Two-dimensional turntable capable of adaptive high-precision tracking and control method thereof

Abstract

The application provides a two-dimensional rotary table capable of realizing adaptive high-precision tracking and a control method thereof, relates to a photoelectric tracking two-dimensional rotary table and a control method, and aims to solve the technical problem of poor environmental adaptability of a high-precision tracking system of an existing two-dimensional rotary table and the requirement of meeting high-precision tracking in a large speed span range. According to the application, a parameter identification model is established, the changes of the wire-wound moment, the friction moment and the rotational inertia are identified when the two-dimensional rotary table is influenced by factors such as temperature, azimuth angle and pitch angle, the control parameters are automatically changed through parameter identification, and it is verified through ground test that the method can realize high-precision tracking in a large speed span range.

Description

TECHNICAL FIELD

[0001] The present application relates to photoelectric tracking two-dimensional turntable and control method, specifically relates to two-dimensional turntable and control method capable of realizing adaptive high-precision tracking. BACKGROUND

[0002] With the progress of science and technology, the tracking accuracy of two-dimensional turntable is required higher and higher, high-precision tracking means that two-dimensional turntable is more sensitive to the change of friction torque, wire winding torque and rotational inertia, which reduces the robustness of parameters (the ability of system to survive in abnormal and dangerous conditions), and a set of parameters cannot meet the requirements of high-precision tracking under large speed span.

[0003] The traditional control method (PID classic control method) of photoelectric two-dimensional turntable can compensate the random change of wire winding torque and friction torque in the motion process of turntable to a certain extent, but the adaptive range of speed is narrow, and the environmental adaptability is poor. When the wire winding torque and friction torque change greatly due to the influence of temperature and other factors, the control parameters need to be changed according to the change. In order to achieve high-precision tracking, the control parameters need to be adjusted again when the temperature changes greatly in a day or the next day, which not only increases the difficulty of work, but also seriously affects the test progress. Therefore, the environmental adaptability of high-precision tracking system of two-dimensional turntable is poor. As can be seen, the traditional control method used by two-dimensional turntable has poor robustness and adaptability, and cannot meet the requirements of high-precision tracking in a large speed span range. SUMMARY

[0004] The purpose of the present application is to solve the technical problems that the environmental adaptability of high-precision tracking system of existing two-dimensional turntable is poor, and single control parameter cannot meet the requirements of high-precision tracking in a large speed span range, and to propose two-dimensional turntable and control method capable of realizing adaptive high-precision tracking.

[0005] To solve the above technical problems, the technical solution provided by the present application is as follows:

[0006] A two-dimensional turntable capable of realizing adaptive high-precision tracking, comprising a turntable, a turntable motor connected with the input end of the turntable and controlled by current, an angle measuring unit connected with the angle output end of the turntable, a speed loop located in the inner ring and connected with the angle measuring unit, a position loop located in the outer ring, and a disturbance loop located outside the position loop and connected with the disturbance output end of the turntable; the speed loop comprises a speed control algorithm unit; the position loop comprises a position control algorithm unit; the angle measuring unit is used for measuring the azimuth angle and the elevation angle of the turntable; and the special feature is that:

[0007] It further comprises a control parameter test system, the control parameter test system comprises a state observation unit, a parameter identification unit, a position adaptive controller and a speed adaptive controller.

[0008] The status observation unit is connected to the status output terminal of the turntable. The angle measurement unit transmits the measured azimuth and elevation angles to the status observation unit. The status observation unit outputs the temperature of the turntable, as well as the azimuth and elevation angle data, and sends them to the parameter identification unit.

[0009] The parameter identification unit calculates the winding torque, friction torque, and moment of inertia based on the temperature, azimuth angle, and pitch angle output by the state observation unit; the output of the parameter identification unit is connected to the input of the position adaptive controller and the speed adaptive controller, respectively.

[0010] The position adaptive controller calculates the corresponding position loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the position control algorithm unit.

[0011] The speed adaptive controller calculates the corresponding speed loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the speed control algorithm unit.

[0012] The position control algorithm unit establishes a position control algorithm for the corresponding stage under the corresponding temperature, azimuth, and pitch angle based on the azimuth error dA or pitch error dE and the position loop PID gain parameters, and outputs the azimuth rate error dωA or pitch rate error dωE.

[0013] The speed control algorithm unit establishes a speed control algorithm for the corresponding stage under the corresponding temperature, azimuth angle, and pitch angle based on the azimuth rate error dωA or pitch rate error dωE output by the position control algorithm and the speed loop PID gain parameters.

[0014] The azimuth error dA is the difference between the target value of the externally input azimuth angle of the turntable, which is corrected by the disturbance correction algorithm, and the azimuth measurement value obtained by the angle measuring unit.

[0015] The pitch angle error dE is the difference between the target value of the pitch angle input from outside the turntable, after being corrected by the disturbance correction algorithm, and the pitch angle measurement value obtained by the angle measuring unit.

[0016] A control method for a two-dimensional turntable capable of adaptive high-precision tracking, as described above, is characterized by the following steps:

[0017] 1) Establish parameter identification models; the parameter identification models include wire winding torque parameter identification models, friction torque parameter identification models, and moment of inertia parameter identification models. The parameter identification unit calculates the wire winding torque, friction torque, and moment of inertia based on the parameter identification models, wherein:

[0018] The steps for establishing the wire winding torque parameter identification model are as follows:

[0019] a1) The turntable measures the winding torque at different temperatures under the same azimuth and pitch angles, generating a temperature-winding torque variation curve;

[0020] a2) The turntable measures the winding torque at different temperatures under the same azimuth angle and different pitch angles, generating pitch angle, temperature and winding torque variation curves;

[0021] a3) The turntable is used to measure the winding torque at different temperatures under different azimuth angles and the same pitch angle, and generate azimuth angle, temperature and winding torque variation curves.

[0022] a4) Based on the change curves generated in steps a1 to a3, obtain the identification model of the winding torque parameters;

[0023] The steps for establishing the friction torque parameter identification model are as follows:

[0024] b1) When the azimuth and pitch angles of the turntable are both at their extreme positions, measure the frictional torque at different temperatures and generate the temperature-frictional torque variation curve at the extreme positions.

[0025] b2) When the azimuth and pitch angles of the turntable are both at the middle position, measure the friction torque at different temperatures and generate the temperature-friction torque variation curve at the middle position;

[0026] b3) Based on the change curves generated in steps b1 and b2, obtain the friction torque parameter identification model;

[0027] The steps for establishing the rotational inertia parameter identification model are as follows:

[0028] c1) Measure the moment of inertia of the turntable at different pitch angles under the same azimuth angle, and generate a pitch angle-moment of inertia variation curve;

[0029] c2) Measure the moment of inertia of the turntable at different azimuth angles under the same pitch angle, and generate the azimuth angle-moment of inertia variation curve;

[0030] c3) Based on the change curves generated in steps c1 and c2, obtain the rotational inertia parameter identification model;

[0031] 2) Based on the parameter identification model obtained in step 1, according to the changes in the temperature T, azimuth angle A, and pitch angle E of the turntable, the position adaptive controller and the speed adaptive controller calculate the PID gain parameters kp, ki, and kd of the position loop and speed loop, respectively.

[0032] 3) Based on the azimuth error dA or pitch error dE and the PID gain parameters obtained in step 2, confirm the control parameters in stages, and establish position control algorithms and speed control algorithms for the corresponding tracking stages in the position loop and velocity loop. The tracking stage includes the tracking acquisition stage, the tracking intermediate stage, and the tracking hold stage.

[0033] 3.1) During the tracking and capture phase, based on the target value of the tracking and capture phase, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, the position control algorithm and the speed control algorithm for the tracking and capture phase are established, and the control parameters kp1, ki1, and kd1 of the position loop and the speed loop in the tracking and capture phase are calculated respectively.

[0034] 3.2) Tracking intermediate stage: Based on the target value of the tracking intermediate stage, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, establish the position control algorithm and speed control algorithm for the tracking intermediate stage, and calculate the control parameters kp2, ki2, and kd2 of the position loop and speed loop in the tracking intermediate stage respectively.

[0035] 3.3) During the tracking and holding phase, based on the target value of the tracking and holding phase, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, the position control algorithm and the speed control algorithm for the tracking and holding phase are established, and the control parameters kp3, ki3, and kd3 of the position loop and the speed loop in the tracking and holding phase are calculated respectively.

[0036] 4) Based on the control parameters obtained in step 3 for different stages, the turntable is subjected to high-precision tracking control in stages.

[0037] Furthermore, in step 3, the specific steps for confirming the control parameters in stages are as follows:

[0038] When the azimuth error dA satisfies dA≥DA1 or the pitch error dE satisfies dE≥DE1, the turntable is in the tracking and acquisition stage and adopts P control mode.

[0039] When the azimuth error dA satisfies DA2≤dA≤DA1 or the pitch error dE satisfies DE2≤dE≤DE1, the turntable is in the intermediate tracking stage and adopts PID or PI control mode.

[0040] When the azimuth error dA satisfies dA≤DA2 or the pitch error dE satisfies dE≤DE2, the turntable is in the tracking and holding phase and adopts PD or P control mode.

[0041] Where: DA1 is the maximum value of the azimuth error dA at the end of the rising phase of the measured azimuth angle of the turntable; DA2 is the minimum value of the azimuth error dA when the ratio of the difference between the measured azimuth angle of the turntable and the target value to the target value is less than 5%.

[0042] DE1 is the maximum value of the pitch angle error dE at the end of the rising phase of the measured pitch angle of the turntable; DE2 is the minimum value of the pitch angle error dE when the ratio of the difference between the measured pitch angle and the target value to the target value is less than 5%.

[0043] Furthermore, in step a1, while keeping the azimuth and pitch angles constant, when the operating temperature of the turntable is between 10℃ and 30℃, the winding torque of the turntable is measured at 0.1℃ intervals; when the operating temperature of the turntable is outside the range of 10℃ to 30℃, the winding torque of the turntable is measured at 0.5℃ intervals, thus obtaining the winding torque variation curve of the turntable due to temperature changes under the same azimuth and pitch angles.

[0044] Furthermore, in step a2, while keeping the azimuth angle constant, the winding torque of the turntable is measured at 0.1° intervals when the turntable operating temperature is between 10°C and 30°C, and at 0.5°C intervals when the turntable operating temperature is outside the range of 10°C to 30°C, thus obtaining the winding torque variation curve of the turntable due to temperature changes at the same azimuth angle and different pitch angles.

[0045] Furthermore, in step a3, while keeping the pitch angle constant, the winding torque of the turntable is measured at 0.1° intervals when the azimuth angle changes by 5° and the turntable operating temperature is between 10°C and 30°C; when the turntable operating temperature is outside the range of 10°C to 30°C, the winding torque of the turntable is measured at 0.5°C intervals, thus obtaining the winding torque variation curve of the turntable under different azimuth angles and the same pitch angle due to temperature changes.

[0046] Further, in step b1, when both the azimuth and pitch angles are at their extreme positions and the turntable's operating temperature is between 10℃ and 30℃, the frictional torque of the turntable is measured at 0.1℃ intervals. When the turntable's operating temperature is outside the range of 10℃ to 30℃, the winding torque of the turntable is measured at 0.5℃ intervals, thus obtaining the frictional torque variation curves due to temperature changes at the azimuth and pitch angles of the turntable at its extreme positions. The extreme position is the position of the turntable's maximum rotation angle.

[0047] Further, in step b2, when both the azimuth and pitch angles are at the middle position, and the turntable's operating temperature is between 10℃ and 30℃, the friction torque of the turntable is measured at 0.1℃ intervals; when the turntable's operating temperature is outside the range of 10℃ to 30℃, the friction torque of the turntable is measured at 0.5℃ intervals, thus obtaining the friction torque variation curves due to temperature changes at the azimuth and pitch angles of the turntable at the middle position; the middle position is the position where the turntable is at zero.

[0048] Furthermore, in step c1, at the same azimuth angle, the rotational inertia of the turntable is measured at 5° intervals when the pitch angle changes, so as to obtain the rotational inertia change curve of the turntable due to the change of the pitch angle.

[0049] Furthermore, in step c2, at the same pitch angle, the rotational inertia of the turntable is measured at 5° intervals for every change in azimuth angle, thus obtaining the rotational inertia change curve of the turntable due to the change in azimuth angle.

[0050] Compared with the prior art, the beneficial effects of the present invention are:

[0051] 1. This invention discloses a two-dimensional turntable capable of adaptive high-precision tracking. A state observation unit detects the state information of the two-dimensional turntable and transmits the data to a parameter identification unit. The parameter identification unit calculates the obtained winding torque, friction torque, and moment of inertia. A position adaptive controller and a speed adaptive controller calculate the position loop PID gain parameters and speed loop PID gain parameters, respectively, based on the parameter identification unit. A position control algorithm unit and a speed control algorithm unit establish and output control parameters for the corresponding stage based on the azimuth angle error or pitch angle error. The two-dimensional turntable can achieve staged high-precision tracking through position control algorithms and speed control algorithms, thereby improving the control accuracy of the two-dimensional turntable.

[0052] 2. This invention provides a control method for a two-dimensional turntable capable of adaptive high-precision tracking. By establishing a parameter identification model, the method identifies the changes in winding torque, friction torque, and moment of inertia when the two-dimensional turntable is affected by factors such as temperature, azimuth angle, and pitch angle. Based on the parameter identification model, the control parameters of the velocity loop and position loop are automatically modified, solving the problem of poor adaptability of a single parameter. To a certain extent, this allows the two-dimensional turntable to avoid the uncertainties caused by winding torque, friction torque, and moment of inertia, and solves the problem of unsatisfactory performance of a set of control parameters in certain regions. This enables high-precision tracking throughout the entire motion envelope of the turntable, thereby increasing the speed adaptability range of the two-dimensional turntable.

[0053] 3. This invention adopts a phased precise tracking mode, which is divided into a tracking and acquisition stage, a tracking intermediate stage, and a tracking and holding stage. The control parameters are different in each of the three stages. The control parameters for each stage are determined according to the performance to be achieved and the winding torque, friction torque, and moment of inertia. This solves the problem of the single control parameter and improves the adaptability and robustness of the control system.

[0054] 4. This invention can be implemented by simply changing the software for different two-dimensional turntables. It is economical and practical, which can greatly reduce the workload of debugging personnel, save debugging time, and improve debugging efficiency. Attached Figure Description

[0055] Figure 1 This is a connection diagram of an embodiment of the two-dimensional turntable that enables adaptive high-precision tracking according to the present invention;

[0056] Figure 2 This is a flowchart of an embodiment of the control method for a two-dimensional turntable capable of adaptive high-precision tracking according to the present invention;

[0057] Figure 3 This is a schematic diagram of the staged control in an embodiment of the control method for a two-dimensional turntable capable of adaptive high-precision tracking according to the present invention;

[0058] Figure 4 This is a schematic diagram of the segmented parameters D1 and D2 functions in an embodiment of the control method for a two-dimensional turntable capable of adaptive high-precision tracking according to the present invention.

[0059] Figure 5 This is a schematic diagram of the PID gain function during the tracking and capture stage in an embodiment of the control method for a two-dimensional turntable that can achieve adaptive high-precision tracking according to the present invention;

[0060] Figure 6 This is a schematic diagram of the PID gain function during the tracking intermediate stage in an embodiment of the control method for a two-dimensional turntable that can achieve adaptive high-precision tracking according to the present invention.

[0061] Figure 7 This is a schematic diagram of the PID gain function during the tracking and holding phase in an embodiment of the control method for a two-dimensional turntable that enables adaptive high-precision tracking according to the present invention. Detailed Implementation

[0062] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0063] This invention proposes a two-dimensional turntable capable of adaptive high-precision tracking, such as... Figure 1As shown, the system includes a turntable, a turntable motor connected to the turntable input and controlled by current, and an angle measuring unit connected to the turntable angle output. The angle measuring unit measures the turntable's azimuth and pitch angles. It also includes a velocity loop connected to the angle measuring unit in the inner loop, a position loop connected to the angle measuring unit in the outer loop, and a disturbance loop connected to the turntable disturbance output outside the position loop. The two-dimensional turntable, capable of adaptive high-precision tracking, also includes a control parameter testing system. A state observation unit in the control parameter testing system is connected to the turntable's state output. The angle measuring unit transmits the measured azimuth and pitch angles to the state observation unit, which outputs the turntable's temperature, as well as the azimuth and pitch angle data, and sends them to the parameter identification unit. The parameter identification unit calculates the winding torque, friction torque, and moment of inertia based on the temperature, azimuth, and pitch angle data output by the state observation unit. The output of the parameter identification unit is connected to the inputs of the position adaptive controller and the speed adaptive controller, respectively.

[0064] The position adaptive controller calculates the corresponding position loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the position control algorithm unit. Similarly, the speed adaptive controller calculates the corresponding speed loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the speed control algorithm unit. The external azimuth angle of the externally input turntable guide target angle is corrected using a disturbance correction algorithm. The difference between the corrected target value and the measured azimuth angle obtained by the angle measurement unit is used to obtain the turntable's azimuth angle error dA. Likewise, the external pitch angle of the externally input turntable guide target angle is corrected using a disturbance correction algorithm. The difference between the corrected target value and the measured pitch angle obtained by the angle measurement unit is used to obtain the turntable's pitch angle error dE. The azimuth error dA or pitch error dE is input into the position control algorithm unit. Based on the error and the position loop PID gain parameters, the position control algorithm unit establishes a position control algorithm for the corresponding stage under the given temperature, azimuth, and pitch angles, and outputs the azimuth rate error dωA or pitch rate error dωE. Similarly, the azimuth rate error dωA or pitch rate error dωE is input into the speed control algorithm unit. Based on the error and the speed loop PID gain parameters, the speed control algorithm unit establishes a speed control algorithm for the corresponding stage under the given temperature, azimuth, and pitch angles. Inputting temperature, azimuth, and pitch angles into the 2D turntable allows for automatic adjustment of the turntable's control parameters based on the speed and position control algorithms, improving the turntable's control accuracy.

[0065] This invention also provides a control method for the aforementioned two-dimensional turntable capable of adaptive high-precision tracking, such as... Figure 2 As shown, it includes the following steps:

[0066] 1) To address the changes in winding torque, friction torque, and moment of inertia during turntable rotation, as well as the changes in quantities affected by factors such as temperature, a parameter identification model is established. This includes parameter identification models for winding torque, friction torque, and moment of inertia. The turntable's parameter identification unit calculates the winding torque, friction torque, and moment of inertia based on the established parameter identification models.

[0067] The winding torque is affected by the rotation angles of the two-dimensional turntable, namely the azimuth and pitch angles, and is also affected by temperature. Therefore, the azimuth, pitch, and temperature variables are controlled separately, and the change in winding torque is measured. The steps for establishing the winding torque parameter identification model are as follows:

[0068] a1) The turntable measures the winding torque at different temperatures under the same azimuth and pitch angles, generating a temperature-winding torque variation curve;

[0069] Keeping the azimuth and pitch angles constant, when the operating temperature of the turntable is between 10℃ and 30℃, the winding torque of the turntable is measured at intervals of 0.1℃; when the operating temperature of the turntable is outside the range of 10℃ to 30℃, the winding torque of the turntable is measured at intervals of 0.5℃, so as to obtain the curve of the winding torque change of the turntable due to temperature changes under the same azimuth and pitch angles.

[0070] a2) The turntable measures the winding torque at different temperatures under the same azimuth angle and different pitch angles, generating pitch angle, temperature and winding torque variation curves;

[0071] Keeping the azimuth angle constant, the winding torque of the turntable is measured at 0.1℃ intervals when the turntable operating temperature is between 10℃ and 30℃, and at 0.5℃ intervals when the turntable operating temperature is outside the range of 10℃ to 30℃. This yields the winding torque variation curve of the turntable under the same azimuth angle and different pitch angles due to temperature changes.

[0072] a3) The turntable is used to measure the winding torque at different temperatures under different azimuth angles and the same pitch angle, and generate azimuth angle, temperature and winding torque variation curves.

[0073] Keeping the pitch angle constant, the winding torque of the turntable is measured at 0.1℃ intervals for every 5° change in the azimuth angle. When the turntable operating temperature is between 10℃ and 30℃, the winding torque of the turntable is measured at 0.5℃ intervals. The curves of the winding torque change due to temperature change at different azimuth angles and the same pitch angle are obtained.

[0074] a4) Based on the change curves generated in steps a1 to a3, a three-dimensional table is generated showing the changes in turntable azimuth, pitch, and temperature to obtain the wire winding torque parameter identification model; when the azimuth, pitch, and temperature of the two-dimensional turntable are input, the current wire winding torque can be identified.

[0075] Friction is significantly affected by temperature. Within the working angle range of the turntable, the azimuth and pitch angles at the extreme and intermediate positions are selected to measure the change of friction torque with temperature, thereby improving the accuracy of the friction torque parameter identification model. The extreme position is the position where the turntable rotates to its maximum angle, and the intermediate position is the position where the turntable is at zero. The steps for establishing the friction torque parameter identification model are as follows:

[0076] b1) When the azimuth and pitch angles of the turntable are both at their extreme positions, measure the frictional torque at different temperatures and generate the temperature-frictional torque variation curve at the extreme positions.

[0077] When both the azimuth and pitch angles are at their extreme positions and the turntable's operating temperature is between 10℃ and 30℃, the frictional torque of the turntable is measured at 0.1℃ intervals. When the turntable's operating temperature is outside the range of 10℃ to 30℃, the winding torque of the turntable is measured at 0.5℃ intervals. This yields the curves of frictional torque variation due to temperature changes at the azimuth and pitch angles of the turntable at its extreme positions.

[0078] b2) When the azimuth and pitch angles of the two-dimensional turntable are at the middle position, measure the friction torque at different temperatures;

[0079] With both azimuth and pitch angles at the middle position, and the turntable operating temperature between 10℃ and 30℃, the friction torque of the turntable is measured at 0.1℃ intervals. When the turntable operating temperature is outside the range of 10℃ to 30℃, the friction torque of the turntable is measured at 0.5℃ intervals. This yields the friction torque variation curves due to temperature changes at the azimuth and pitch angles of the turntable in the middle position.

[0080] b3) Based on steps b1 and b2, the friction torque parameter identification model is obtained. When the azimuth angle, pitch angle and temperature of the two-dimensional turntable are input, the current friction torque can be identified.

[0081] The moment of inertia is related to the azimuth and pitch angles of the two-dimensional turntable. The azimuth and pitch angles are controlled separately, and the change in moment of inertia is measured. The steps for establishing the moment of inertia parameter identification model are as follows:

[0082] c1) Measure the moment of inertia of the turntable at different pitch angles under the same azimuth angle, and generate a pitch angle-moment of inertia variation curve;

[0083] At the same azimuth angle, the moment of inertia of the turntable is measured at 5° intervals when the pitch angle changes, and the curve of the moment of inertia of the turntable due to the change of pitch angle is obtained.

[0084] c2) Measure the moment of inertia of the turntable at different azimuth angles under the same pitch angle, and generate the azimuth angle-moment of inertia variation curve;

[0085] At the same pitch angle, the rotational inertia of the turntable is measured at 5° intervals when the azimuth angle changes, and the curve of the rotational inertia of the turntable due to the change of the azimuth angle is obtained.

[0086] c3) Based on steps c1 and c2, the rotational inertia parameter identification model is obtained. When the azimuth and pitch angles of the two-dimensional turntable are input, the current rotational inertia can be identified.

[0087] 2) Based on the parameter identification model obtained in step 1, input the changes in the temperature T, azimuth A, and pitch E of the turntable, and the position adaptive controller and speed adaptive controller calculate the PID gain parameters kp, ki, and kd of the position loop and speed loop, respectively.

[0088] 3) Based on the azimuth error dA or pitch error dE and the PID gain parameters obtained in step 2, the control parameters are confirmed in stages. Position and velocity loops establish corresponding position and velocity control algorithms for the tracking stages. The tracking stages include the tracking capture stage, the intermediate tracking stage, and the tracking hold stage. If the velocity and position loops are used separately, the position loop uses the angle error for staged judgment, and the velocity loop uses the angular velocity error for staged judgment. In this embodiment, the velocity and position loops are used in conjunction; therefore, the azimuth error dA or pitch error dE can be used to achieve staged judgment for both the position and velocity loops. Figure 3 , Figure 4 As shown,

[0089] When the azimuth error dA satisfies dA≥DA1 or the pitch error dE satisfies dE≥DE1, the turntable is in the tracking and acquisition stage and adopts P control mode.

[0090] When the azimuth error dA satisfies DA2≤dA≤DA1 or the pitch error dE satisfies DE2≤dE≤DE1, the turntable is in the intermediate tracking stage and adopts PID or PI control mode.

[0091] When the azimuth error dA satisfies dA≤DA2 or the pitch error dE satisfies dE≤DE2, the turntable is in the tracking and holding phase and adopts PD or P control mode.

[0092] Where: DA1 is the maximum value of the azimuth error dA at the end of the rising phase of the measured azimuth angle of the turntable; DA2 is the minimum value of the azimuth error dA when the ratio of the difference between the measured azimuth angle of the turntable and the target value to the target value is less than 5%.

[0093] DE1 is the maximum value of the pitch angle error dE at the end of the rising phase of the measured pitch angle of the turntable; DE2 is the minimum value of the pitch angle error dE when the ratio of the difference between the measured pitch angle and the target value to the target value is less than 5%.

[0094] 3.1) In the tracking and acquisition phase, based on the target value and the PID gain parameters kp, ki, and kd output by the position adaptive controller and speed adaptive controller, the position control algorithm and speed control algorithm for the tracking and acquisition phase are established, such as... Figure 5 As shown, based on f1(T / A / E), the control parameters kp1, ki1, and kd1 of the position loop and velocity loop during the tracking and acquisition phase are calculated respectively.

[0095] 3.2) Tracking the intermediate stage: Based on the target value of the intermediate stage, and using the PID gain parameters kp, ki, and kd output by the position adaptive controller and speed adaptive controller, establish the position control algorithm and speed control algorithm for the intermediate stage, such as... Figure 6 As shown, based on f2(T / A / E), the control parameters kp2, ki2, and kd2 of the position loop and velocity loop during the intermediate stage of tracking are calculated respectively.

[0096] 3.3) During the tracking and holding phase, based on the target value and the PID gain parameters kp, ki, and kd output by the position adaptive controller and speed adaptive controller, the position control algorithm and speed control algorithm for the tracking and holding phase are established, such as... Figure 7 As shown, based on f3(T / A / E), the control parameters kp3, ki3, and kd3 of the position loop and velocity loop during the tracking and holding phase are calculated respectively.

[0097] 4) Based on the control parameters obtained in step 3, the turntable is subjected to high-precision tracking control in stages.

[0098] This method allows the parameter identification model in the parameter identification unit to calculate the winding torque, friction torque, and moment of inertia based on the detection data from the state observation unit during the movement of the two-dimensional turntable. The position adaptive controller and speed adaptive controller calculate the corresponding PID gain parameters in stages according to step 2. The speed control algorithm unit and position control algorithm unit adjust the tracking of the two-dimensional turntable according to the control parameters at different stages to ensure that the two-dimensional turntable always operates in the optimal state. This reduces the accuracy decrease and tracking failure problems caused by changes in resistance torques such as winding torque and friction torque, as well as changes in moment of inertia. While reducing the impact of disturbance torque fluctuations, it improves the control accuracy and adaptive capability of the two-dimensional turntable.

Claims

1. A two-dimensional turntable capable of adaptive high-precision tracking, comprising a turntable, a turntable motor connected to the input end of the turntable and controlled by current, an angle measuring unit connected to the angle output end of the turntable, a speed loop located in the inner loop and a position loop located in the outer loop connected to the angle measuring unit, and a disturbance loop located outside the position loop connected to the disturbance output end of the turntable; the speed loop includes a speed control algorithm unit; the position loop includes a position control algorithm unit; the angle measuring unit is used to measure the azimuth angle and pitch angle of the turntable; Its features are: It also includes a control parameter testing system, which comprises a state observation unit, a parameter identification unit, a position adaptive controller, and a speed adaptive controller; The status observation unit is connected to the status output terminal of the turntable. The angle measurement unit transmits the measured azimuth and elevation angles to the status observation unit. The status observation unit outputs the temperature of the turntable, as well as the azimuth and elevation angle data, and sends them to the parameter identification unit. The parameter identification unit calculates the winding torque, friction torque, and moment of inertia based on the temperature, azimuth angle, and pitch angle output by the state observation unit and the established parameter identification model. The parameter identification model includes a winding torque parameter identification model, a friction torque parameter identification model, and a moment of inertia parameter identification model. The steps for establishing the wire winding torque parameter identification model are as follows: a1) The turntable is used to measure the winding torque at different temperatures under the same azimuth and pitch angles, and a temperature-winding torque variation curve is generated. a2) The turntable measures the winding torque at different temperatures under the same azimuth angle and different pitch angles, generating pitch angle, temperature and winding torque variation curves; a3) The turntable measures the winding torque at different temperatures under different azimuth angles and the same pitch angle, generating azimuth angle, temperature and winding torque variation curves; a4) Based on the change curves generated in steps a1 to a3, obtain the identification model of the winding torque parameters; The steps for establishing the friction torque parameter identification model are as follows: b1) When the azimuth and pitch angles of the turntable are both at their extreme positions, measure the frictional torque at different temperatures and generate the temperature-frictional torque variation curve at the extreme positions; b2) When the azimuth and pitch angles of the turntable are both at the middle position, measure the friction torque at different temperatures and generate the temperature-friction torque variation curve at the middle position; b3) Based on the change curves generated in steps b1 and b2, obtain the friction torque parameter identification model; The steps for establishing the rotational inertia parameter identification model are as follows: c1) Measure the moment of inertia of the turntable at different pitch angles under the same azimuth angle, and generate a pitch angle-moment of inertia variation curve; c2) Measure the moment of inertia of the turntable at different azimuth angles under the same pitch angle, and generate the azimuth angle-moment of inertia variation curve; c3) Based on the change curves generated in steps c1 and c2, obtain the rotational inertia parameter identification model; The output of the parameter identification unit is connected to the input of the position adaptive controller and the speed adaptive controller, respectively. The position adaptive controller calculates the corresponding position loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the position control algorithm unit. The speed adaptive controller calculates the corresponding speed loop PID gain parameters based on the winding torque, friction torque, and moment of inertia output by the parameter identification unit under different temperatures, azimuth angles, and pitch angles of the turntable, and sends them to the speed control algorithm unit. The position control algorithm unit establishes a position control algorithm for the corresponding stage under the corresponding temperature, azimuth, and pitch angle based on the azimuth error dA or pitch error dE and the position loop PID gain parameters, and outputs the azimuth rate error dωA or pitch rate error dωE. The speed control algorithm unit establishes a speed control algorithm for the corresponding stage under the corresponding temperature, azimuth angle, and pitch angle based on the azimuth rate error dωA or pitch rate error dωE output by the position control algorithm and the speed loop PID gain parameters. The azimuth error dA is the difference between the target value of the externally input azimuth angle of the turntable, which is corrected by the disturbance correction algorithm, and the azimuth measurement value obtained by the angle measuring unit. The pitch angle error dE is the difference between the target value of the pitch angle input from outside the turntable, after being corrected by the disturbance correction algorithm, and the pitch angle measurement value obtained by the angle measuring unit.

2. A control method for a two-dimensional turntable capable of adaptive high-precision tracking as described in claim 1, characterized in that: Includes the following steps: 1) Establish parameter identification models; the parameter identification models include wire winding torque parameter identification models, friction torque parameter identification models, and moment of inertia parameter identification models. The parameter identification unit calculates the wire winding torque, friction torque, and moment of inertia based on the parameter identification models, wherein: The steps for establishing the wire winding torque parameter identification model are as follows: a1) The turntable is used to measure the winding torque at different temperatures under the same azimuth and pitch angles, and a temperature-winding torque variation curve is generated. a2) The turntable measures the winding torque at different temperatures under the same azimuth angle and different pitch angles, generating pitch angle, temperature and winding torque variation curves; a3) The turntable measures the winding torque at different temperatures under different azimuth angles and the same pitch angle, generating azimuth angle, temperature and winding torque variation curves; a4) Based on the change curves generated in steps a1 to a3, obtain the identification model of the winding torque parameters; The steps for establishing the friction torque parameter identification model are as follows: b1) When the azimuth and pitch angles of the turntable are both at their extreme positions, measure the frictional torque at different temperatures and generate the temperature-frictional torque variation curve at the extreme positions; b2) When the azimuth and pitch angles of the turntable are both at the middle position, measure the friction torque at different temperatures and generate the temperature-friction torque variation curve at the middle position; b3) Based on the change curves generated in steps b1 and b2, obtain the friction torque parameter identification model; The steps for establishing the rotational inertia parameter identification model are as follows: c1) Measure the moment of inertia of the turntable at different pitch angles under the same azimuth angle, and generate a pitch angle-moment of inertia variation curve; c2) Measure the moment of inertia of the turntable at different azimuth angles under the same pitch angle, and generate the azimuth angle-moment of inertia variation curve; c3) Based on the change curves generated in steps c1 and c2, obtain the rotational inertia parameter identification model; 2) Based on the parameter identification model obtained in step 1, according to the changes in the temperature T, azimuth angle A, and pitch angle E of the turntable, the position adaptive controller and the speed adaptive controller calculate the PID gain parameters kp, ki, and kd of the position loop and speed loop, respectively. 3) Based on the azimuth error dA or pitch error dE and the PID gain parameters obtained in step 2, confirm the control parameters in stages, and establish position control algorithms and speed control algorithms for the corresponding tracking stages in the position loop and velocity loop. The tracking stage includes the tracking acquisition stage, the tracking intermediate stage, and the tracking hold stage. 3.1) During the tracking and capture phase, based on the target value of the tracking and capture phase, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, the position control algorithm and the speed control algorithm for the tracking and capture phase are established, and the control parameters kp1, ki1, and kd1 of the position loop and the speed loop in the tracking and capture phase are calculated respectively. 3.2) Tracking intermediate stage: Based on the target value of the tracking intermediate stage, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, establish the position control algorithm and speed control algorithm for the tracking intermediate stage, and calculate the control parameters kp2, ki2, and kd2 of the position loop and speed loop in the tracking intermediate stage respectively. 3.3) During the tracking and holding phase, based on the target value of the tracking and holding phase, and based on the PID gain parameters kp, ki, and kd output by the position adaptive controller and the speed adaptive controller, the position control algorithm and the speed control algorithm for the tracking and holding phase are established, and the control parameters kp3, ki3, and kd3 of the position loop and the speed loop in the tracking and holding phase are calculated respectively. 4) Based on the control parameters obtained in step 3 for different stages, the turntable is subjected to high-precision tracking control in stages.

3. The control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 2, characterized in that: In step 3, the specific steps for confirming the control parameters in stages are as follows: When the azimuth error dA satisfies dA≥DA1 or the pitch error dE satisfies dE≥DE1, the turntable is in the tracking and acquisition stage and adopts P control mode. When the azimuth error dA satisfies DA2≤dA≤DA1 or the pitch error dE satisfies DE2≤dE≤DE1, the turntable is in the intermediate tracking stage and adopts PID or PI control mode. When the azimuth error dA satisfies dA≤DA2 or the pitch error dE satisfies dE≤DE2, the turntable is in the tracking and holding phase and adopts PD or P control mode. Where: DA1 is the maximum value of the azimuth error dA at the end of the rising phase of the measured azimuth angle of the turntable; DA2 is the minimum value of the azimuth error dA when the ratio of the difference between the measured azimuth angle of the turntable and the target value to the target value is less than 5%. DE1 is the maximum value of the pitch angle error dE at the end of the rising phase of the measured pitch angle of the turntable; DE2 is the minimum value of the pitch angle error dE when the ratio of the difference between the measured pitch angle and the target value to the target value is less than 5%.

4. A control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 2 or 3, characterized in that: In step a1, while keeping the azimuth and pitch angles constant, when the operating temperature of the turntable is between 10℃ and 30℃, the winding torque of the turntable is measured at intervals of 0.1℃; when the operating temperature of the turntable is outside the range of 10℃ to 30℃, the winding torque of the turntable is measured at intervals of 0.5℃, thus obtaining the winding torque variation curve of the turntable under the same azimuth and pitch angles due to temperature changes.

5. The control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 4, characterized in that: In step a2, keeping the azimuth angle constant, the winding torque of the turntable is measured at 0.1° intervals when the turntable operating temperature is between 10°C and 30°C, and when the turntable operating temperature is outside the range of 10°C to 30°C, the winding torque of the turntable is measured at 0.5°C intervals, thus obtaining the winding torque variation curve of the turntable under the same azimuth angle and different pitch angles due to temperature changes.

6. The control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 5, characterized in that: In step a3, keeping the pitch angle constant, the winding torque of the turntable is measured at 0.1° intervals when the azimuth angle changes by 5° and the turntable operating temperature is between 10°C and 30°C; when the turntable operating temperature is outside the range of 10°C to 30°C, the winding torque of the turntable is measured at 0.5°C intervals, thus obtaining the winding torque variation curve of the turntable under different azimuth angles and the same pitch angle due to temperature changes.

7. The control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 6, characterized in that: In step b1, when both the azimuth and pitch angles are at their extreme positions and the turntable's operating temperature is between 10℃ and 30℃, the friction torque of the turntable is measured at 0.1℃ intervals. When the turntable's operating temperature is outside the range of 10℃ to 30℃, the friction torque of the turntable is measured at 0.5℃ intervals, thus obtaining the friction torque variation curves due to temperature changes at the extreme positions of the turntable's azimuth and pitch angles. The extreme position is the position of the turntable's maximum rotation angle.

8. The control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 7, characterized in that: In step b2, when both the azimuth and pitch angles are at the middle position, and the turntable's operating temperature is between 10℃ and 30℃, the friction torque of the turntable is measured at 0.1℃ intervals. When the turntable's operating temperature is outside the range of 10℃ to 30℃, the friction torque of the turntable is measured at 0.5℃ intervals, thus obtaining the friction torque variation curves due to temperature changes at the azimuth and pitch angles of the turntable at the middle position. The middle position is the position where the turntable is at zero.

9. A control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 8, characterized in that: In step c1, at the same azimuth angle, the rotational inertia of the turntable is measured at 5° intervals when the pitch angle changes, so as to obtain the rotational inertia change curve of the turntable due to the change of the pitch angle.

10. A control method for a two-dimensional turntable capable of adaptive high-precision tracking according to claim 9, characterized in that: In step c2, at the same pitch angle, the rotational inertia of the turntable is measured at 5° intervals when the azimuth angle changes, so as to obtain the rotational inertia change curve of the turntable due to the change of the azimuth angle.

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