Vehicle-mounted stabilized platform visual axis anti-interference self-adaptive control system

Abstract

The invention relates to the technical field of self-adaptive control, in particular to a vehicle-mounted stabilized platform visual axis anti-interference self-adaptive control system which comprises an error interval recognition module, a target stepping generation module, a disturbance self-adaptive adjustment module, an amplitude limiting execution management and control module and a control state updating module. According to the method, different control strategy selection is driven through interval grade feedback, a differential stepping control mode is adopted based on error grades in the position adjusting link, the graded output precision of a target instruction is achieved, grade matching is conducted in combination with the vehicle inertial acceleration and the disturbance grading threshold value, and the control precision is improved. A control instruction adapts to disturbance level change to complete self-adaptive correction, a freezing threshold value is further set in combination with a non-action signal and an acceleration fluctuation amplitude in stable state recognition, and instruction jitter caused by frequent response of a control channel during low disturbance is effectively prevented. And the response adaptation capability and the steady state maintenance level under various dynamic interference conditions are integrally improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of adaptive control, in particular to a vehicle-mounted stable platform visual axis anti-disturbance adaptive control system. BACKGROUND

[0002] The technical field of adaptive control relates to a control method for maintaining or optimizing system performance by automatically adjusting controller parameters under the condition that system dynamic characteristics are unknown or parameters are time-varying, which is widely used in aircrafts, ships, automobiles, robots and other complex dynamic systems with high requirements for control accuracy and anti-disturbance ability, and has good system adaptability and stability. Among them, the vehicle-mounted stable platform visual axis anti-disturbance control system refers to a stabilizing device installed on a ground moving platform, which aims to suppress the disturbance caused by vehicle movement to maintain the stability of the visual axis direction. It is aimed at the problem that the platform visual axis is easy to deviate in a complex motion disturbance environment under vehicle-mounted conditions. The visual axis control is usually performed by using a controller parameter design method based on a linear quadratic regulator and a parameter self-adjusting mechanism relying on model identification. The vehicle motion state is obtained by a sensor and input to a preset controller model to calculate a compensation amount for real-time adjustment of the actuator to maintain the stability of the platform attitude.

[0003] The existing vehicle-mounted stable platform visual axis anti-disturbance control technology does not subdivide and adapt to the level change of vehicle inertia disturbance in the disturbance identification link. The control response takes the target deviation error as a single basis, and it is difficult to flexibly adjust the adjustment strategy according to the disturbance intensity. In the case of continuous small disturbance or frequent slight fluctuation, it is easy to cause the control system to frequently output fine adjustment instructions, resulting in channel response shock and stability decline. In addition, the existing control method relies on fixed parameters or linear models to generate control instructions, and lacks real-time feedback adaptation ability to different dynamic states, which is easy to cause attitude deviation under complex motion conditions due to excessive or insufficient response amplitude, and further affects the continuous and stable maintenance of the platform visual axis to the target direction. Especially in the case of vehicle starting, turning or vibration, the stability problem is more likely to be exposed. SUMMARY

[0004] In order to solve the technical problems existing in the prior art, the embodiments of the present application provide a vehicle-mounted stable platform visual axis anti-disturbance adaptive control system. The technical scheme is as follows: On the one hand, a vehicle-mounted stable platform visual axis anti-disturbance adaptive control system is provided, which comprises: An error interval identification module obtains the current position parameters of the visual axis collected by the DSP chip and the target position parameters issued by the platform, calculates the error amplitude, determines the amplitude interval level of the error in combination with the position error threshold interval, feeds back to the DSP chip interrupt response channel, and generates an error level feedback identifier; The target step generation module generates a position instruction output record according to the error level feedback identification, and the DSP chip selects a control processing path according to the feedback amplitude interval level, performs a corresponding adjustment action, and uniformly transmits and executes an instruction generation, to generate a position instruction output record; The disturbance adaptive adjustment module generates a disturbance adjustment control instruction according to the position instruction output record, and the DSP chip collects a current inertia disturbance acceleration of the vehicle body, sequentially compares the current inertia disturbance acceleration with each disturbance gear boundary value, identifies a current disturbance level number, adjusts the amplitude of the control instruction, and generates a disturbance adjustment control instruction. The amplitude limiting execution control module generates an amplitude limiting execution signal identification according to the disturbance adjustment control instruction, and the DSP chip reads a maximum position amplitude limiting value and a motor response time constant, compares an upper and lower boundary of an output amplitude of a control period, writes a limiting boundary value if the output amplitude exceeds the boundary, retains an original instruction and confirms a response if the output amplitude does not exceed the boundary, and generates an amplitude limiting execution signal identification.

[0005] As a further scheme of the present application, the error level feedback identification includes an error amplitude level code, a feedback channel number, and a current position label of a sighting axis, the position instruction output record includes a fine adjustment step parameter, a target position instruction value, and a static instruction identification, the disturbance adjustment control instruction includes a disturbance level number, a disturbance compensation coefficient index, and a dynamic instruction channel identification, and the amplitude limiting execution signal identification includes an upper and lower amplitude limiting boundary value, a period effective instruction state record, and a driving port response state record.

[0006] As a further scheme of the present application, the motor response time constant is specifically a step response time defined by an international standard of a rotating motor.

[0007] As a further scheme of the present application, the error interval identification module includes: A position parameter acquisition sub-module acquires a current position parameter of a sighting axis collected by a DSP chip, reads a target position parameter of a platform, subtracts the target position parameter from the current position parameter to obtain a difference value sequence, compares the difference value sequence with a set target position parameter, and generates a relative position difference interval quantity; An error amplitude calculation sub-module, based on the relative position difference interval quantity, combines corresponding error threshold intervals of a low error band, a medium error band, and a high error band, classifies and judges the difference interval quantity and range limits of each error band interval according to the error amplitude level interval classification result, and obtains a classification result. A level code feedback sub-module, according to the error amplitude level interval classification result, encodes a level interval value, marks level information according to the encoding result, writes the level information into a DSP chip interrupt response channel, and generates an error level feedback identification.

[0008] As a further scheme of the present application, the target step generation module includes: The grade screening submodule obtains the error grade feedback identifier, reads and extracts grade information according to the coded value in the feedback identifier bit by bit, judges the corresponding amplitude interval grade, determines the static grade, the fine adjustment grade and the position adjustment grade, establishes a control path selection marker according to the judgment result, and generates a control path grade; The step calculation submodule is based on the control path grade, if the marker value indicates the fine adjustment grade, reads the fine step resolution parameter setting value, synchronously reads the current control period counter value, and multiplies the two to represent the fine adjustment step angle required in the current period, and generates a fine adjustment angle calculation result; The instruction output submodule judges the control type according to the fine adjustment angle calculation result and the control path grade, sets the step value to zero if it is the static grade, reads the fine adjustment angle calculation result as the instruction parameter value if it is the fine adjustment grade, and reads the platform target position parameter value as the instruction parameter value if it is the position adjustment grade, and writes the position instruction register in a unified data channel to generate a position instruction output record.

[0009] As a further scheme of the present application, the disturbance adaptive adjustment module comprises: The disturbance identification submodule obtains the position instruction output record, collects the inertial disturbance acceleration data of the vehicle body acceleration sensor at the current time, judges the disturbance grade in combination with the vibration intensity grade threshold setting interval, assigns the current disturbance grade number to the grade mapping table, and generates a disturbance grade number value; The amplitude adjustment submodule is based on the disturbance grade number value, sets the disturbance compensation coefficient corresponding to the number in the disturbance compensation coefficient table, synchronously reads the current angle in the position instruction output record, performs a multiplication operation as the adjusted instruction amplitude value, and generates a disturbance amplitude adjustment value; The control rewriting submodule re-generates the control channel output instruction structure according to the disturbance amplitude adjustment value, sets the rewritable angle field in the control instruction data, clears the storage value of the corresponding field in the original control data, writes the integer coded value of the disturbance amplitude adjustment value angle unit, refreshes the data check bit, updates the data packet to the DSP interrupt response interface, performs a read-back check, and generates a disturbance adjustment control instruction.

[0010] As a further scheme of the present application, the amplitude limiting execution control module comprises: The amplitude limiting parameter extraction submodule obtains the disturbance adjustment control instruction, calls the preset structure parameter table in the DSP chip, reads the maximum position limiting value allowed by the current platform, synchronously reads the response time constant of the motor, establishes the single-cycle response amplitude upper and lower boundaries according to the control period, and obtains a single-cycle amplitude boundary value; The instruction amplitude correction sub-module replaces the disturbance amplitude adjustment value with the upper limit boundary value if the disturbance amplitude adjustment value is greater than the upper limit boundary value according to the single-cycle amplitude boundary value, replaces the disturbance amplitude adjustment value with the lower limit boundary value if the disturbance amplitude adjustment value is less than the lower limit boundary value, or keeps the original instruction unchanged, and generates the amplitude-limited correction angle value; The effective push execution sub-module encodes the corresponding angle value and writes the amplitude field of a control frame, combines direction encoding to form a complete data frame, refreshes the check bits of the data frame, writes the data frame into a DSP driving output register, and controls the controller to call an interrupt channel to synchronously push the frame to a driving port to generate an amplitude-limited execution signal mark.

[0011] As a further scheme of the present application, the system further comprises: The control state update module monitors whether the signal state enters a holding mode according to the amplitude-limited execution signal mark, and if the signal is in a non-action output state and the inertial disturbance acceleration parameter fluctuation range is lower than a human body vibration perception threshold in a continuous period, sets a control channel freezing flag bit, writes a non-response holding state into a line-of-sight, and generates a line-of-sight anti-disturbance adaptive control record.

[0012] As a further scheme of the present application, the line-of-sight anti-disturbance adaptive control record comprises a control channel freezing flag bit, a non-response holding state flag, and an inertial disturbance detection value.

[0013] As a further scheme of the present application, the control state update module comprises: The signal state discrimination sub-module acquires the amplitude-limited execution signal mark, monitors the execution flag bit in three continuous periods, judges that the system enters a non-action output state if the flag bit is continuously valid, reads a driver response register to verify whether there is an amplitude instruction written in a period, and generates a holding mode judgment result. The disturbance fluctuation detection sub-module enables a disturbance monitoring channel if the flag bit is continuously valid according to the holding mode judgment result, collects the acceleration sensor feedback value in the current three continuous control periods, calculates a fluctuation range value, compares the fluctuation range value with a human body vibration perception threshold, records a stable state if the fluctuation range value is less than the human body vibration perception threshold, and generates a disturbance perception stable record. The freezing state writing sub-module sets a freezing flag bit in a DSP control register according to the disturbance perception stable record, calls a control instruction buffer line-of-sight channel field to write a non-response state code, synchronously records a control state update frame, writes the corresponding frame into an interrupt channel and transmits the frame to a monitoring port, and generates a line-of-sight anti-disturbance adaptive control record.

[0014] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects: In the error identification process, the amplitude level judgment mechanism is introduced to improve the error dynamic classification accuracy, the interval level feedback is driven to select different control strategies, the difference response ability to small disturbance and large deviation is enhanced, the differential step control mode is adopted based on error level in position adjustment link to realize the hierarchical output accuracy of target instruction, the vehicle inertia acceleration and disturbance level threshold are matched in disturbance environment identification to adapt the control instruction to the disturbance level change and complete adaptive correction, the amplitude limiting boundary and periodic response constraint are introduced in the control amplitude limitation to ensure the stability of instruction amplitude in the physical structure and electrical response range, and the freeze threshold is set in the stable state identification by combining the no-action signal and acceleration fluctuation amplitude to effectively prevent the instruction jitter caused by frequent response of control channel under low disturbance. The hierarchical adjustment, amplitude control and state retention fusion mechanism based on disturbance level change and error characteristic feedback are realized to improve the response adaptation ability and stable state maintenance level under various dynamic interference conditions. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0016] Figure 1 It is a schematic diagram of a vehicle-mounted stable platform optical axis anti-interference adaptive control system provided by the embodiment of the present application. Figure 2 It is a system framework schematic diagram of the present application. Figure 3 It is an error interval identification module flow chart of the present application. Figure 4 It is a target step generation module flow chart of the present application. Figure 5 It is a disturbance adaptive adjustment module flow chart of the present application. Figure 6 It is a limiting execution control module flow chart of the present application. Figure 7 It is a control state update module flow chart of the present application. DETAILED DESCRIPTION

[0017] The technical solutions in the present application will be described below in combination with the drawings.

[0018] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0019] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0020] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0021] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0022] This invention provides a vehicle-mounted stability platform line-of-sight disturbance rejection adaptive control system, such as... Figures 1-2 The diagram shown illustrates the onboard stability platform's line-of-sight disturbance rejection adaptive control system. The system includes: The error interval identification module obtains the current position parameters of the line of sight collected by the DSP chip and the target position parameters sent by the platform. After calculating the difference between the two, the error amplitude is obtained. Combined with the position error threshold interval, the error amplitude is classified and compared with the low error band, medium error band and high error band respectively. Based on the comparison results, the amplitude interval level of the error is determined, marked as the corresponding level code and fed back to the interrupt response channel of the DSP chip to generate an error level feedback identifier. The target step generation module selects the control processing path based on the error level feedback flag and the DSP chip according to the amplitude range level of the feedback. If the level is in the low error band, it outputs a stationary command flag and keeps the target position unchanged. If the level is in the medium error band, it reads the micro-step resolution parameter (the smallest control unit of the stepper motor defined by the international standard for electric drive systems (default 0.001°, implemented through microstepping drive technology) and multiplies it with the value of the current control cycle register to obtain the fine-tuning step parameter. If the level is in the high error band, it directly inputs the target position parameter as the adjustment command value. The results of the three paths are uniformly transmitted and executed to generate the command, and the position command output record is generated. The disturbance adaptive adjustment module is based on the position instruction output record, the DSP chip collects the current inertial disturbance acceleration of the vehicle body acceleration sensor, sequentially compares the set disturbance gear boundary values in the vibration intensity level threshold (the acceleration classification defined by the human body whole body vibration evaluation standard (0.1g-0.3g is light disturbance, 0.3g-0.6g is moderate disturbance, and >0.6g is severe disturbance)) in size, identifies the current disturbance level number, matches the disturbance compensation coefficient table corresponding to the level number with the generated position instruction, adjusts the control instruction amplitude, and completes the dynamic channel instruction rewriting to generate the disturbance adjustment control instruction; The amplitude limiting execution control module is based on the disturbance adjustment control instruction, the DSP chip reads the maximum position limiting value allowed by the platform structure and the motor response time constant (the step response time defined by the international standard of rotary motor (the time required from instruction issuance to reaching 90% of the target value), which is used for limiting calculation), sets the output amplitude upper and lower boundaries of the control period, compares the control instruction amplitude with the set boundaries item by item, if it is over limited, the limiting boundary value is overwritten, if it is not over limited, the original instruction is retained and the response is confirmed, the period effective instruction is pushed to the drive port for execution to generate the amplitude limiting execution signal mark; The control state updating module is based on the amplitude limiting execution signal mark, the DSP chip monitors whether the signal state enters the holding mode, if the signal is in no action output in the continuous period and the vehicle body inertial disturbance acceleration parameter fluctuation range is lower than the human body vibration perception threshold (0.015g), the control channel freezing flag bit is set, and the boresight non-response holding state is written, to generate the boresight anti-disturbance adaptive control record.

[0023] The error level feedback mark includes error amplitude level code, feedback channel number, and boresight current position label, the position instruction output record includes fine adjustment step parameter, target position instruction value, and static instruction mark, the disturbance adjustment control instruction includes disturbance level number, disturbance compensation coefficient index, and dynamic instruction channel mark, the amplitude limiting execution signal mark includes upper and lower limiting amplitude boundary values, period effective instruction state record, and drive port response state record, and the boresight anti-disturbance adaptive control record includes control channel freezing flag bit, non-response holding state mark, and inertial disturbance detection value.

[0024] Specifically, as shown in Figure 2 , 3 The error interval identification module includes: The position parameter acquisition submodule acquires the boresight current position parameter collected by the DSP chip, reads the target position parameter of the platform, subtracts the target position parameter from the current position parameter, obtains the difference value sequence between the two, compares the difference value sequence with the set target position parameter, and generates the relative position difference interval quantity. Acquire the current position parameter of the visual axis collected by the DSP chip. First, in actual deployment, the DSP chip is installed on a servo control circuit with fast response capability, and the rotation angle value of the visual axis provided by the photoelectric encoder sensor is periodically sampled. Assuming that the current system completes data acquisition every 50 ms, the current visual axis position parameter sampled can be represented as , and then the target position parameter issued by the platform is called . The platform issue frequency is set to 1 Hz, i.e., the target position value is updated every second. Both need to be synchronized by timestamp to ensure that the value corresponds to the same control period. Calculate the difference between and one by one, and the calculation method is: to obtain the real-time difference sequence in each control period ; for example, the current time sampling obtains , and the platform issues , then the difference is ; then compare the difference sequence with the target position parameter one by one to determine the offset ratio of the difference relative to the target value. The offset ratio calculation method is: , and the above data is . Then match the offset ratio with the set hierarchical ratio interval to convert the interval of the offset ratio into a discrete interval value . The division rule of the discrete interval is: if , then ; if , then ; if , then ; if , then . In the above example, , then , i.e., it is considered as a medium level offset interval. Finally, generate the relative position difference interval quantity according to the interval value obtained after matching.

[0025] The error amplitude calculation submodule is based on the relative position difference interval quantity, combined with the corresponding error threshold interval of the low error band, medium error band and high error band, and classified according to the range limit of the difference interval quantity and each error band interval to obtain the error amplitude level interval classification result. Based on the relative position difference interval quantity , first establish the numerical reference range of the error level interval, set the low error band interval as , the medium error band interval as or , and the high error band interval as , call the error amplitude level interval classification result obtained by the previous submodule Value involved interval level judgment, put into hierarchical rules for logical judgment, the condition is: if , then classified as low level; if or , then classified as medium level; if , then classified as high level, continue to call The maximum allowable error amplitude corresponding to each level is compared with the numerical value, the maximum allowable error amplitude threshold is set as follows: the upper limit of low error band is , the upper limit of medium error band is , the high error band is , according to The absolute error value corresponding to further refine the current The actual position of the error interval, if , its corresponding error value should be between to , combined with the previous example , even if , its corresponding error value exceeds the upper limit of the medium error band, at this time, the level needs to be corrected, classified as high level interval, the final error level interval value is marked as an integer , the value range is , wherein represents low level, represents medium level, represents high level, the final corrected in the above example, the error amplitude interval classification result is generated.

[0026] The level coding feedback sub-module according to the error amplitude interval classification result, the level interval value is coded, according to the coding result, the level information is marked, written into the DSP chip interrupt response channel, the error level feedback identification is generated; According to the error amplitude interval classification result , first of all, the error level coding table is established, the corresponding relationship is as follows: if , then encode 000; if , then encode 001; if , then encode 010, call the coding table, map the level value to the corresponding 3-bit binary code , combined with the result of the last paragraph , we can get , then call the coding value The response data packet format is set as a fixed 8-bit structure, and the 4th to 6th bits are used for writing the level identification. Assuming that the initial value of the current data packet is 00000000, after the encoding embedding operation is performed, the result is 00001000, the data packet is written into the interrupt response channel of the DSP chip, and the response signal trigger confirmation is performed. The confirmation method is to read the interrupt register value after writing and compare it with the encoding value bit by bit. If the comparison is consistent, it is considered that the writing is completed. For example, if the read value of the DSP interrupt register after writing is 00001000, which is consistent with the expected value, it indicates that the feedback data is written successfully, and finally the error level feedback identification is generated.

[0027] Specifically, as shown in Figure 2 、 4 , the target step generation module includes: The level screening submodule obtains the error level feedback identification, reads and extracts the level information according to the encoding value in the feedback identification, judges the corresponding amplitude interval level, determines the static level, the fine tuning level and the position adjustment level, establishes the control path selection mark according to the judgment result, and generates the control path level. The error level feedback identification is obtained, the feedback identification is input into the controller read register in the form of 8-bit data bytes, and the 4th to 6th bits in the bit structure are extracted as the basis for level judgment. The 3-bit field is , each bit represents a different level flag, for example 、 、 indicates the medium level. In the actual running scene, if the write value of the DSP interrupt response channel is 00001000, the 3-bit field is extracted as 010, and the corresponding decimal value is further obtained according to the binary conversion relationship. The judgment condition is set as: if , it is marked as a static level; if or , it is marked as a fine tuning level; and if , it is marked as a position adjustment level. To realize this judgment process, a multi-channel condition control structure is used. In each judgment branch, the input value is compared with the threshold boundary item by item, and the control path selection result is output if the corresponding condition is met. For example, if , the controller is marked as a fine tuning level path, and the result after judgment is converted into a state flag , , the value range of which is , in which represents static, represents fine tuning, and represents adjustment. The state flag is used for the path judgment process of the subsequent instruction generation module, and finally the control path level is established.

[0028] The step calculation sub-module is based on the control path level. If the flag value indicates the fine adjustment level, the fine step resolution parameter setting value is read, the current control period counter value is read synchronously, and the two are multiplied to represent the fine adjustment step angle required in the current period, and a fine adjustment angle calculation result is generated; Call the control path level If , the system enters the fine adjustment path, first acquires the fine step resolution parameter According to the international electric transmission system standard stepper motor definition, Set to Angle units, read the current value of the control period counter as The counter is incremented by 1 after each period execution, assuming that the current control period is executed to the 8th time, In the fine adjustment path, the system multiplies And To get the fine adjustment step angle The calculation formula is Substitute the above example data into the calculation to get Angle units, which is the step angle that needs to be adjusted in the current period, if Fine setting is made during device configuration, for example, using a higher subdivision power supply drive to set When The calculation gets Angle units, this value is transmitted to the actuator interface through the output end, used to control the adjustment direction and amplitude of the micro displacement, and the fine adjustment angle calculation result is obtained.

[0029] The instruction output sub-module determines the control type according to the fine adjustment angle calculation result and the control path level. If it is the static level, set the step value to zero; if it is the fine adjustment level, read the fine adjustment angle calculation result as the instruction parameter value; if it is the position adjustment level, read the platform target position parameter value as the instruction parameter value. Write the position instruction register through a unified data channel, and generate a position instruction output record; According to the fine adjustment angle calculation result And the control path level value First determine whether the current control path is static, fine adjustment or position adjustment path, if , set the output step value to 0 angle units, no need to perform any position change, if , the system calls the fine adjustment angle obtained by the previous sub-module As the target angle output instruction is generated, the instruction is converted into integer encoding in floating point form and embedded into the instruction data packet structure, the data packet adopts a 16-bit structure, wherein the 5th to 12th bits are the step instruction segment, if , the target position parameter issued by the platform is called As the current period instruction angle input, the parameter is transmitted from the central control platform in each control period, for example, the current angle unit, directly as the current instruction angle value, the three types of instruction values are written into the position instruction register after unified encapsulation processing according to the corresponding path, the register is set to update once per period, and after writing, it is sent to the motor execution end through the drive interface to form a complete action instruction sequence and record the current period action value, and finally generate the position instruction output record.

[0030] Specifically, as shown in Figure 2 , 5 , the disturbance adaptive adjustment module comprises: The disturbance identification submodule obtains the position instruction output record, collects the inertial disturbance acceleration data of the vehicle body acceleration sensor at the current time, judges the disturbance level in combination with the vibration intensity level threshold setting interval, assigns the current disturbance level number according to the level mapping table, and generates the disturbance level number value; After obtaining the position instruction output record, the 16-bit binary position data in the controller output instruction cache is read into the intermediate register area, the 5th to 12th bits in the corresponding record are the angle value segment, which is used as the reference input of displacement execution, and then the DSP chip schedules the vehicle body acceleration sensor module to trigger the acquisition of the current acceleration data , the sensor sampling frequency is set to 100Hz, and the current vehicle body inertial acceleration is updated every 10ms, if the current sampling value is , the value is transmitted to the disturbance judgment module in floating point form, the disturbance judgment logic is judged according to the vibration level threshold interval setting value, the standard is set as determined as the disturbance level , determined as determined as , the sampling value is substituted into the judgment logic and compared with the threshold boundary item by item, it is identified that the value is between 0.3g and 0.6g, so the disturbance level number , in the application scenario, if the acceleration sensor feedback value is , the value will be identified as severe disturbance, the corresponding number is , the disturbance level number will be used as the basis index parameter for selecting the subsequent disturbance compensation coefficient, and finally the disturbance level number value is generated.

[0031] The amplitude adjustment sub-module sets the compensation coefficient corresponding to the index in the disturbance compensation coefficient table based on the disturbance level index value, synchronously reads the current angle in the position instruction output record, performs multiplication operation as the adjusted instruction amplitude value, and generates the disturbance amplitude adjustment value; The disturbance level index value is called Then, the mapping relationship thereof in the disturbance compensation coefficient table is determined, the table adopts an array index structure, and each level index corresponds to a compensation coefficient The preset rule is When , When , When Herein Corresponds to Subsequently, the current period execution angle value is extracted from the position instruction output record Suppose that the value is Angle units, the angle value Is called and multiplied by the disturbance compensation coefficient The formula is The numerical value is substituted into the formula, and Angle units are obtained, the angle value is the corrected target after the disturbance, and indicates that the controller performs scaling processing on the angle output under the condition of moderate disturbance, and is used to reduce the displacement response; in another example, if , Angle units, then Angle units are obtained, and the calculation result reflects the instruction amplitude reduction effect after the disturbance level is improved, and the disturbance amplitude adjustment value is finally obtained.

[0032] The control rewriting sub-module re-generates the control channel output instruction structure according to the disturbance amplitude adjustment value, sets the rewritable angle field in the control instruction data, clears the storage value of the corresponding field in the original control data, writes the integer encoding value of the disturbance amplitude adjustment value angle unit, refreshes the data check bit, updates the data packet to the DSP interrupt response interface, performs a read-back check, and generates the disturbance adjustment control instruction; According to the disturbance amplitude adjustment value First, the current data instruction frame structure of the control channel is initialized, the instruction frame is a 16-bit binary format, the first to fourth bits are the flag control field, the fifth to twelfth bits are the angle execution segment, and the thirteenth to sixteenth bits are the data check bit, the content in the original angle execution segment is emptied, and The floating-point angle value is read and integer encoding processing is performed The angle unit is quantized by 0.01 angle units as 3094, converted into 12-bit binary coding and written into the angle execution section, and then the data check field is updated, and the check is performed by using bit summation addition processing, and the previous 12 bits are summed and taken modulo 4 to be written into the check section, at this time, the complete control instruction is a newly generated data frame structure, which is then transmitted into the control instruction buffer of the DSP chip by the instruction writing port, after the update is completed, the register reading interface is called to read the data frame content, and the previous stage writing instruction is compared to ensure that the writing content is consistent, and then the control update is marked as completed, and finally the disturbance adjustment control instruction is generated.

[0033] Specifically, as shown in Figure 2 、 6 , the amplitude limiting execution control module includes: The amplitude limiting parameter extraction submodule obtains the disturbance adjustment control instruction, calls the preset structure parameter table in the DSP chip, reads the maximum position amplitude value allowed by the current platform, synchronously reads the response time constant of the motor, establishes the single-cycle response amplitude upper and lower boundaries according to the control cycle, and obtains the single-cycle amplitude boundary value; After obtaining the disturbance adjustment control instruction, the platform structure configuration table in the control parameter storage area in the DSP chip is first called, the table stores the maximum structure displacement angle allowed by the platform , which is the boundary position permitted by the structure strength, for example, it is set to angle units, then the step response time constant in the motor response performance parameter table is called , which is defined as the time required for the motor to reach 90% of the target displacement after inputting the instruction, which is set by default according to the international standard of rotating motor milliseconds, under the setting of the system control cycle , milliseconds, the output amplitude boundary value is established based on the structure protection principle, the output boundary value is calculated by a proportional relationship, that is , and the numerical value is angle units, and the lower limit of the amplitude is set to angle units, which is used to limit the negative response output amplitude, the upper and lower boundary values are encoded in floating point form and stored in the intermediate register area for subsequent control amplitude comparison logic calling, in the platform control logic, the amplitude boundary will be used as a judgment basis to limit the single-cycle motor response step value, and finally the single-cycle amplitude boundary value is generated.

[0034] The instruction amplitude correction submodule generates a limit amplitude correction angle value according to the single-cycle amplitude boundary value, if the disturbance amplitude adjustment value is greater than the upper boundary value, the instruction is overwritten, the disturbance amplitude adjustment value is replaced by the upper boundary value, if the disturbance amplitude adjustment value is less than the lower boundary value, the instruction is overwritten and the lower boundary value is replaced, otherwise the original instruction remains unchanged. According to the single cycle amplitude boundary value, the target control amplitude value of the current cycle in the disturbance adjustment control instruction is extracted , which is the adjustment angle calculated by the DSP through the disturbance adaptive adjustment module, and is set as , the system compares the value with the upper boundary value and the lower boundary , if , a forced override operation is performed to replace the original instruction amplitude with the boundary value , if , it is replaced with , if , the original value is kept unchanged, and the instruction amplitude keeps the mark value "0", in this example, since has exceeded , the instruction is overridden to 13.5 angle units, the instruction replacement operation is realized in the register through the write screen command, the modified value is encoded and written into the instruction data frame corresponding field, while the original direction bit and frame synchronization flag remain unchanged, finally generating the amplitude limited modified angle value.

[0035] The effective push execution submodule writes the corresponding angle value code into the amplitude field of the control frame according to the amplitude limited modified angle value, and combines the direction code to form a complete data frame, and refreshes the check bit of the data frame, writes it into the DSP drive output register, the controller calls the interrupt channel to push the frame synchronously to the drive port to generate the amplitude limited execution signal mark; After calling the amplitude limited modified angle value, the data frame structure for actual control execution is constructed, the frame uses 16-bit format, the 5th to 12th bits are amplitude field, the 1st to 4th bits are used for synchronization identification code, and the 13th to 16th bits are data check field, the system converts the modified angle value to 1350 after quantizing by 0.01 units, and writes it into the 5th to 12th bits using 12-bit binary code, for example, the converted angle segment is 010101000110, then the check bit refresh operation is performed, the low bit is added to get the sum, and the sum is written into the high bit field as the check code by modulo 4, at the same time, the interrupt channel is called to write the complete data frame into the DSP chip output buffer register, and the system synchronously transmits the contents of the register to the drive end output interface, after the drive execution module receives the frame signal, the execution state bit is updated to valid, and the corresponding cycle execution state mark in the buffer is marked as "1", the system completes a complete amplitude limited instruction writing and feedback execution state, and finally generates the amplitude limited execution signal mark.

[0036] Specifically, as shown in Figure 2 , 7 , the control state update module comprises: The signal state discrimination submodule acquires a limiting amplitude execution signal identifier, monitors execution flag bits in three consecutive periods, and if the flag bits are continuously valid, it is determined that the no-action output state is entered, and a driving response register is read to verify whether there is an amplitude instruction written in the period to generate a holding mode judgment result. After the limiting amplitude execution signal identifier is acquired, the DSP chip starts a period signal buffer to read and record the limiting amplitude execution state in three consecutive periods, and stores the signal flag bits corresponding to each period into an array , wherein represents a period number, and if the three consecutive periods are all "1", it is determined that the no-action output preliminary state is entered, and then the control angle values corresponding to each period in the instruction response record are read . , , If the absolute values of the three are all not greater than a set minimum response threshold angle units, that is, the condition is met, it is confirmed that the non-action state is entered, and a state variable is written into a state register . In actual application, if the execution angles in three periods are , , angle units, all meet the no-action condition, the state identifier can be identified as an effective holding signal, and a holding mode judgment result is finally generated.

[0037] The disturbance fluctuation detection submodule enables a disturbance monitoring channel according to the holding mode judgment result if the flag bits are continuously valid, collects acceleration sensor feedback values in the current three consecutive control periods, calculates a fluctuation range value, compares it with a human vibration perception threshold, and if the fluctuation range value is less than the human vibration perception threshold, it is recorded as a stable state, and a disturbance perception stability record is generated. According to the holding mode judgment result, if its value is , the system enters a disturbance fluctuation monitoring process, and a disturbance detection channel is triggered by the DSP to read acceleration sensor sampling data in three periods in turn, which are respectively recorded as , , , the data units are , representing the inertial disturbance acceleration values of the vehicle body in each period, and the fluctuation range is calculated , for example, the collected values are , , , then , and then the value is compared with a vibration perception threshold , and the judgment condition is if , the system recognizes that the disturbance fluctuation is not enough to be perceived, that is, the current state is stable, and a state variable is set in the DSP representing disturbance stability, if the fluctuation range exceeds the threshold value representing the existence of interference, in different scenarios, such as , , The disturbance input of , is still less than the threshold value, so it is determined as a stable disturbance interval, and finally a disturbance-aware stable record is generated.

[0038] The freeze state writing submodule sets a freeze flag bit in the DSP control register according to the disturbance-aware stable record, and at the same time calls a control instruction buffer boresight channel field to write a non-response state code, synchronously records a control state update frame, writes the corresponding frame into an interrupt channel and transmits it to a monitoring port, and generates a boresight anti-interference adaptive control record; According to the disturbance-aware stable record, if the value is , a state control writing process is entered, and the DSP chip sets a control channel freeze flag bit in the 9th position of the control register, indicating that the current state is temporarily suspended from position adjustment and execution, and at the same time enters the boresight response channel, writes a state code into the boresight channel field through the system instruction buffer, indicating that the current state is in a non-response mode, and the state code is a four-bit binary code, which is defined as "frozen response" in the general standard. Subsequently, a state update record frame is synchronously constructed, and the freeze flag, state code and time stamp fields are collectively composed into a data frame, which is written into the DSP interrupt response register and uploaded to the system monitoring module. The data frame adopts a standard 16-bit structure, wherein the first to fourth bits are a state identification field, the fifth to twelfth bits are a state code field, and the thirteenth to sixteenth bits are CRC check bits. After the instruction is updated, a read-back interface is called to confirm that the register is written successfully, and a state upload flag buffer bit is assigned a value of "1". Finally, a boresight anti-interference adaptive control record is generated.

[0039] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle-mounted stable platform line-of-sight anti-interference adaptive control system, characterized in that, The system comprises: The error interval identification module acquires the current position parameter of the visual axis collected by the DSP chip and the target position parameter issued by the platform, calculates the error amplitude, determines the amplitude interval level where the error is located in combination with the position error threshold interval, feeds back to the DSP chip interrupt response channel, and generates an error level feedback identifier; The target step generation module selects a control processing path according to the feedback amplitude interval level and executes corresponding adjustment actions based on the error level feedback identifier, uniformly transmits and executes the path result and instruction generation, and generates a position instruction output record; The disturbance adaptive adjustment module acquires the current inertial disturbance acceleration of the vehicle body collected by the DSP chip, sequentially compares the size with each disturbance gear boundary value, identifies the current disturbance level number, adjusts the control instruction amplitude, and generates a disturbance adjustment control instruction; The amplitude limiting execution control module reads the maximum position limiting value and the motor response time constant based on the disturbance adjustment control instruction, compares the output amplitude upper and lower boundaries of the control period, writes the limiting boundary value if it is over-limit, retains the original instruction and confirms the response if it is not over-limit, and generates a limiting execution signal identifier.

2. The vehicle-mounted stable platform boresight anti-jam adaptive control system according to claim 1, characterized in that: The error level feedback identifier comprises error amplitude level coding, feedback channel number, and visual axis current position label, the position instruction output record comprises fine adjustment step parameter, target position instruction value, and static instruction identifier, the disturbance adjustment control instruction comprises disturbance level number, disturbance compensation coefficient index, and dynamic instruction channel identifier, and the limiting execution signal identifier comprises upper and lower limiting boundary values, period effective instruction state record, and driving port response state record.

3. The vehicle-mounted stable platform boresight anti-jam adaptive control system according to claim 1, characterized in that: The motor response time constant is specifically the step response time defined in the international standard of rotary motor.

4. The vehicle-mounted stable platform boresight anti-jam adaptive control system according to claim 1, wherein, The error interval identification module comprises: The position parameter acquisition submodule acquires the current position parameter of the visual axis collected by the DSP chip, reads the target position parameter of the platform, subtracts the target position parameter from the current position parameter to obtain a difference value sequence, compares the difference value sequence with the set target position parameter, and generates a relative position difference interval quantity; The error amplitude calculation submodule classifies and judges the difference interval quantity and the range limits of each error band interval based on the relative position difference interval quantity in combination with the corresponding error threshold intervals of the low error band, the medium error band, and the high error band, and obtains an error amplitude level interval classification result; The level coding feedback submodule encodes the level interval value according to the error amplitude level interval classification result, marks the level information according to the coding result, writes into the DSP chip interrupt response channel, and generates an error level feedback identifier.

5. The vehicle-mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 1, wherein, The target step generation module comprises: The level screening submodule acquires the error level feedback identifier, reads and extracts the level information bit by bit according to the coding value in the feedback identifier, judges the corresponding amplitude interval level, determines the static level, the fine adjustment level, and the position adjustment level, establishes a control path selection marker according to the judgment result, and generates a control path level. The step calculation sub-module reads a fine step resolution parameter setting value based on the control path level, reads a current control period counter value synchronously if the flag value indicates a fine adjustment level, and performs multiplication operation on the two values to represent a fine adjustment step angle required in the current period, and generates a fine adjustment angle calculation result; The instruction output sub-module judges a control type according to the fine adjustment angle calculation result and the control path level, sets a step value as zero if the control type is a static level, reads the fine adjustment angle calculation result as an instruction parameter value if the control type is a fine adjustment level, reads a platform target position parameter value as an instruction parameter value if the control type is a position adjustment level, and writes the position instruction register in a unified data channel to generate a position instruction output record.

6. The vehicle mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 1, wherein, The disturbance adaptive adjustment module comprises: A disturbance identification sub-module acquires the position instruction output record, collects inertial disturbance acceleration data of a vehicle body acceleration sensor at a current time, judges a disturbance level in combination with a vibration intensity level threshold setting interval, assigns a current disturbance level number in comparison with a level mapping table to generate a disturbance level number value; An amplitude adjustment sub-module sets a disturbance compensation coefficient corresponding to the number in a disturbance compensation coefficient table based on the disturbance level number value, reads a current angle in the position instruction output record synchronously, performs multiplication operation as an adjusted instruction amplitude value, and generates a disturbance amplitude adjustment value; A control rewriting sub-module re-generates a control channel output instruction structure according to the disturbance amplitude adjustment value, sets a rewritable angle field in the control instruction data, clears a storage value of a corresponding field in original control data, writes an integer encoding value of the disturbance amplitude adjustment value angle unit, refreshes a data check bit, updates a data packet to a DSP interrupt response interface, performs a read-back check, and generates a disturbance adjustment control instruction.

7. The vehicle-mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 1, wherein, The amplitude limiting execution control module comprises: An amplitude limiting parameter extraction sub-module acquires the disturbance adjustment control instruction, calls a preset structure parameter table in a DSP chip, reads a maximum position amplitude limiting value allowed by a current platform, reads a response time constant of a motor synchronously, establishes a single-period response amplitude limiting upper and lower boundary according to a control period, and obtains a single-period amplitude boundary value; An instruction amplitude correction sub-module corrects the instruction amplitude according to the single-period amplitude boundary value, replaces the disturbance amplitude adjustment value with the upper boundary value if the disturbance amplitude adjustment value is greater than the upper boundary value, replaces the disturbance amplitude adjustment value with the lower boundary value if the disturbance amplitude adjustment value is less than the lower boundary value, or keeps the original instruction unchanged, and generates an amplitude limiting correction angle value; An effective push execution sub-module writes the corresponding angle value after encoding into an amplitude field of a control frame according to the amplitude limiting correction angle value, encodes the direction to form a complete data frame, refreshes a check bit of the data frame, writes the data frame into a DSP driving output register, and controls the controller to call an interrupt channel to push the frame to a driving port synchronously to generate an amplitude limiting execution signal mark.

8. The vehicle-mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 1, wherein, The system further comprises: The control state updating module identifies the limiting execution signal, and the DSP chip monitors whether the signal state enters the holding mode. If the signal is in the non-action output state and the inertial disturbance acceleration parameter fluctuation range is lower than the human body vibration perception threshold in the continuous period, the control channel freezing flag bit is set, and the line-of-sight non-response holding state is written, and the line-of-sight anti-disturbance adaptive control record is generated.

9. The vehicle-mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 8, wherein: The line-of-sight anti-disturbance adaptive control record comprises a control channel freezing flag bit, a non-response holding state flag and an inertial disturbance detection value.

10. The vehicle-mounted stabilized platform line-of-sight anti-jam adaptive control system of claim 8, wherein, The control state updating module comprises: A signal state discrimination submodule acquires the limiting execution signal identification, monitors the execution flag bit in the continuous three periods, and if the flag bit is continuously valid, it is judged to enter the non-action output state, and the driver response register is read to verify whether there is an amplitude instruction write in the period, and a holding mode judgment result is generated; A disturbance fluctuation detection submodule starts the disturbance monitoring channel according to the holding mode judgment result if the flag bit is continuously valid, collects the acceleration sensor feedback value in the current continuous three control periods, calculates the fluctuation range value, compares it with the human body vibration perception threshold, and if the fluctuation range value is less than the human body vibration perception threshold, it is recorded as a stable state, and a disturbance perception stable record is generated; A freezing state writing submodule sets the freezing flag bit in the DSP control register according to the disturbance perception stable record, simultaneously calls the control instruction buffer line-of-sight channel field to write the non-response state code, synchronously records the control state updating frame, writes the corresponding frame into the interrupt channel and transmits it to the monitoring port, and generates the line-of-sight anti-disturbance adaptive control record.

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