Shipborne Dome Control Method and System

Abstract

The present invention relates to the technical field of automation systems, and particularly to a method and system for controlling a shipborne dome. The method for controlling a shipborne dome includes: obtaining the position data of an optical measurement device and the position data of the shipborne dome in real time; when the optical measurement device stops rotating, if the absolute value of the difference between the first azimuth angle corresponding to the position data of the optical measurement device and the second azimuth angle corresponding to the position data of the shipborne dome is greater than or equal to a first preset value, 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; when the optical measurement device rotates to track a target, using a PID control algorithm and adopting speed-position closed-loop control, during the process that the shipborne dome follows 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 a second preset value. The present invention is at least beneficial to improving the accuracy of the shipborne dome following the rotation of the optical measurement device.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation systems, and particularly relates to a method and system for controlling a shipborne dome. Background Art

[0002] The dome applied to astronomical observations has a hemispherical structure. When observations are to be carried out, the two hemispheres are opened, and it does not have a follow-up function. Such a dome can only be used in good weather conditions. The shipborne dome is mainly used as a protective cover for optical measurement equipment. In order to prevent the loss of the mechanical structure and optical elements of the optical measurement equipment caused by sea salt fog and rainy weather, a skylight is opened in the rotating part of the shipborne dome, and the size of the skylight matches the aperture of the optical measurement equipment.

[0003] The electric control system of the shipborne dome is mainly used to control the automatic opening and closing of the skylight and to control the synchronous rotation of the shipborne dome and the optical measurement equipment. The shipborne dome needs to meet the requirements of the optical measurement equipment to track the target. Therefore, the structure of the shipborne dome is different from that of the astronomical dome. Usually, 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 diameters of the lens barrels on both sides in the main optical system are both about 200 mm. In order to ensure that the optical measurement equipment always maintains the best observation state, it is required that the shipborne dome and the optical measurement equipment have a high synchronous rotation accuracy, so as to ensure that the skylight is directly opposite to the main optical system. However, the weight of the shipborne dome is relatively large, and it is difficult to achieve high-precision synchronous follow-up. Summary of the Invention

[0004] In view of this, the present invention aims to provide a method and system for controlling a shipborne dome, which is at least beneficial to improving the accuracy of the shipborne dome following the rotation of the optical measurement equipment.

[0005] To achieve the above object, the technical solution of the present invention is realized as follows:

[0006] On the one hand, the present invention provides a method for controlling a shipborne dome, including: aligning the zero position of the dome encoder with the zero position of the optical measurement equipment encoder; and obtaining the position data of the optical measurement equipment and the position data of the shipborne dome in real time; when the optical measurement equipment stops rotating, if the position data of the optical measurement equipment If the absolute value of the difference between the corresponding second azimuth angles is greater than or equal to the first preset value, control 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; when the optical measurement device rotates to track the target, use the PID control algorithm and adopt 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 measurement device. During the process that the shipborne dome rotates in real time following the optical measurement device, 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°.

[0007] Further, using the PID control algorithm and adopting 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 measurement device includes: obtaining the rotation speed of the optical measurement device in real time and the rotation speed of the shipborne dome ; when the angular velocity corresponding to the rotation speed of the optical measurement device is less than the first preset speed, the digital signal voltage control value DA output by the integrated controller to the dome motor driver is DA = 0.8×( -[[]]END]] ); when the angular velocity corresponding to the rotation speed of the optical measurement device is greater than or equal to the first preset speed, the digital signal voltage control value DA output by the integrated controller to the dome motor driver is DA = K1 -[[]]END]] ) + K2( ), where K1 = 6, K2 = 166.7, and the first preset speed is 2° / s.

[0008] Further, obtaining the rotation speed of the optical measurement device in real time and the rotation speed of the shipborne dome includes: obtaining the current position data of the shipborne dome and the position data of the previous frame of the shipborne dome ; calculating the speed information of the shipborne dome , , f1 is the frequency at which the dome encoder sends position data. Perform zero-crossing processing on the speed information of the shipborne dome to obtain the rotation speed of the shipborne dome; obtaining the current position data of the optical measurement device and the position data of the previous frame of the optical measurement device; calculating the speed information , , f2 is the frequency at which the optical measurement device encoder sends position data. Perform zero-crossing processing on the speed information of the optical measurement device to obtain the rotation speed of the optical measurement device 。

[0009] Further, perform zero-crossing processing on the speed information of the shipborne dome to obtain the rotational speed of the shipborne dome including: obtaining the full-code value M of the dome encoder. If is greater than M / 2, the rotational speed of the shipborne dome is M. If is less than -M / 2, the rotational speed of the shipborne dome is +M. If -M / 2 ≤ ≤ M / 2, the rotational speed of the shipborne dome ; perform zero-crossing processing on the speed information of the optical measurement device to obtain the rotational speed of the optical measurement device including: obtaining the full-code value N of the encoder of the optical measurement device. If is greater than N / 2, the current rotational speed of the optical measurement device is N. If is less than -N / 2, the rotational speed of the optical measurement device is N. If -N / 2 ≤ ≤ N / 2, the rotational speed of the optical measurement device ; where M = N.

[0010] Further, use a comprehensive controller to obtain the information sent by the encoder of the optical measurement device and the information sent by the dome encoder. The information sent by the encoder of the optical measurement device includes the position data of the optical measurement device, and the information sent by the dome encoder includes the position data of the shipborne dome; the frequency of the position data sent by the encoder of the optical measurement device is 1KHz, the frequency of the position data sent by the dome encoder is 200Hz, the communication frequency of the comprehensive controller is 200Hz, and the information processing frequency of the comprehensive controller is 100Hz.

[0011] Further, when the optical measurement 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 includes: using the comprehensive controller to output a digital signal voltage control value DA = k × ( - ), where the relationship between the absolute value s of and k is: when 0 < s ≤ 50, k = 0; when 50 < s ≤ 2000, k = 0.6; when 2000 < s, k = 1.

[0012] On the other hand, the present invention provides a shipborne dome control system, including: a comprehensive controller. The comprehensive controller adopts an FPGA and DSP combined architecture, and the comprehensive controller is at least configured to: obtain the position data of the optical measurement device in real time and the position data of the shipborne dome ; when the optical measurement device stops rotating, if the position data of the optical measurement device corresponding to the first azimuth angle and the position data of the shipborne dome the absolute value of the difference between the corresponding second azimuth angles is greater than or equal to the first preset value, then control 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; when the optical measurement device rotates to track the target, use the PID control algorithm and adopt 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 follow the optical measurement device in real time. During the process of the shipborne dome following 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°.

[0013] Compared with the prior art, the present invention can achieve the following beneficial effects: when the optical measurement device is in use, the skylight is fully opened and fixed behind the shipborne dome. At this time, the weight distribution of the shipborne dome is uneven, and the rotation accuracy of the shipborne dome depends to a large extent on the weight of the shipborne dome and the state of the shipborne dome. The self-weight of the shipborne dome reaches more than ten tons, and the control difficulty is very high. The present invention adopts the PID control algorithm to control the rotation of the shipborne dome, which is beneficial to improving the rotation stability and follow-up accuracy of the shipborne dome. Specifically, the position information of the shipborne dome, the rotation speed information of the shipborne dome, the position information of the optical measurement device, and the rotation speed information of the optical measurement device are obtained in real time, and the position information of the shipborne dome, the rotation speed information of the shipborne dome, the position information of the optical measurement device, and the rotation speed information of the optical measurement device are comprehensively analyzed in real time. In different scenarios, different control strategies are adopted to ensure that the rotation speed of the shipborne dome following the optical measurement device can be continuously adjusted according to the position difference between the two and according to the speed of the optical measurement device, avoiding the situation that the shipborne dome with a large weight cannot follow and stop rotating when the optical measurement device stops rotating due to the too fast movement speed of the shipborne dome, and ensuring that the control of the shipborne dome can meet the requirement of aligning the skylight with the main optical system of the optical measurement device, and avoiding the shipborne dome from affecting the observation target of the optical measurement device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0015] Figure 1 is a schematic structural diagram of a shipborne dome control system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation to the present invention.

[0017] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present 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 to the present 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 quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0021] Referring to Figure 1 , on the one hand, the present invention provides a method for controlling a shipborne dome, which is used to control the shipborne dome to rotate following an optical measurement device, that is, the servo control of the shipborne dome, to ensure that when the optical measurement device tracks a target, the skylight position of the shipborne dome always corresponds to the main optical system of the optical measurement device, and reduce the influence of the shipborne dome on the optical measurement device tracking the target. It should be noted that the method for controlling the shipborne dome provided by the present invention is realized based on a shipborne dome control system.

[0022] In some embodiments, the shipborne dome control system includes: a shipborne 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 shipborne dome shaft. As the shipborne dome rotates one circle along the shipborne dome shaft, the dome encoder rotates 360°. The dome encoder can be electrically cleared to zero. 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 the position data, and the position data is the code value of the encoder. The dome motor is used in combination with the dome motor driver. The dome motor can be a three-phase asynchronous motor, and the dome motor driver can be an inverter. One shipborne dome can be correspondingly 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 shipborne 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, and the digital signal voltage control value can be converted into an analog signal by 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 shipborne dome. The core chip of the integrated controller can include TMS320F2812. The integrated controller can also include a 4-channel RS422 serial port chip, a 1-channel zero clearing controller, and multiple IO interfaces.

[0023] The shipborne dome control method includes: aligning the zero position of the dome encoder with the zero position of the optical measurement device encoder; and obtaining the position data of the optical measurement device in real time and the position data of the shipborne dome ; when the optical measurement device stops rotating, if the position data corresponding to the first azimuth angle and the position data of the shipborne dome If the absolute value of the difference in the corresponding second azimuth angle is greater than or equal to the first preset value, control 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; when the optical measurement device rotates to track the target, use the PID (Proportion Integral Differential) control algorithm and adopt 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 follow the optical measurement device in real time. During the process of the shipborne dome following 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; where 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, ensure that the difference between the azimuth angle of the shipborne dome and the azimuth angle of the optical measurement device is less than 2°. When the optical measurement device stops, ensure that the difference between the azimuth angle of the shipborne 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 and avoid the shipborne dome from affecting the observation target of the optical measurement device.

[0024] It should be noted that the position data of the optical measurement device is the code value of the encoder of the optical measurement device, and the position data of the shipborne dome is the code value of the dome encoder.

[0025] 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 device.

[0026] Further, when the optical measurement 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 includes: using the integrated controller to output a digital signal voltage control value DA = k×( - ), where the relationship between the absolute value s of 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 transformation of the k value is to prevent overshoot during rotation and avoid jitter of the shipborne dome.

[0027] Further, using the PID control algorithm and adopting speed-position closed-loop control 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 includes: obtaining the rotation speed of the optical measurement device in real time and the rotation speed of the shipborne dome ; when the angular velocity corresponding to the rotation speed of the optical measurement device is less than the first preset speed, the digital signal voltage control value DA output by the integrated controller to the dome motor driver is 0.8×( -[[-END]] ) When the angular velocity corresponding to the rotation speed of the optical measurement device is greater than or equal to the first preset speed, the digital signal voltage control value DA output by the integrated controller to the dome motor driver is DA = K1 -[[-END]] ) + K2( ), where K1 = 6, K2 = 166.7, and the first preset speed is 2° / s. In this way, according to the magnitude relationship between the angular velocity corresponding to the rotation speed of the optical measurement device and the first preset speed, the magnitude of the digital signal voltage control value output by the integrated controller to the dome motor driver is determined, which can prevent overshoot of the rotation of the shipborne dome.

[0028] In some embodiments, the rotation speed of the optical measurement device is obtained in real time and the rotation speed of the shipborne dome include: obtaining the current position data of the shipborne dome and the position data of the previous frame of the shipborne dome ; calculating the speed information of the shipborne dome , , f1 is the frequency at which the dome encoder sends position data. The speed information of the shipborne dome is processed by zero-crossing to obtain the rotation speed of the shipborne dome ; obtaining the current position data of the optical measurement device and the position data of the previous frame of the optical measurement device ; calculating the speed information of the optical measurement device , , f2 is the frequency at which the optical measurement device encoder sends position data. The speed information of the optical measurement device is processed by zero-crossing to obtain the rotation speed of the optical measurement device .

[0029] In some embodiments, the speed information of the shipborne dome is processed by zero-crossing to obtain the rotation speed of the shipborne dome include: obtaining the full code value M of the dome encoder. If is greater than M / 2, the rotation speed of the shipborne dome is M. If is less than -M / 2, the rotation speed of the shipborne dome is +M. If -M / 2 ≤ ≤ M / 2, the rotation speed of the shipborne dome ; the speed information of the optical measurement device is processed by zero-crossing to obtain the rotation speed of the optical measurement device Including: obtaining the full code value N of the encoder of the optical measurement device. If is greater than N / 2, then the current rotation speed of the optical measurement device is N. If is less than -N / 2, then the rotation speed of the optical measurement device is N. If -N / 2 ≤ ≤ N / 2, then the rotation speed of the optical measurement device ; where M = N.

[0030] In some embodiments, the dome encoder is a 16-bit encoder, and the full code value M is 65536. For the convenience of calculation, the 16-bit information of the optical measurement device is taken, and the full code value N is 65536.

[0031] In some embodiments, on the premise of ensuring the follow-up accuracy of the shipborne dome following the rotation of the optical measurement device, the maximum angular velocity of the shipborne dome controlled by the comprehensive controller is 30° / s, and the maximum angular acceleration of the shipborne dome controlled by the comprehensive controller is 15° / s 2 , the angular velocity of the optical measurement device during normal operation is 10° / s, and the angular acceleration of the optical measurement device during normal operation is 7.5° / s 2 .

[0032] Furthermore, the comprehensive controller is used to obtain the information sent by the encoder of the optical measurement device and the information sent by the dome encoder. The information sent by the encoder of the optical measurement device includes the position data of the optical measurement device, and the information sent by the dome encoder includes the position data of the shipborne dome; the frequency of the position data sent by the encoder of the optical measurement device is 1KHz, the frequency of the position data sent by the dome encoder is 200Hz, the communication frequency of the comprehensive controller is 200Hz, and the frequency of the comprehensive controller for processing information is 100Hz. The reason for such setting is that in order to ensure the synchronous rotation of the shipborne dome and the optical measurement device, it is necessary to ensure the data synchronization of the optical measurement device, the dome encoder, and the comprehensive controller. These three modules of the optical measurement device, the dome encoder, and the comprehensive controller all work according to the external synchronization frequency provided by the time synchronization terminal of the optical measurement device. The tracking accuracy of the optical measurement device is relatively high. Therefore, the encoder of the optical measurement device sends position data at a frequency of 1KHz, the dome encoder sends the position data of the shipborne dome at a frequency of 200Hz, the communication frequency of the comprehensive controller is 200Hz, and because the shipborne dome has a relatively heavy self-weight and a large rotational inertia, the comprehensive controller processes information at a lower frequency.

[0033] To achieve stable rotation of the shipborne dome, it is necessary to confirm whether the working states of the optical measurement 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, the integrated controller is internally provided with a self-check module. When the integrated controller is powered on, the self-check module is automatically started. The self-check content includes judging whether the working state of the main chip of the integrated controller is normal, whether the communication module is normal, whether it can stably receive the position data sent by the encoder of the optical measurement device, and whether it can stably receive the position data sent by the dome encoder. If the self-check of the integrated controller is abnormal, the operator is prompted through the display screen to check the working state indicator of the integrated controller, the working state of the encoder of the optical measurement device, and the working state of the dome encoder until the working states of the optical measurement device, the shipborne dome, and the integrated controller all return to normal. The display screen prompts the operator that the follow-up control operation of the shipborne dome can be performed. If the self-check of the integrated controller is normal, the position information of the optical measurement device and the position information of the shipborne dome obtained in real time are put into the buffer 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 using the same method, calculate the speed information of the optical measurement device. Specifically, the above calculation steps can be referred to and will not be elaborated here. and steps will not be elaborated here.

[0034] It should be noted that after the shipborne dome control system is powered on for the first time, since the optical measurement device can only track the target when it is turned to the positive mirror state, the operator needs to adjust the optical measurement device to the positive mirror state. The positive mirror state means that the pitch angle information of the optical measurement device is within the range of 0° to 90°. After the optical measurement device is turned to the positive mirror state, the integrated controller controls the rotation of the shipborne dome according to the position data of the shipborne dome and the position data of the optical measurement device obtained in real time until the absolute value of the difference between the azimuth angle of the optical measurement device and the azimuth angle of the shipborne dome is less than the first preset value.

[0035] 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 adopts a speed-position closed loop through the PID control algorithm to control the rotation speed of the shipborne dome in real time, drive the rotation of the shipborne dome, and make the difference between the azimuth angle of the shipborne dome and the azimuth angle of the optical measurement device always less than 2°. Until the optical measurement device stops, when 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 remains in a follow-up state subsequently.

[0036] On the other hand, the present invention provides a shipborne dome control system, including: an integrated controller, which 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 the position data of the optical measurement device in real time and the position data of the shipborne dome ; when the optical measurement device stops rotating, if the absolute value of the difference between the first azimuth angle corresponding to the position data of the optical measurement device and the second azimuth angle corresponding to the position data of the shipborne dome is greater than or equal to a first preset value, control 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; when the optical measurement device rotates to track a target, use the PID control algorithm and adopt 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 follow the optical measurement device in real time. During the process of the shipborne dome following 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 a second preset value; wherein, the first preset value is not greater than 10″, and the second preset value is not greater than 2°.

[0037] The integrated controller is used for receiving and sending relevant data and processing the data based on the PID control algorithm. Among them, the FPGA is mainly responsible for expanding the external interface for data reception and transmission. 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 and through position-speed closed-loop control, not only ensures that the speed of the shipborne dome can be continuously adjusted, improves the stability of the shipborne dome operation, but also improves the control accuracy of the shipborne dome.

[0038] In some embodiments, the shipborne dome control system further includes a control panel and a voltage control module. The control panel is a multifunctional panel. The control panel is paired with the voltage control module to realize the power-on and power-off control of the dome motor, and the working mode of the shipborne dome can be set as follow-up or manual through the control panel. The control panel can be used to manually control the rotation of the shipborne dome, and the rotation speed can be continuously changed. It should be noted that when manually rotating the shipborne dome, the rotation speed and rotation direction of the shipborne dome can be set through the control panel.

[0039] In some embodiments, the shipborne dome control system further includes a display screen, which is used to display the working state of the shipborne dome and the next working prompt, and the operator can confirm the working steps of the shipborne dome according to the information prompted by the display screen.

[0040] It should be understood that the various forms of processes shown above can be used, with steps reordered, added or deleted. For example, the steps recited in the disclosure of the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and no limitation is imposed herein.

[0041] The above specific embodiments do not constitute a limitation to the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub - combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included within 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 the position 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°; 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 measurement device includes: Obtain the rotation speed of the optical measurement 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 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.

2. The shipborne dome control method according to claim 1, characterized in that: Obtain the rotation speed of the optical measurement device in real time and the rotation speed of the ship-borne 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 .

3. The shipborne dome control method according to claim 2, 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.

4. The shipborne dome control method according to claim 2, 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.

5. The shipborne dome control method according to claim 2, 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.

6. A shipborne dome control system, used to implement the shipborne dome control method according to any one of claims 1 to 5, 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 the position 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°; 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 measurement device includes: Obtain the rotation speed of the optical measurement 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 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.

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