating for image blurring caused by the high-speed translation of the optoelectronic platform's carrier. This simplifies the optical path design and complexity, reduces the size and weight of the optoelectronic platform, and saves hardware costs.

[0048] 3. The present invention is implemented by software, has a simple algorithm, is highly portable, and is suitable for various optoelectronic systems requiring backscan compensation functions.

[0049] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0051] Figure 1 : A flow chart of a photoelectric platform frame-type backscan compensation control method provided by the present invention;

[0052] Figure 2 : The framework backsweep control phase diagram provided by the present invention;

[0053] Figure 3: Schematic diagram of the backscan servo control principle of the optoelectronic system provided by the present invention;

[0054] Figure 4 : Position trajectory diagram generated by the embodiment provided by the present invention;

[0055] Figure 5 : The velocity trajectory diagram generated by the embodiment provided by the present invention;

[0056] Figure 6 : Acceleration trajectory diagram generated by the embodiment provided by the present invention. DETAILED DESCRIPTION

[0057] The following describes in detail embodiments of the present invention. The embodiments are exemplary and intended to explain the present invention, but are not to be construed as limiting the present invention.

[0058] See also Figure 1 The embodiment of the present invention provides a frame-type backscan compensation control method for an optoelectronic platform, comprising:

[0059] Step 1: Initialize the parameters of the framework, including: maximum angular acceleration α max , the current initial position sight angle θ stop , desired sight angle θ zero , desired line of sight angular velocity ω exp , operation cycle T s , the gaze time required for imaging t k .

[0060] Step 2: Determine the sight line motion trajectory within a backscan cycle, divide the sight line motion trajectory into multiple trajectory segments, and generate trajectory parameters for each trajectory segment, wherein the trajectory parameters include: sight line angle, velocity, and acceleration.

[0061] In step 2 of the embodiment of the present invention, dividing the gaze movement trajectory into multiple trajectory segments includes dividing the gaze movement trajectory into four stages S1-S4, wherein:

[0062] The S1 phase includes the line of sight moving from the initial position θ stop Move to the exposure start position θ zero ,In the S1 stage, the angular velocity of the line of sight decelerates from 0 to the angular velocity that needs to be compensated for backscan;

[0063] The S2 stage includes the speed maintenance stage during the gaze movement. The angular velocity of the gaze remains unchanged during the S2 stage;

[0064] Phase S3 includes the gaze movement back to the initial position θ stop In the acceleration stage, the angular velocity of the line of sight in stage S3 is accelerated from the angular velocity maintained in the backsweep in stage S2 to a suitable angular velocity;

[0065] The S4 stage includes the deceleration stage of the line of sight movement. In the S4 stage, the line of sight angle returns to the initial position θ stop , the line of sight speed is 0.

[0066] In the above step 2 of the embodiment of the present invention, generating trajectory parameters of each trajectory segment includes:

[0067] (21) Calculate the angle, angular velocity, and angular acceleration trajectory of the S1 stage. The control frame in the S1 stage uniformly decelerates the angular motion. When the line of sight motion in the S1 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is:

[0068]

[0069] In formula (1), k represents the kth calculation cycle, a(k) represents the angular acceleration at the kth calculation cycle, and w exp represents the desired line-of-sight angular velocity, θ zero represents the desired sight angle, θ stop represents the sight angle of the current initial position, w(k) represents the angular velocity at the kth calculation cycle, θ(k) represents the angle at the kth calculation cycle, t s represents the operation cycle, t1 represents the time when the S1 stage ends;

[0070] (22) Calculate the angle, angular velocity, and angular acceleration trajectory of the S2 stage. The control frame in the S2 stage moves at a uniform angular speed, and the line of sight angular velocity is equal to the desired velocity. The calculation formula is:

[0071]

[0072] In formula (2), θ2 represents the sight line position at the end of stage S1, and t2 represents the time when stage S1 ends;

[0073] (23) Calculate the angle, angular velocity, and angular acceleration trajectory of the S3 stage. The control frame in the S3 stage uniformly accelerates the angular motion so that the angular velocity of the line of sight changes direction and reaches ω3, so that when the angular velocity is 0 in the next deceleration stage, the angular position just returns to the preset angle of the next backsweep cycle. The calculation formula is:

[0074]

[0075] In formula (3), α max represents the maximum angular acceleration, ω3 represents the line of sight velocity at the end of stage S3, t3 represents the time at the end of stage S3, and θ3 represents the line of sight position at the end of stage S3;

[0076] (24) Calculate the angle, angular velocity, and angular acceleration trajectory of the S4 stage. The control frame in the S4 stage uniformly decelerates the angular motion. When the line of sight motion in the S4 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is:

[0077]

[0078] Where t4 represents the time when the S4 stage ends.

[0079] Step 3: Generate feedforward data based on the trajectory parameters of step 2, and add the trajectory parameters and feedforward data to the backsweep controller according to time; wherein the feedforward data includes velocity and acceleration feedforward tables.

[0080] Step 3 of the embodiment of the present invention is specifically: generating a velocity and acceleration feedforward table based on the sight angle, velocity, and acceleration in step 2, and adding the calculated angle, velocity, and acceleration feedforward table to the backsweep controller according to time; wherein:

[0081] The frame-type backsweep compensation servo system is a three-loop closed-loop control system, which includes a current loop, a speed loop, and a position loop. GM represents the current loop controller, Gc represents the speed loop controller, Gf represents the position loop control, KI represents the current sampling gain, Kg represents the speed sampling gain, Kp represents the position sampling gain, a(k), w(k), and θ(k) represent the backsweep trajectory generated in step 2, θ(k) serves as the input command of the position loop, w(k) serves as the positive feed input of the speed loop, and a(k) serves as the positive feed input of the current loop.

[0082] Step 4: The backsweep compensation of the optoelectronic platform frame is controlled by the backsweep controller, wherein: when the backsweep start requirements are met, the backsweep controller generates a backsweep start signal; when the backsweep end requirements are met, the backsweep controller generates a backsweep end signal; when the backsweep preset requirements are met, the backsweep controller generates a backsweep initialization signal.

[0083] In the above-mentioned step 4 of the embodiment of the present invention, when the backsweep start requirement is met, the backsweep controller generates a backsweep start signal, including:

[0084] Determine the angle and speed values, when the expected sight angle θ meets the backscan requirement zero and the desired line-of-sight angular velocity ω exp When , a signal for the start of backsweep is generated.

[0085] In the above step 4 of the embodiment of the present invention, when the backsweep end requirement is met, the backsweep controller generates a backsweep end signal, including:

[0086] When maintaining the desired line of sight angular velocity ω exp The gaze time t exceeds the imaging requirement kAfter that, a backscan end signal is generated.

[0087] In the above step 4 of the embodiment of the present invention, when the backscan preset requirements are met, the backscan controller generates a backscan initialization signal, including:

[0088] When the sight angle returns to the preset angle of the backscan, the sight angle of the current initial position is maintained, the backscan is completed, and the next backscan start signal is waited for.

[0089] In an embodiment of the present invention, a frame-type backscan compensation control method for an optoelectronic platform is implemented by cyclically executing steps 1 to 4 according to a servo control cycle to complete backscan compensation.

[0090] See Figures 2 to 6 The photoelectric platform frame backsweep compensation control method of the embodiment of the present invention preferably adopts a two-axis two-frame photoelectric stabilization platform system, which includes two sensors: a visible light sensor and an infrared sensor. The sensors are installed on a gimbal platform to form a sensor platform. The platform is driven by a servo control unit, which includes a current loop, a speed stabilization loop, and a position control loop. Figure 2 .

[0091] The optoelectronic platform of the present invention is primarily used for ground-based photo reconnaissance. It requires that the line of sight be perpendicular to the horizontal plane at the start of exposure and remain stable at the same location during the exposure process. To simplify the calculation process, assume that the aircraft's flight attitude has a pitch angle of 0, a roll angle of 0, a flight speed of 50 m / s, and a flight altitude of 500 m relative to the ground. Follow steps 1 through 4 above and proceed as follows:

[0092] Step 1: Parameter initialization, calculate the angular velocity ω that needs to be compensated according to the speed-to-height ratio exp =5.71° / s, desired sight angle θ zero =-90°, leaving enough room for initial acceleration, the current initial position sight angle θ stop =89.94°, the maximum angular acceleration of the frame α max =300° / s 2 , operation cycle T s = 0.0005s, the gaze time t required for imaging k =45ms.

[0093] Step 2: Calculate the trajectory of the line of sight during a backscan cycle, including the angle, velocity, and acceleration of the line of sight. The generated results are as follows: Figure 4 、 Figure 5 and Figure 6 The specific steps are as follows:

[0094] Step 2.1: Calculate the angle, angular velocity, and angular acceleration trajectory of the S1 phase:

[0095]

[0096] Step 2.2: Calculate the angle, angular velocity, and angular acceleration trajectory of the S2 phase:

[0097]

[0098] Step 2.3: Calculate the angle, angular velocity, and angular acceleration trajectory of the S3 stage:

[0099]

[0100] Step 2.4: Calculate the angle, angular velocity, and angular acceleration trajectory of the S4 stage:

[0101]

[0102] Step 3: Generate a velocity and acceleration feedforward table based on the generated angle, velocity and acceleration trajectory, and add the calculated angle, velocity and acceleration feedforward table to the backsweep controller according to time, as shown in the following example: Figure 3 As shown;

[0103] Step 4: Determine the angle and speed values. When the desired sight angle θ meets the backscan requirement, zero and the desired line-of-sight angular velocity ω exp When , a signal for backsweep to start is generated;

[0104] Step 5: While maintaining the desired line of sight angular velocity ω exp The gaze time t exceeds the imaging requirement k After that, a backscan end signal is generated;

[0105] Step 6: When the sight angle returns to the preset backscan angle, maintain the current sight angle, the backscan ends, and wait for the next backscan start signal;

[0106] Furthermore, all steps are executed cyclically according to the servo control cycle to complete the backscan compensation.

[0107] When rotating under vibration conditions of a general fixed-wing aircraft, the method of the embodiment of the present invention adopts frame backsweep compensation. When the aircraft is flying at an altitude of 500m and 50m, the backsweep frequency is greater than 5Hz, the speed compensation error is less than 0.2° / s, and the speed linearity is less than 1%. When a direct position closed loop is used, the backsweep frequency is less than 2Hz, the speed compensation error is greater than 1° / s, and the speed linearity is greater than 3%. Therefore, the method of the embodiment of the present invention is superior to the general method in both backsweep speed and accuracy.

[0108] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A photoelectric platform frame backscan compensation control method, characterized in that: include: Step 1: Initialize the parameters of the framework, where the parameters include: maximum angular acceleration α max , the current initial position sight angle θ stop , desired sight angle θ zero , desired line of sight angular velocity ω exp , operation cycle T s , the gaze time required for imaging t k ; Step 2: Determine the sight line motion trajectory within a backscan cycle, divide the sight line motion trajectory into multiple trajectory segments, and generate trajectory parameters for each trajectory segment, wherein the trajectory parameters include: sight angle, speed, and acceleration; Specifically, dividing the sight line motion trajectory into multiple trajectory segments includes: dividing the sight line motion trajectory into 4 stages S1-S4, wherein: Stage S1 includes the sight line angle θ from the current initial position stro The desired sight angle θ when moving to the starting exposure position zero In the S1 stage, the angular velocity of the line of sight decelerates from 0 to the angular velocity required for backscan compensation; the S2 stage includes the speed maintenance stage during the line of sight movement, and the angular velocity of the line of sight remains unchanged in the S2 stage; the S3 stage includes the line of sight angle θ returning to the current initial position during the line of sight movement stop The acceleration stage of the line of sight in stage S3 is accelerated from the angular velocity maintained in the backsweep in stage S2 to a suitable angular velocity; the S4 stage includes the deceleration stage of the line of sight movement, and the line of sight angle in stage S4 returns to the current initial position of the line of sight angle θ stop , the line of sight speed is 0; Step 3: Generate feedforward data based on the trajectory parameters of step 2, and add the trajectory parameters and the feedforward data to the backsweep controller according to time; wherein the feedforward data includes a velocity and acceleration feedforward table; specifically, generate a velocity and acceleration feedforward table based on the sight angle, velocity and acceleration of step 2, and add the calculated angle, velocity and acceleration feedforward table to the backsweep controller according to time; wherein: the frame-type backsweep compensation servo system is a three-loop closed-loop control, and the three-loop closed-loop control is a current loop, a velocity loop and a position loop; Step 4: The backsweep controller is used to feedforward control the backsweep compensation of the photoelectric platform frame, wherein: when the backsweep start requirement is met, the backsweep controller generates a backsweep start signal; when the backsweep end requirement is met, the backsweep controller generates a backsweep end signal; when the backsweep preset requirement is met, the backsweep controller generates a backsweep initialization signal; specifically, when the backsweep start requirement is met, the backsweep controller generates a backsweep start signal, including: judging the angle value and the speed value, when the expected sight angle θ of the backsweep requirement is met zero and the desired line-of-sight angular velocity ω exp When the backsweep end requirement is met, the backsweep controller generates a backsweep end signal, including: when maintaining the desired line of sight angular velocity ω exp The time exceeds the gaze time t required for imaging k After that, a backscan end signal is generated; when the backscan preset requirements are met, the backscan controller generates a backscan initialization signal, including: when the line of sight angle returns to the backscan preset angle, maintain the current line of sight angle, the backscan ends, and waits for the next backscan start signal.

2. The photoelectric platform frame backsweep compensation control method according to claim 1, characterized in that: In the second step, the trajectory parameters of each trajectory segment are generated, including: (21) Calculate the angle, angular velocity, and angular acceleration trajectory of the S1 stage. The control frame in the S1 stage uniformly decelerates the angular motion. When the line of sight motion in the S1 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is: In formula (1), k represents the kth calculation cycle, a(k) represents the angular acceleration at the kth calculation cycle, and w exp represents the desired line-of-sight angular velocity, θ zero represents the desired sight angle, θ stop represents the sight angle of the current initial position, w(k) represents the angular velocity at the kth calculation cycle, θ(k) represents the angle at the kth calculation cycle, t s represents the operation cycle, t1 represents the time when the S1 stage ends; (22) Calculate the angle, angular velocity, and angular acceleration trajectory of the S2 stage. The control frame in the S2 stage moves at a uniform angular speed, and the line of sight angular velocity is equal to the desired velocity. The calculation formula is: In formula (2), θ2 represents the sight line position at the end of S1 stage, and t2 represents the time when S1 stage ends; (23) Calculate the angle, angular velocity, and angular acceleration trajectory of the S3 stage. The control frame in the S3 stage uniformly accelerates the angular motion so that the angular velocity of the line of sight changes direction and reaches ω3, so that when the angular velocity is 0 in the next deceleration stage, the angular position just returns to the preset angle of the next backsweep cycle. The calculation formula is: In formula (3), α max represents the maximum angular acceleration, ω3 represents the line of sight velocity at the end of stage S3, t3 represents the time at the end of stage S3, and θ3 represents the line of sight position at the end of stage S3; (24) Calculate the angle, angular velocity, and angular acceleration trajectory of the S4 stage. The control frame in the S4 stage uniformly decelerates the angular motion. When the line of sight motion in the S4 stage reaches the desired speed, the line of sight angle is also equal to the desired line of sight angle. The calculation formula is: Where t4 represents the time when the S4 stage ends.

3. The photoelectric platform frame backsweep compensation control method according to claim 1, characterized in that: Steps 1 to 4 are executed cyclically according to the servo control cycle to complete the backscan compensation.

Images