Shipborne dome control method and system

Abstract

The invention relates to the technical field of automation systems, in particular to a shipborne dome control method and system, and the method comprises the steps: obtaining the position data # imgabs0 # of optical measurement equipment and the position data # imgabs1 # of a shipborne dome in real time; when the optical measurement equipment stops rotating, if an absolute value of a difference value between a first azimuth angle corresponding to the position data # imgabs2 # of the optical measurement equipment and a second azimuth angle corresponding to the position data # imgabs3 # of the shipborne dome is greater than or equal to a first preset value, controlling the shipborne dome to rotate, the absolute value of the difference between the first azimuth angle and the second azimuth angle is smaller than a first preset value; and when the optical measurement equipment rotates to track the target, the absolute value of the difference value between the first azimuth angle and the second azimuth angle is smaller than a second preset value in the process that the shipborne dome rotates along with the optical measurement equipment in real time by utilizing a PID control algorithm and adopting speed position closed-loop control. The method is at least beneficial to improving the rotation precision of the shipborne dome along with the optical measurement equipment.

Description

Technical Field

[0001] The invention belongs to the technical field of automation systems, and in particular relates to a shipborne dome control method and system. Background Art

[0002] The dome used for astronomical observation is a hemispherical structure. When observation is required, the two hemispheres are opened. It does not have a follow-up function and can only be used when the weather is good. The ship-borne dome is mainly used as a protective cover for optical measurement equipment. In order to prevent the damage to the mechanical structure and optical components of the optical measurement equipment caused by salt spray and rainy weather at sea, a skylight is opened in the rotating part of the ship-borne dome. The size of the skylight matches the caliber of the optical measurement equipment.

[0003] The electrical control system of the shipborne dome is mainly used to control the automatic opening and closing of the skylight and control the synchronous rotation of the shipborne dome and the optical measurement equipment. The shipborne dome needs to meet the needs of the optical measurement equipment to track the target, so the structure of the shipborne dome is different from that of the astronomical dome. Normally, the diameter of the shipborne dome is about 8 meters, the width of the skylight opening is about 2 meters, the diameter of the main optical system of the optical measurement equipment is about 1 meter, and the diameter of the lens barrels on both sides of the main optical system are about 200 mm. In order to ensure that the optical measurement equipment always maintains the best observation state, the shipborne dome and the optical measurement equipment are required to have a high synchronous rotation accuracy, thereby ensuring that the skylight is facing the main optical system. However, the weight of the shipborne dome is relatively large, and it is difficult to achieve high-precision synchronous tracking. Summary of the invention

[0004] In view of this, the present invention aims to provide a shipborne dome control method and system, which at least helps to improve the accuracy of the shipborne dome rotating following the optical measurement equipment.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: The invention provides a shipborne dome control method, comprising: aligning the zero position of the dome encoder with the zero position of the optical measuring device encoder; acquiring the position data of the optical measuring device in real time; and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference between the corresponding second azimuth angle is greater than or equal to the first preset value, the shipborne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; when the optical measurement device rotates to track the target, the PID control algorithm is used and the speed position closed-loop control is adopted to control the rotation speed of the shipborne dome in real time to drive the shipborne dome to follow the optical measurement device in real time. In the process of the shipborne dome following the rotation of the optical measurement device in real time, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the second preset value; wherein the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

[0006] Furthermore, the rotation speed of the ship-borne dome is controlled in real time by using a PID control algorithm and a speed position closed loop control, so as to drive the ship-borne dome to rotate in real time following the optical measuring device, including: obtaining the rotation speed of the optical measuring device in real time and the rotation speed of the ship-borne dome ; When the rotation speed of the optical measuring device When the corresponding angular velocity is less than the first preset velocity, the digital signal voltage control value DA=0.8×( - ); When the rotation speed of the optical measuring device When the corresponding angular velocity is greater than or equal to the first preset velocity, the digital signal voltage control value DA=K1 output by the integrated controller to the dome motor driver - )+K2( ), where K1=6, K2=166.7, and the first preset speed is 2° / s.

[0007] Furthermore, the rotation speed of the optical measuring device is obtained in real time and the rotation speed of the ship-borne dome Includes: Get the current position data of the ship dome and the position data of the shipborne dome in the previous frame ; Calculate the speed information of the ship's dome , , f1 is the frequency at which the dome encoder sends position data, and f2 is the speed information of the shipborne dome. Zero crossing is performed to obtain the rotation speed of the ship-borne dome ; Get the current position data of the optical measurement device and the position data of the optical measuring device in the previous frame ; Calculate the speed information of the optical measuring device , , f2 is the frequency at which the optical measuring device encoder sends position data, and the speed information of the optical measuring device Perform zero-crossing processing to obtain the rotation speed of the optical measuring device .

[0008] Further, the speed information of the ship-borne dome Zero crossing is performed to obtain the rotation speed of the ship-borne dome Includes: Get the full code value M of the dome encoder, if is greater than M / 2, then the rotation speed of the ship-borne dome M, if is less than -M / 2, then the rotation speed of the ship-borne dome +M, if -M / 2≤ ≤M / 2, then the rotation speed of the ship-borne dome ; Speed ​​information for optical measuring equipment Perform zero-crossing processing to obtain the rotation speed of the optical measuring device Including: Get the full code value N of the optical measurement device encoder, if is greater than N / 2, then the current rotation speed of the optical measuring device N, if is less than -N / 2, then the rotation speed of the optical measuring device N, if -N / 2≤ ≤N / 2, then the rotation speed of the optical measuring device ; where M=N.

[0009] Furthermore, an integrated controller is used to obtain information sent by the optical measurement equipment encoder and the information sent by the dome encoder. The information sent by the optical measurement equipment encoder includes the position data of the optical measurement equipment, and the information sent by the dome encoder includes the position data of the shipborne dome. The frequency of the optical measurement equipment encoder sending the position data is 1KHz, the frequency of the dome encoder sending the position data is 200Hz, the communication frequency of the integrated controller is 200Hz, and the frequency of the integrated controller processing information is 100Hz.

[0010] Further, when the optical measuring device stops rotating, controlling the shipborne dome to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than a first preset value comprises: using the integrated controller to output a digital signal voltage control value DA=k×( - ),in, The relationship between the absolute value s and k is: when 0<s≤50, k=0; when 50<s≤2000, k=0.6; when 2000<s, k=1.

[0011] Another aspect of the invention provides a ship-borne dome control system, comprising: an integrated controller, the integrated controller adopts a FPGA and DSP combined architecture, and the integrated controller is at least configured to: obtain the position data of the optical measuring device in real time and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference between the corresponding second azimuth angle is greater than or equal to the first preset value, the shipborne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; when the optical measurement device rotates to track the target, the PID control algorithm is used and the speed position closed-loop control is adopted to control the rotation speed of the shipborne dome in real time to drive the shipborne dome to follow the optical measurement device in real time. In the process of the shipborne dome following the rotation of the optical measurement device in real time, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the second preset value; wherein the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

[0012] Compared with the prior art, the invention can achieve the following beneficial effects: when the optical measuring device is in use, the skylight is fully opened and fixed behind the ship-borne dome. At this time, the weight distribution of the ship-borne dome is uneven, and the rotation accuracy of the ship-borne dome depends largely on the weight and state of the ship-borne dome. The ship-borne dome weighs more than ten tons, and it is very difficult to control. The invention adopts a PID control algorithm to control the rotation of the ship-borne dome, which is beneficial to improving the stability and follow-up accuracy of the rotation of the ship-borne dome. Specifically, the position information of the ship-borne dome, the rotation speed information of the ship-borne dome, the position information of the optical measuring device and the rotation speed information of the optical measuring device are obtained in real time. The position information of the shipborne dome, the rotation speed information of the shipborne dome, the position information of the optical measuring device and the rotation speed information of the optical measuring device are comprehensively analyzed in real time. Different control strategies are adopted in different scenarios to ensure that the speed at which the shipborne dome rotates following the optical measuring device can be continuously adjusted according to the position difference between the two and the speed of the optical measuring device, so as to avoid the shipborne dome moving too fast, resulting in the heavy shipborne dome being unable to stop rotating when the optical measuring device stops rotating, and to ensure that the control of the shipborne dome can meet the requirement of aligning the skylight with the main optical system of the optical measuring device, so as to avoid the shipborne dome affecting the observation target of the optical measuring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 A schematic structural diagram of a shipborne dome control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0014] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0015] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0016] In the description of the invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, the meaning of "multiple" is two or more.

[0017] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0018] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0019] refer to Figure 1 On the one hand, the present invention provides a shipborne dome control method for controlling the shipborne dome to rotate with the optical measurement equipment, that is, the follow-up control of the shipborne dome, to ensure that when the optical measurement equipment tracks the target, the skylight position of the shipborne dome always corresponds to the main optical system of the optical measurement equipment, thereby reducing the impact of the shipborne dome on the optical measurement equipment tracking the target. It should be noted that the shipborne dome control method provided by the present invention is implemented based on the shipborne dome control system.

[0020] In some embodiments, the ship-borne dome control system includes: a ship-borne dome, a dome encoder, a dome motor, a dome motor driver, and an integrated controller. The dome encoder can be a 16-bit encoder. The dome encoder is connected to the ship-borne dome axis. The ship-borne dome rotates one circle with the ship-borne dome axis. The dome encoder rotates 360°. The dome encoder can be electronically cleared. The communication interface of the dome encoder can be RS422. The communication interface of the dome encoder is used to receive the sampled external synchronization signal and send position data. The position data is the code value of the encoder. The dome motor is used in conjunction with the dome motor driver. The dome motor can use a three-phase asynchronous motor. The dome motor driver can use a frequency converter. One ship-borne dome can be installed with 2 dome motors and 1 dome motor driver. The maximum driving voltage of the dome motor driver can be 5V, and its minimum operating voltage can be 0.01V. The dome motor is used to drive the ship-borne dome to rotate. The integrated controller outputs a digital signal voltage control value to the dome motor driver to control the rotation speed of the dome motor. The digital signal voltage control value is a digital signal. The digital signal voltage control value can be converted into an analog signal by using a digital-to-analog conversion chip and then input into the dome motor driver. The integrated controller is the main core module for controlling the rotation of the ship-borne dome. The core chip of the integrated controller may include TMS320F2812. The integrated controller may also include a 4-way RS422 serial port chip, a 1-way clear position controller, and multiple IO interfaces.

[0021] The shipborne dome control method includes: aligning the zero position of the dome encoder with the zero position of the optical measuring device encoder; acquiring the position data of the optical measuring device in real time and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference of the corresponding second azimuth angle is greater than or equal to the first preset value, the ship-borne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; when the optical measurement device rotates to track the target, the PID (Proportion Integral Differential) control algorithm is used and the speed position closed-loop control is adopted to control the rotation speed of the ship-borne dome in real time, so as to drive the ship-borne dome to follow the rotation of the optical measurement device in real time. During the process of the ship-borne dome following the rotation of the optical measurement device in real time, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the second preset value; wherein the first preset value is not greater than 10″, and the second preset value is not greater than 2°. That is to say, when the optical measurement device rotates, it is ensured that the difference between the azimuth angle of the ship-borne dome and the azimuth angle of the optical measurement device is less than 2°. When the optical measurement device stops, it is ensured that the difference between the azimuth angle of the ship-borne dome and the azimuth angle of the optical measurement device is less than 10″, so as to align the skylight with the main optical system of the optical measurement device to avoid the ship-borne dome from affecting the target observed by the optical measurement device.

[0022] It should be noted that the position data of the optical measurement device This is the code value of the optical measuring equipment encoder and the position data of the ship-borne dome. This is the code value of the dome encoder.

[0023] It should be noted that the purpose of the shipborne dome control method provided by the present invention is to ensure that the fully opened skylight is directly opposite to the main optical system of the optical measurement equipment.

[0024] Further, when the optical measuring device stops rotating, controlling the shipborne dome to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than a first preset value comprises: using the integrated controller to output a digital signal voltage control value DA=k×( - ),in, The relationship between the absolute value s and k is: when 0<s≤50, k=0; when 50<s≤2000, k=0.6; when 2000<s, k=1. It should be noted that the change of k value is to prevent rotation overshoot and avoid the vibration of the ship-borne dome.

[0025] Furthermore, the rotation speed of the ship-borne dome is controlled in real time by using a PID control algorithm and a speed position closed loop control, so as to drive the ship-borne dome to rotate in real time following the optical measuring device, including: obtaining the rotation speed of the optical measuring device in real time and the rotation speed of the ship-borne dome ; When the rotation speed of the optical measuring device When the corresponding angular velocity is less than the first preset velocity, the digital signal voltage control value DA=0.8×( - ); When the rotation speed of the optical measuring device When the corresponding angular velocity is greater than or equal to the first preset velocity, the digital signal voltage control value DA=K1 output by the integrated controller to the dome motor driver - )+K2( ), where K1=6, K2=166.7, and the first preset speed is 2° / s. Thus, according to the rotation speed of the optical measuring device The magnitude relationship between the corresponding angular velocity and the first preset velocity determines the magnitude of the digital signal voltage control value output by the integrated controller to the dome motor driver, thereby preventing the rotation of the shipborne dome from overshooting.

[0026] In some embodiments, the rotation speed of the optical measuring device is obtained in real time. and the rotation speed of the ship-borne dome Includes: Get the current position data of the ship dome and the position data of the shipborne dome in the previous frame ; Calculate the speed information of the ship's dome , , f1 is the frequency at which the dome encoder sends position data, and f2 is the speed information of the shipborne dome. Zero crossing is performed to obtain the rotation speed of the ship-borne dome ; Get the current position data of the optical measurement device and the position data of the optical measuring device in the previous frame ; Calculate the speed information of the optical measuring device , , f2 is the frequency at which the optical measuring device encoder sends position data, and the speed information of the optical measuring device Perform zero-crossing processing to obtain the rotation speed of the optical measuring device .

[0027] In some embodiments, the speed information of the shipboard dome Zero crossing is performed to obtain the rotation speed of the ship-borne dome Includes: Get the full code value M of the dome encoder, if is greater than M / 2, then the rotation speed of the ship-borne dome M, if is less than -M / 2, then the rotation speed of the ship-borne dome +M, if -M / 2≤ ≤M / 2, then the rotation speed of the ship-borne dome ; Speed ​​information for optical measuring equipment Perform zero-crossing processing to obtain the rotation speed of the optical measuring device Including: Get the full code value N of the optical measurement device encoder, if is greater than N / 2, then the current rotation speed of the optical measuring device N, if is less than -N / 2, then the rotation speed of the optical measuring device N, if -N / 2≤ ≤N / 2, then the rotation speed of the optical measuring device ; where M=N.

[0028] In some embodiments, the dome encoder is a 16-bit encoder, and the full code value M is 65536. For convenience of calculation, the 16-bit information of the optical measurement device is taken, and the full code value N is 65536.

[0029] In some embodiments, under the premise of ensuring the follow-up accuracy of the shipborne dome following the rotation of the optical measuring device, the maximum angular velocity of the shipborne dome controlled by the integrated controller is 30° / s, and the maximum angular acceleration of the shipborne dome controlled by the integrated controller is 15° / s. 2 The angular velocity of the optical measuring device in normal operation is 10° / s, and the angular acceleration of the optical measuring device in normal operation is 7.5° / s 2 .

[0030] Further, an integrated controller is used to obtain information sent by the optical measuring device encoder and information sent by the dome encoder, the information sent by the optical measuring device encoder includes the position data of the optical measuring device, and the information sent by the dome encoder includes the position data of the ship-borne dome; the frequency of the optical measuring device encoder sending the position data is 1KHz, the frequency of the dome encoder sending the position data is 200Hz, the communication frequency of the integrated controller is 200Hz, and the frequency of the integrated controller processing information is 100Hz. The reason for this setting is that in order to ensure that the ship-borne dome rotates synchronously with the optical measuring device, it is necessary to ensure that the data of the optical measuring device, the dome encoder, and the integrated controller are synchronized, and the three modules of the optical measuring device, the dome encoder, and the integrated controller all work according to the external synchronization frequency provided by the optical measuring device timing terminal, and the tracking accuracy of the optical measuring device is relatively high, so the optical measuring device encoder sends the position data at a frequency of 1KHz, the dome encoder sends the position data of the ship-borne dome at a frequency of 200Hz, and the communication frequency of the integrated controller is 200Hz. Moreover, since the ship-borne dome has a heavy deadweight and a large rotational inertia, the integrated controller processes information at a relatively low frequency.

[0031] To achieve stable rotation of the shipborne dome, it is necessary to confirm whether the working status of the optical measuring device, the shipborne dome, and the integrated controller are normal, otherwise it is easy to cause abnormal rotation of the shipborne dome. Therefore, in some embodiments, a self-test module is provided inside the integrated controller, and the self-test module is automatically started when the integrated controller is powered on. The self-test content includes judging whether the working status of the main chip of the integrated controller is normal, whether the communication module is normal, whether the position data sent by the optical measuring device encoder can be stably received, and whether the position data sent by the dome encoder can be stably received. If the self-test of the integrated controller is abnormal, the display screen prompts the operator to check the working status indicator light of the integrated controller, the working status of the optical measuring device encoder, and the working status of the dome encoder until the working status of the optical measuring device, the shipborne dome, and the integrated controller are restored to normal, and the display screen prompts the operator to perform the follow-up control operation of the shipborne dome; if the self-test of the integrated controller is normal, the real-time acquired optical measuring device position information and the shipborne dome position information are put into the cache pool, and the position data of two consecutive frames of the shipborne dome are extracted to calculate the speed information of the shipborne dome; and the same method is used to calculate the speed information of the optical measuring device. Specifically, the above calculation can be referred to. and The steps are not described in detail here.

[0032] It should be noted that after the shipborne dome control system is powered on for the first time, the operator is required to adjust the optical measuring device to the positive mirror state because the optical measuring device must be turned to the positive mirror state to track the target. The positive mirror state means that the pitch angle information of the optical measuring device is in the range of 0°~90°. After the optical measuring device is turned to the positive mirror state, the integrated controller controls the rotation of the shipborne dome according to the real-time acquired position data of the shipborne dome and the position data of the optical measuring device, until the absolute value of the difference between the azimuth angle of the optical measuring device and the azimuth angle of the shipborne dome is less than the first preset value.

[0033] In addition, when the optical measurement device tracks the target, the shipborne dome is always in a follow-up state. This is because the integrated controller uses a speed-position closed loop through a PID control algorithm to control the rotation speed of the shipborne dome in real time, drive the shipborne dome to rotate, and keep the difference between the azimuth angle of the shipborne dome and the azimuth angle of the optical measurement device less than 2° at all times. When the optical measurement device stops and the difference between the azimuth angle of the shipborne dome and the azimuth angle of the optical measurement device is less than 10″, the shipborne dome stops rotating and keeps in a follow-up state afterwards.

[0034] The invention provides a ship-borne dome control system, comprising: an integrated controller, the integrated controller adopts a combined architecture of FPGA (Field Programmable Gate Array) and DSP (Digital Signal Processor), and the integrated controller is at least configured to: obtain position data of the optical measuring device in real time and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference between the corresponding second azimuth angle is greater than or equal to the first preset value, the shipborne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; when the optical measurement device rotates to track the target, the PID control algorithm is used and the speed position closed-loop control is adopted to control the rotation speed of the shipborne dome in real time to drive the shipborne dome to follow the optical measurement device in real time. In the process of the shipborne dome following the rotation of the optical measurement device in real time, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the second preset value; wherein the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

[0035] The integrated controller is used to send and receive relevant data and process the data based on the PID control algorithm. Among them, the FPGA is mainly responsible for expanding the external interface for data transmission and reception. Specifically, the FPGA can be used to receive the position data of the dome encoder and the position data of the optical measurement device, and transmit the position data to the DSP through the SPI bus. The DSP is mainly responsible for processing the data based on the PID control algorithm. The present invention adopts the PID control algorithm, through the position speed closed-loop control, which not only ensures that the speed of the ship-borne dome can be continuously adjusted, improves the stability of the ship-borne dome, but also improves the control accuracy of the ship-borne dome.

[0036] In some embodiments, the ship-borne dome control system further includes a control panel and a voltage control module. The control panel is a multifunctional panel. The control panel is matched with the voltage control module to realize the up and down power control of the dome motor, and the working mode of the ship-borne dome can be set to follow-up or manual through the control panel. The control panel can be used to realize manual control of the rotation of the ship-borne dome, and the rotation speed can be continuously changed. It should be noted that when the ship-borne dome is manually rotated, the rotation speed and rotation direction of the ship-borne dome can be set through the control panel.

[0037] In some embodiments, the shipborne dome control system also includes a display screen, which is used to display the working status of the shipborne dome and the next working prompt. The operator can confirm the working steps of the shipborne dome through the information prompted by the display screen.

[0038] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0039] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A shipborne dome control method, characterized in that: include: Align the zero position of the dome encoder with the zero position of the optical measuring device encoder; Obtain location data of optical measurement equipment in real time and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference between the corresponding second azimuth angle is greater than or equal to the first preset value, the shipborne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; When the optical measuring device rotates to track the target, a PID control algorithm is used and a speed position closed-loop control is adopted to control the rotation speed of the shipborne dome in real time, so as to drive the shipborne dome to rotate in real time following the optical measuring device. In the process of the shipborne dome rotating in real time following the optical measuring device, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than a second preset value. Wherein, the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

2. The shipborne dome control method according to claim 1, characterized in that: The method of using a PID control algorithm and a speed position closed-loop control to control the rotation speed of the shipborne dome in real time so as to drive the shipborne dome to rotate in real time following the optical measuring device includes: Obtain the rotation speed of the optical measurement device in real time and the rotation speed of the ship's dome ; When the rotation speed of the optical measuring device When the corresponding angular velocity is less than the first preset velocity, the digital signal voltage control value DA=0.8×( - ); When the rotation speed of the optical measuring device When the corresponding angular velocity is greater than or equal to the first preset velocity, the digital signal voltage control value DA output by the integrated controller to the dome motor driver is equal to K1×( - )+K2( - ), wherein K1=6, K2=166.7, and the first preset speed is 2° / s.

3. The shipborne dome control method according to claim 2, characterized in that: Obtain the rotation speed of the optical measurement device in real time and the rotation speed of the ship's dome include: Get the current position data of the ship dome and the position data of the shipborne dome in the previous frame ; Calculate velocity information for shipborne domes , , f1 is the frequency at which the dome encoder sends position data, and f2 is the speed information of the shipborne dome. Zero-crossing processing is performed to obtain the rotation speed of the ship-borne dome ; Get the current position data of the optical measurement device and the position data of the optical measuring device in the previous frame ; Calculate the speed information of optical measuring equipment , , f2 is the frequency at which the optical measuring device encoder sends position data, and the speed information of the optical measuring device Perform zero-crossing processing to obtain the rotation speed of the optical measuring device .

4. The shipborne dome control method according to claim 3, characterized in that: Speed ​​information for the shipborne dome Zero-crossing processing is performed to obtain the rotation speed of the ship-borne dome include: Get the full code value M of the dome encoder. If is greater than M / 2, then the rotation speed of the ship-borne dome M, if is less than -M / 2, then the rotation speed of the ship-borne dome +M, if -M / 2≤ ≤M / 2, then the rotation speed of the ship-borne dome ; Speed ​​information for the optical measuring device Perform zero-crossing processing to obtain the rotation speed of the optical measuring device Including: Get the full code value N of the optical measurement device encoder, if is greater than N / 2, then the current rotation speed of the optical measuring device N, if is less than -N / 2, then the rotation speed of the optical measuring device N, if -N / 2≤ ≤N / 2, then the rotation speed of the optical measuring device ; where M=N.

5. The shipborne dome control method according to claim 3, characterized in that: An integrated controller is used to obtain information sent by the optical measuring device encoder and the dome encoder. The information sent by the optical measuring device encoder includes position data of the optical measuring device, and the information sent by the dome encoder includes position data of the shipborne dome. The frequency of the optical measuring device encoder sending position data is 1KHz, the frequency of the dome encoder sending position data is 200Hz, the communication frequency of the integrated controller is 200Hz, and the frequency of the integrated controller processing information is 100Hz.

6. The shipborne dome control method according to claim 3, characterized in that: When the optical measuring device stops rotating, controlling the shipborne dome to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value comprises: the integrated controller outputs a digital signal voltage control value DA=k×( - ),in, The relationship between the absolute value s and k is: when 0<s≤50, k=0; when 50<s≤2000, k=0.6; when 2000<s, k=1.

7. A shipborne dome control system, used to implement the shipborne dome control method according to any one of claims 1 to 6, characterized in that: include: An integrated controller, wherein the integrated controller adopts a combined architecture of FPGA and DSP, and the integrated controller is at least configured as follows: Obtain location data of optical measurement equipment in real time and the position data of the shipborne dome ; When the optical measuring device stops rotating, if the position data of the optical measuring device Corresponding first azimuth angle and ship-borne dome position data If the absolute value of the difference between the corresponding second azimuth angle is greater than or equal to the first preset value, the shipborne dome is controlled to rotate until the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than the first preset value; When the optical measuring device rotates to track the target, a PID control algorithm is used and a speed position closed-loop control is adopted to control the rotation speed of the shipborne dome in real time, so as to drive the shipborne dome to rotate in real time following the optical measuring device. In the process of the shipborne dome rotating in real time following the optical measuring device, the absolute value of the difference between the first azimuth angle and the second azimuth angle is less than a second preset value. Wherein, the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

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