Method for controlling dynamic balance of two-axis turntable

Abstract

The invention relates to the technical field of two-axis turntable dynamic balance control, and particularly discloses a two-axis turntable dynamic balance control method, which comprises the following steps of: 1, detecting an inclination angle of a stabilized platform through a sensing unit arranged on the stabilized platform; 2, obtaining an execution action of an execution structure through a control unit according to the inclination angle of the stabilized platform; and thirdly, the control unit controls the driving unit to enable the execution structure to execute the execution action, so that the inclination angle of the stable platform is changed. Furthermore, the sensing unit is an angle sensor. Measurement on a moving carrier is not affected by carrier movement, so that fine measurement is achieved, parameters are dynamically adjusted when complex road conditions and normal road conditions in the actual use process are handled, different parameters are used in different road sections, and the overall precision is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of dynamic balance control of a two-axis turntable, and in particular to a control method for the dynamic balance of a two-axis turntable. Background Art

[0002] Against the backdrop of global warming, extreme weather and climate events in my country are increasing and intensifying. The requirements for coordinating development and security to prevent major risks of meteorological disasters are becoming increasingly higher, and the people's demands for meteorological services for a better life are becoming more diverse.

[0003] At present, key core meteorological technologies have achieved independent control, modern meteorological scientific and technological innovation, services, business and management systems have become more sound, the capabilities of precise monitoring, accurate forecasting and refined services have been continuously improved, the meteorological service supply capacity and equalization level have been significantly improved, and meteorological modernization has reached a new level.

[0004] For the vast uninhabited plateau areas that lack infrastructure such as water and electricity, it is difficult for ground meteorological observation stations to fully cover them. Satellite observations have difficulty in making precise forecasts of natural disasters. Meteorological departments conduct precise measurements of dynamic carriers in areas that are difficult to cover. Existing meteorological equipment such as lidar, wind profilers, and microwave radiometers are mainly used in fixed meteorological stations. When measuring on mobile carriers, they are affected by the movement of the carriers and cannot make precise measurements. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a control method for the dynamic balance of a two-axis turntable in view of the deficiencies in the above-mentioned prior art, which is not affected by the movement of the carrier when measuring on a moving carrier, thereby achieving refined measurement.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a control method for dynamic balancing of a two-axis turntable, comprising: Detecting the tilt angle of the stable platform by a sensing unit installed on the stable platform; Obtaining an execution action of the execution structure according to the tilt angle of the stable platform by a control unit; The control unit controls the driving unit so that the execution structure executes the execution action, so that the inclination angle of the stable platform changes.

[0007] Furthermore, the sensing unit is an angle sensor.

[0008] Furthermore, the control unit obtains the execution action of the execution structure according to the inclination angle of the stable platform, including: Record the tilt angle detected by the angle sensor at each historical moment and the current moment; Eliminate the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment; The execution action of the execution structure is generated according to the tilt angle detected by the angle sensor at the current moment and in combination with the tilt angle detected by the angle sensor at the previous moment.

[0009] Furthermore, the method of eliminating the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment includes: Preprocessing will be performed based on the tilt angles detected by the angle sensor at various historical moments and the current moment; The response time of the execution structure is adjusted to skip the resonant frequencies in all pre-processed tilt angles, thereby eliminating the resonance of the tilt angles.

[0010] Furthermore, the preprocessing includes equalization, shaping filtering and filtering out narrowband signals in sequence.

[0011] Furthermore, the generating of the execution action of the execution structure according to the tilt angle detected by the angle sensor at the current moment in combination with the tilt angle detected by the angle sensor at the previous moment includes: Determine whether the tilt angle detected by the angle sensor at the current moment exceeds the set angle; If the set angle is not exceeded, no operation will be performed; If the angle exceeds the set angle, a compensation amount is determined according to the tilt angle detected by the angle sensor at the last moment, and an execution action of the execution structure is generated according to the compensation amount.

[0012] Furthermore, the tilt angle can be decomposed into a roll angle and a pitch angle according to the direction; and the set angle can be decomposed into a set roll angle and a set pitch angle according to the direction.

[0013] Furthermore, the range of the set roll angle is [-12.5, 12.5]; the range of the set pitch angle is [-25, 25].

[0014] Compared with the prior art, the present invention has the following advantages: The present invention provides a control method for the dynamic balance of a two-axis turntable. When dealing with complex road conditions and normal road conditions in actual use, parameters are dynamically adjusted, and different parameters are used in different road sections, thereby greatly improving the overall accuracy.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1The present invention provides a schematic diagram of the overall flow of a control method for dynamic balancing of a two-axis turntable.

[0017] Figure 2 A structural schematic diagram of a two-axis turntable dynamic balance control method provided by the present invention relies on a carrier. DETAILED DESCRIPTION

[0018] like Figure 1 As shown, the present invention provides a control method for dynamic balancing of a two-axis turntable, such as Figure 1 As shown, it includes the following steps: Detecting the tilt angle of the stable platform by a sensing unit installed on the stable platform; Obtaining an execution action of the execution structure according to the tilt angle of the stable platform by a control unit; The control unit controls the driving unit so that the execution structure executes the execution action, so that the inclination angle of the stable platform changes.

[0019] The method provided by the present invention is based on Figure 2 The vector shown, Figure 2 It is the specific structure of the carrier, in which the sensing unit is used to detect the inclination angle of the stable platform, the stable platform is used to place the two-axis turntable, the execution structure is used to execute the execution action, the execution action can adjust the angle of the stable platform, the driving unit is used to make the execution structure perform the corresponding execution action, and the control unit is the core part of the present invention, which is used to control the driving unit according to the inclination angle of the stable platform detected by the sensing unit, so that the execution structure performs the corresponding execution action, thereby changing the inclination angle of the stable platform, and then dynamically adjusting the parameters when dealing with complex road conditions and normal road conditions in actual use, using different parameters in different sections, and greatly improving the overall accuracy.

[0020] In the present invention, the sensing unit is an angle sensor. An angle sensor is used to control the entire system. The sensor is both the source data and the feedback angle, which perfectly solves the accuracy error and measurement error introduced by multiple sensors in the traditional system, as well as the problems of low real-time and synchronization.

[0021] At the same time, the execution structure of the present invention adopts a motor group, and adopts the motor group to perform feedback compensation, so as to solve the problems of slow dynamic response and high noise in the traditional cylinder group compensation mechanism.

[0022] The software part of the control unit of the present invention adopts an advanced control algorithm, which is combined with a resonance suppression algorithm to form a complete control system, thereby improving the accuracy and perfectly avoiding the resonance problem.

[0023] Specifically, the control unit obtains the execution action of the execution structure according to the inclination angle of the stable platform, including: Record the tilt angle detected by the angle sensor at each historical moment and the current moment; Eliminate the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment; The execution action of the execution structure is generated according to the tilt angle detected by the angle sensor at the current moment and in combination with the tilt angle detected by the angle sensor at the previous moment.

[0024] The method of eliminating the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment includes: Preprocessing will be performed based on the tilt angles detected by the angle sensor at various historical moments and the current moment; The response time of the execution structure is adjusted to skip the resonant frequencies in all pre-processed tilt angles, thereby eliminating the resonance of the tilt angles.

[0025] The preprocessing includes equalization, shaping filtering and filtering out narrowband signals in sequence.

[0026] Specifically, the generating of the execution action of the execution structure according to the tilt angle detected by the angle sensor at the current moment in combination with the tilt angle detected by the angle sensor at the previous moment includes: Determine whether the tilt angle detected by the angle sensor at the current moment exceeds the set angle; If the set angle is not exceeded, no operation will be performed; If the angle exceeds the set angle, a compensation amount is determined according to the tilt angle detected by the angle sensor at the last moment, and an execution action of the execution structure is generated according to the compensation amount.

[0027] The tilt angle can be decomposed into a roll angle and a pitch angle according to the direction; and the set angle can be decomposed into a set roll angle and a set pitch angle according to the direction.

[0028] The range of the set roll angle is [-12.5, 12.5]; the range of the set pitch angle is [-25, 25].

[0029] When implementing, the following methods are used: 1) The system records the data returned by the sensor at the previous moment; 2) Based on the sensor return data recorded multiple times, calculate whether there is resonance or oscillation phenomenon, 3) Using a method similar to histogram equalization in image processing, the sensor data collected over a period of time is equalized, and shaping filtering is performed to filter out narrowband signals so that the sensor data is evenly distributed; 4) Further adjust the system response time to meet the accuracy requirements, thereby skipping the resonant frequency to avoid oscillation caused by too fast adjustment of the system or larger errors caused by too slow adjustment; 5) The above steps effectively solve the resonance and oscillation problems and provide a relatively stable environment for the next adjustment; 6) The current data returned by the sensor determines whether the angle exceeds the limit angle (-12.5≤roll angle≤12.5, -25≤pitch angle≤25). If it exceeds the limit, the pitch and roll movements in the direction of the limit will be stopped in time without affecting the rotation when returning; 7) Further determine whether the limit switch has been reached, and when reached, stop the movement in the pitch and roll limit directions in time without affecting the rotation when returning; 8) Compare with the previous data and calculate the amount of compensation required for the roll and pitch axes under the current data; 9) Further, based on the calculated compensation amount, determine whether it is a large error or a small error; 10) Further, according to the judgment results, dynamically adjust the parameters and finally calculate the compensation amount; 11) Further, the calculated compensation amount is proportionally amplified with the pitch axis motor and the roll axis motor, and then converted into motor rotation instructions, which are respectively sent to the roll and pitch axis motor drivers for execution; 12) Record the data returned by the current sensor to provide data for the next calculation, forming a system loop.

[0030] The above 12 steps are one of the implementation processes performed by the control unit.

[0031] The present invention also uses an effective filtering algorithm to eliminate the errors of the sensor itself and during measurement, providing data support for subsequent work. The elimination method is as follows: 1) Experimentally measure the dynamic error of the sensor and the system error of the system, and adjust the measurement error and system error parameters; 2) Compensate and suppress the data returned by the sensor based on the calculated error data.

[0032] Since the core of the present invention is to optimize the data collected by the angle sensor, so as to have a more accurate angle, and thus make the executed action more accurate, the present invention applies the control method, this time for sports cars, and can be expanded to aircraft, etc. The present invention has conducted certain data experiments and the stability accuracy of roll and pitch during the driving process of the car is no more than 0.5 degrees. After the sports car has conducted a thorough investigation of the road environment and the tracking algorithm has been optimized synchronously, the stability accuracy of the stable platform (the stable platform is the dynamic balancing platform used by the method of the present invention) meets the requirements of various road conditions.

[0033] The stabilizing platform is installed on the vehicle carrier and can measure the actual posture of the platform in real time. After the spatial model is transformed, the compensation platform posture is solved by inverse calculation, which effectively isolates the movement of the carrier and ensures that the device installed on the stabilizing platform will not be affected by the movement of the carrier when working.

[0034] The purpose of this test is to verify the leveling accuracy of the stable platform under various road conditions. The test product information is shown in Table 1: Table 1 Test product information

[0035] The stable platform load is 100kg, and the accuracy requirements are shown in Table 2: Table 2 Accuracy requirements

[0036] Note: 1. Rural roads, gravel roads, dirt roads, etc.: 30-40km / h; 2. Urban asphalt road: 40-60km / h; 3. Highway: 60-90km / h.

[0037] The test method is as follows: 1-220V power supply uses vehicle power supply, and the test environment is built on the test vehicle; 2-Power on the stable platform and wait for the sensor to output accurate angle information; 3- Drive the test car to the highway (the road section is selected according to the actual situation); 4- Driving on the highway at an average speed of 90 km / h; 5- Click Start Test on the test computer to collect angles; 6- Drive the test vehicle to the city's oil-assette road (the road section is selected according to the actual situation); 7- Driving on the city's oil-paved road at an average speed of 60 km / h; 8- Click Start Test on the test computer to collect angles; 9- Drive the test car to a rural road (the road section is selected according to the actual situation); 10- Driving on the city's oil-paved road at an average speed of 40 km / h; 11- Click Start Test on the test computer to collect angles; 12-Record the test results, as shown in Table 3: Table 3 Record items

[0038] The equipment and instruments used are shown in Table 4: Table 4 List of test equipment and instruments

[0039] The sports car test route passes through the Third Ring Road, urban roads and rural roads.

[0040] The test results are summarized as follows.

[0041] Result 1: Third Ring Road, speed 62km / h; Roll leveling accuracy: 0.23; The pitch leveling accuracy is: 0.26.

[0042] Result 2: The vehicle slows down when the red light on the Third Ring Road is turned on; Roll leveling accuracy: 0.31; The pitch leveling accuracy is: 0.19.

[0043] Result 3: The vehicle accelerates after passing the traffic light on the Third Ring Road; Roll leveling accuracy: 0.27; The pitch leveling accuracy is: 0.20.

[0044] Result 4: Urban road, speed 74km / h; Roll leveling accuracy: 0.21; The pitch leveling accuracy is: 0.26.

[0045] Result 5: Urban road, speed 69km / h; Roll leveling accuracy: 0.17; The pitch leveling accuracy is: 0.26.

[0046] Result 6: Rural road, speed 36km / h; Roll leveling accuracy: 0.127; The pitch leveling accuracy is: 0.36.

[0047] Result 7: Rural uphill road, speed 28m / h; Roll leveling accuracy: 0.44; The pitch leveling accuracy is: 0.48.

[0048] Result 8: Rural uphill road, speed 28m / h; Roll leveling accuracy: 0.33; The pitch leveling accuracy is: 0.41.

[0049] Result 9: Rural uphill road, speed 34m / h; Roll leveling accuracy: 0.48; The pitch leveling accuracy is: 0.53.

[0050] Result 10: Rural downhill road, speed 23m / h; Roll leveling accuracy: 0.48; The pitch leveling accuracy is: 0.56.

[0051] During the first sports car test, the roll angle occasionally deviated by 0.6 degrees while the car was driving, and the pitch stability accuracy was no more than 0.5 degrees. However, roll oscillation occurred when the car stopped during the test. After the sports car test was completed that night, the filtering algorithm and PID parameters were adjusted in the program and verified on the rocking platform.

[0052] In the second sports car test, the accuracy of roll and pitch from the Third Ring Road to the foot of Tianzi Valley was kept below 0.5 degrees, and there was no roll oscillation during parking. However, the pitch accuracy showed deviations of 0.53 degrees and 0.56 degrees a few minutes before and after the car turned around. There were many potholes on this section of road. After the sports car test, the secondary PID parameters were adjusted. That night, the stable platform was tested on the rocking table for 1 hour with an accuracy of 0.32 for roll and 0.39 for pitch.

[0053] After two tests of the road conditions with the sports car and optimization of the tracking algorithm, the stability accuracy of the stable platform met the technical requirements for several road conditions.

[0054] The following is a comparison of the roughness of the bottom surface of the sports car track and the unsteadiness of the dynamic platform of the present invention, as shown in Table 5: Table 5 The measured roughness of the bottom surface of the sports car track and the unsteadiness of the dynamic platform of the present invention

[0055] In summary, the present invention dynamically adjusts parameters when dealing with complex road conditions and normal road conditions in actual use, uses different parameters in different road sections, and greatly improves the overall accuracy.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A control method for dynamic balancing of a two-axis turntable, characterized in that: include: Detecting the tilt angle of the stable platform by a sensing unit installed on the stable platform; Obtaining an execution action of the execution structure according to the tilt angle of the stable platform by a control unit; Controlling the driving unit through the control unit causes the execution structure to execute the execution action, so that the inclination angle of the stable platform changes; Wherein, the sensing unit is an angle sensor; The control unit obtains the execution action of the execution structure according to the inclination angle of the stable platform, including: Record the tilt angle detected by the angle sensor at each historical moment and the current moment; Eliminate the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment; The execution action of the execution structure is generated according to the tilt angle detected by the angle sensor at the current moment and in combination with the tilt angle detected by the angle sensor at the previous moment.

2. A two-axis turntable dynamic balancing control method according to claim 1, characterized in that: The method of eliminating the resonance of the tilt angle according to the tilt angle detected by the angle sensor at each historical moment and the current moment includes: Preprocessing will be performed based on the tilt angles detected by the angle sensor at various historical moments and the current moment; The response time of the execution structure is adjusted to skip the resonant frequencies in all pre-processed tilt angles, thereby eliminating the resonance of the tilt angles.

3. A two-axis turntable dynamic balancing control method according to claim 2, characterized in that: The preprocessing includes equalization, shaping filtering and filtering out narrowband signals in sequence.

4. A two-axis turntable dynamic balancing control method according to claim 1, characterized in that: The step of generating the execution action of the execution structure according to the tilt angle detected by the angle sensor at the current moment and the tilt angle detected by the angle sensor at the previous moment includes: Determine whether the tilt angle detected by the angle sensor at the current moment exceeds the set angle; If the set angle is not exceeded, no operation will be performed; If the angle exceeds the set angle, a compensation amount is determined according to the tilt angle detected by the angle sensor at the last moment, and an execution action of the execution structure is generated according to the compensation amount.

5. A control method for dynamic balancing of a two-axis turntable according to claim 4, characterized in that: The tilt angle can be decomposed into a roll angle and a pitch angle according to the direction; the set angle can be decomposed into a set roll angle and a set pitch angle according to the direction.

6. A two-axis turntable dynamic balancing control method according to claim 5, characterized in that: The range of the set roll angle is [-12.5, 12.5]; the range of the set pitch angle is [-25, 25].

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