Rapid turning method for ship-borne optoelectronic equipment

Abstract

The invention discloses a rapid turning method for ship-borne optoelectronic equipment, which comprises the following steps of: firstly, drawing a phase trajectory diagram of motion characteristics of a scanning mirror according to an armature current output maximum value and a rotating speed amplitude limiting value, and then calculating and segmenting a switch control region and a closed-loop control region of the phase trajectory diagram according to the acceleration capability of the scanning mirror; and the fastest large-angle turning is realized by adopting switch control in the area outside the switch line, and the small-angle accurate positioning is realized by adopting conventional closed-loop control after entering the closed-loop control area. According to the turning method, the stable, accurate and fast functions of large-angle turning of the ship-borne optoelectronic equipment can be achieved, and the 90-degree large-angle turning time of the ship-borne optoelectronic equipment can be prolonged to 276 m from 330 ms.

Description

Technical Field

[0001] The invention belongs to the technical field of shipborne optoelectronic equipment control, and in particular relates to a method for quickly switching shipborne optoelectronic equipment. Background Art

[0002] Shipborne optoelectronic equipment has multi-directional, all-weather, high-tech reconnaissance and precision strike capabilities. As a channel and means to quickly and intuitively obtain information, it is widely used in military reconnaissance, disaster reconnaissance, resource forecasting and other fields.

[0003] Shipborne optoelectronic equipment often needs to be adjusted at a large angle during daily operation, and the adjustment time is also an important indicator for judging the rapid response capability of optoelectronic equipment. If only the PID algorithm is used during the adjustment process, problems such as large overshoot and long adjustment time will often occur. Summary of the invention

[0004] In view of the above deficiencies in the prior art, an object of the present invention is to provide a method for quickly turning around shipborne optoelectronic equipment.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a method for quickly turning around shipborne optoelectronic equipment, comprising the following steps:

[0006] S1, firstly draw a phase trajectory diagram of the motion characteristics of the scanning mirror according to the maximum value of the armature current output and the speed limit value;

[0007] S2, then calculating and segmenting the switch control area and the closed-loop control area of ​​the phase trajectory diagram according to the acceleration capability of the scanning mirror;

[0008] S3, finally, switch control is used in the area outside the switch line to achieve the fastest large-angle rotation, and after entering the closed-loop control area, conventional closed-loop control is used to achieve small-angle precise positioning.

[0009] Further, the step S1 is specifically as follows: first, the angular error X1 during the large-angle rotation of the optoelectronic device is set to be equal to θ * -θ, where θ * is the command angle, θ is the real-time angle, and the derivative of X1 gives Where X2 is the reverse speed of the scanning mirror during the rotation process; then a double-integral series control system is constructed, K represents the equivalent torque coefficient after conversion, I represents the armature current, and the state space equation of the control system angular position error and angular velocity can be written as Considering the maximum constraints of the scanning mirror speed and armature current, the equivalent maximum torque of the motor is defined as r = -KI max , the switch line equation is Then the phase trajectory diagram of the scanning mirror motion characteristics is obtained.

[0010] Further, the step S2 is specifically as follows: the right boundary point of the closed-loop control area is set as A, the intersection point of the maximum speed value of the scanning mirror and the switch line is set as B, and according to the formula Solve for the horizontal coordinate x of point B B ; When the scanning mirror accelerates from rest to full speed at full current, or decelerates from full speed to 0 at full current, record the angle change x of the scanning mirror △ , through the formula x B -x A =x △ Calculate the difference between the horizontal coordinates of point A and point B, and calculate the horizontal coordinate x of point A A =x B -x △ , and obtain the boundary points of the closed-loop control area.

[0011] Furthermore, in step S3, a closed-loop control area is set when the angle deviation is small, and when the switch control area enters the closed-loop control area, the phase trajectory is switched by the control algorithm to achieve precise positioning.

[0012] Furthermore, when the scanning mirror is turned at a large angle, the armature current outputs the maximum value first, and the scanning mirror begins to accelerate. When the speed reaches the maximum, the armature current I decays sharply to close to 0, and the scanning mirror maintains the maximum speed until it runs onto the switching curve. The current is quickly adjusted to the reverse maximum value, and the scanning mirror brakes to the origin.

[0013] The beneficial effects of the present invention are as follows: the present invention proposes for the first time a fast rotation method combining switch control based on the phase trajectory method and terminal closed-loop control for shipborne optoelectronic equipment, and the proposed rotation method can achieve the "stable, accurate and fast" function of large-angle rotation of shipborne optoelectronic equipment. Experimental results show that the 90° large-angle rotation time of shipborne optoelectronic equipment can be improved from 330ms to 276m. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a scanning mirror phase trajectory diagram proposed by the present invention;

[0015] Figure 2 The scanning mirror phase trajectory diagram including the closed-loop control area proposed by the present invention;

[0016] Figure 3 It is a comparison curve diagram of the angular position when the rotation strategy of the present invention and the traditional rotation method are rotated by 90 degrees;

[0017] Figure 4 It is a comparison curve of the angular velocity when the turning strategy of the present invention and the traditional turning method are turned by 90 degrees. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] The invention discloses a method for quickly switching shipborne optoelectronic equipment, which is a switching technology combining switch control based on a phase trajectory method with terminal closed-loop control, and includes the following steps.

[0020] S1, first, draw a phase trajectory diagram of the scanning mirror motion characteristics according to the maximum value of the armature current output and the speed limit value.

[0021] In the embodiment of the present invention, let X1 = θ * -θ is the angular error during large angle rotation, where θ * is the command angle, θ is the real-time angle, and the derivative of X1 gives Among them, X2 is the reverse rotation speed of the scanning mirror during the rotation process.

[0022] The system is regarded as a double-integral series system, K represents the equivalent torque coefficient after conversion, I represents the armature current, then the state space equation of the system angular position error and angular velocity can be written as

[0023] Considering the maximum value constraints of the scanning mirror speed and armature current, the equivalent maximum torque of the motor is defined as r = -KI max , then the switch line equation is The phase trajectory diagram of the scanning mirror is obtained as follows Figure 1 As shown, u in the figure represents the equivalent torque of the motor.

[0024] When the scanning mirror turns at a large angle, the current outputs the maximum value first, and the scanning mirror starts to accelerate. When the speed reaches the maximum, the armature current decays sharply and approaches 0. The scanning mirror maintains the maximum speed until it runs onto the switching curve. The current is quickly adjusted to the reverse maximum value, and the scanning mirror brakes to the origin.

[0025] S2, then, the switch control area and the closed-loop control area of ​​the phase trajectory diagram are calculated and segmented according to the acceleration capability of the scanning mirror.

[0026] The right boundary point of the closed-loop control area is set as A, and the intersection of the maximum speed value of the scanning mirror and the switch line is B. The horizontal coordinate of point B is defined as x B , which satisfies the equation We can solve for x BThe difference between the horizontal coordinates of point A and point B can be obtained by the following method. When the scanning mirror accelerates from rest to full speed under full current, the angle increment of the scanning mirror is recorded as x △ On the contrary, the scanning mirror will also rotate approximately x when it decelerates from full speed to 0 under full current. △ , that is, x B -x A =x △ Then, the horizontal coordinate of point A can be solved as x A =x B -x △ , that is, the boundary points of the closed-loop control area are obtained.

[0027] S3. Finally, switch control is used in the area outside the switch line to achieve the fastest large-angle rotation. After entering the closed-loop control area, conventional closed-loop control is used to achieve small-angle precise positioning.

[0028] During the scanning mirror braking process, due to the deviation of the state space equation and nonlinear disturbance factors, the scanning mirror running trajectory cannot always be on the switch line. The current value will switch repeatedly between the positive and negative maximum values, causing the scanning mirror to jitter and fail to converge to the origin. In order to solve this problem, a closed-loop control area should be set when the angle deviation is small. When the phase trajectory enters the closed-loop control area from the switch control area, the control algorithm is switched to achieve precise positioning. The scanning mirror phase trajectory diagram with closed-loop control area is shown in the figure below. Figure 2 As shown, u in the figure represents the equivalent torque of the motor.

[0029] The present invention aims to verify the effectiveness of the phase trajectory method for rapid rotation strategy when the scanning mirror of a certain shipborne optoelectronic equipment is rotated at a large angle. The rotation technology is based on the combination of switch control and terminal closed-loop control based on the phase trajectory method.

[0030] The maximum acceleration of a certain optoelectronic device scanning mirror under static working condition and full current can reach 14000° / s 2 , the maximum speed can reach 700° / s. Considering the influence of friction vibration and other factors under actual working conditions and avoiding the motor being in a locked-rotor state for a long time, the control current of the switch control area of ​​the scanning mirror is ±12A (90% locked-rotor current), and the switch line speed limit value is 600° / s. The calculation of the parameters involved in the fastest rotation strategy is shown in the following table.

[0031]

[0032] The advantages of the fastest switching strategy based on the phase trajectory method over conventional PID control are verified on optoelectronic devices.

[0033] The azimuth of the optoelectronic device is rotated by a large angle of 90 degrees. Figure 3The comparison of the positive 90-degree turn curve is shown. The blue line is the turn curve using the phase trajectory method described in the method of the present invention, and the red line is the turn curve under conventional PID closed-loop control. Taking 0.05° as the error band for 90-degree turn, and keeping 50ms within the error band as the in-place judgment time, it can be seen that the turn-in-place time t under conventional closed-loop control 原始 =330ms, optimized transfer time t 优化 = 276ms. The angular position curve of the phase locus method has no oscillation and can achieve convergence without overshoot.

[0034] Figure 4 The angular velocity curves of the two methods are compared. The phase trajectory method has no speed oscillation in the full current deceleration stage and can converge to zero faster.

[0035] The method of the present invention can verify the effectiveness of the phase trajectory method for rapid rotation strategy when the scanning mirror of shipborne optoelectronic equipment is rotated at a large angle.

[0036] The above embodiments are only illustrative of the principles and effects of the present invention, as well as some embodiments of its application. For those skilled in the art, several modifications and improvements may be made without departing from the creative concept of the present invention, and all of these belong to the protection scope of the present invention.

Claims

1. A method for rapid rotation of shipborne optoelectronic equipment, characterized in that: The steps include: S1, draw a phase trajectory diagram of the scanning mirror motion characteristics according to the maximum value of the armature current output and the speed limit value; S2, calculating and dividing the switch control area and the closed-loop control area of ​​the phase trajectory diagram according to the acceleration capability of the scanning mirror; S3, switch control is used in the area outside the switch line to achieve the fastest large-angle rotation, and closed-loop control is used after entering the closed-loop control area to achieve small-angle precise positioning.

2. A method for rapid rotation of shipborne optoelectronic equipment according to claim 1, characterized in that: The step S1 is specifically as follows: let the angular error X1 during the large angle rotation of the optoelectronic device = θ * -θ, where θ * is the command angle, θ is the real-time angle; taking the derivative of X1, we get Where X2 is the reverse rotation speed of the scanning mirror during the rotation process; a double-integral series control system is constructed, and the state space equation of the angular position error and angular velocity of the control system is expressed as Where K represents the equivalent torque coefficient after conversion, I represents the armature current, then considering the maximum value constraints of the scanning mirror speed and the armature current, the equivalent maximum torque of the motor is defined as r = -KI max , the switch line equation is Then the phase trajectory diagram of the scanning mirror motion characteristics is obtained.

3. A method for rapid rotation of shipborne optoelectronic equipment according to claim 2, characterized in that: The step S2 is specifically as follows: select the right boundary point of the closed-loop control area as A, the intersection point of the maximum speed value of the scanning mirror and the switch line as B, and according to the formula Solve for the horizontal coordinate x of point B B ; When the scanning mirror accelerates from rest to full speed at full current, or decelerates from full speed to 0 at full current, record the angle change x of the scanning mirror △ , through the formula x B -x A =x △ Calculate the difference between the horizontal coordinates of point A and point B, and calculate the horizontal coordinate x of point A A =x B -x △ , and obtain the boundary points of the closed-loop control area.

4. A method for rapid rotation of shipborne optoelectronic equipment according to claim 1, 2 or 3, characterized in that: In the step S3, a closed-loop control area is set when the angle deviation is small, and precise positioning is achieved by controlling the switching phase trajectory when the switch control area enters the closed-loop control area.

5. A method for rapid rotation of shipborne optoelectronic equipment according to claim 4, characterized in that: When the scanning mirror is turned at a large angle, the armature current outputs the maximum value and the scanning mirror begins to accelerate. When the speed reaches the maximum, the armature current I decays sharply and approaches 0. The scanning mirror maintains the maximum speed until it runs onto the switching curve. The current is quickly adjusted to the reverse maximum value and the scanning mirror brakes to the origin.

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