A high-jamming-resistant VICTS antenna beam composite control method and device

Abstract

The application discloses a kind of high anti-interference VICTS antenna beam composite control method and device, method includes converting target beam vector to carrier coordinate system;Mapping obtains the position instruction of each radiation disc;The speed feedforward instruction of each radiation disc is calculated;For each radiation disc, set up independent second order self-disturbance control unit, estimate the state and total disturbance of each radiation disc in real time, generate basic control quantity based on position error and speed error, and combine speed feedforward instruction and total disturbance compensation, generate final control torque output.Therefore, accurate disc control instruction is generated by coordinate conversion and inverse kinematics mapping;Speed feedforward based on carrier motion information is used to actively compensate known, main disturbance that can be modeled;At the same time, the estimation burden of ESO is reduced by speed feedforward, and independent ADRC controller is configured for each radiation disc to track the position of each disc, improve its observation accuracy, realize the dynamic response speed improvement, dynamic tracking precision improvement of system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a high-jamming-resistant VICTS antenna beam composite control method and device. BACKGROUND

[0002] In the prior art, when the VICTS antenna is applied in satellite communication, the beam pointing direction is determined by the complex attitude combination of multiple radiation panels, the system presents strong nonlinearity and strong coupling characteristics, and precise beam control is extremely challenging. Especially in a mobile platform, the rapid changes of the beam vector caused by multiple sources of strong disturbance such as time-varying wind disturbance, mechanical vibration and carrier motion further seriously affect the control accuracy and stability. The existing mainstream methods such as PID control and the improved scheme combining feedforward have problems such as difficult parameter tuning, insufficient anti-interference ability and difficult to guarantee precision when facing such complex nonlinear systems and random strong disturbances; and the more complex sliding mode control has the defect of chattering.

[0003] Specifically, first, the traditional feedback controller has a response lag to the disturbance, and is prone to overshoot or steady-state error; second, in the active disturbance rejection control, the extended state observer (ESO) needs to estimate both the unmodeled dynamics and the external disturbance, and when facing large target trajectory changes, the estimation burden is heavy and the precision is limited; third, due to the differences in the mechanical dynamic characteristics of the four radiation panels, it is difficult to achieve precise coordination of the multi-actuator system using a unified controller parameter, which is prone to coordination errors; fourth, the existing feedforward compensation strategy based on an accurate model significantly degrades in performance when the model is mismatched or the parameters are perturbed, and the system is strongly dependent on the model, lacking the ability to online identify and autonomously compensate uncertain disturbances.

[0004] In summary, there is a composite control problem in the application of VICTS antenna in satellite communication, and a control scheme with improved robustness and high precision is needed. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, one object of the present application is to propose a high-jamming-resistant VICTS antenna beam composite control method and device, which maps the target satellite target beam vector information in the world coordinate system to the carrier coordinate system through coordinate system transformation; secondly, according to the geometric structure of the four panels of the antenna, the target beam position and velocity feedforward are reversely mapped into the position and velocity reference signals of each panel, respectively, wherein the velocity feedforward is used to compensate the main disturbance caused by the target trajectory change, thereby reducing the unmodeled dynamic burden that the ESO of the ADRC needs to estimate; finally, a second-order ADRC controller is used to control the position tracking of each panel, the ESO estimates the remaining disturbance in real time and compensates it, realizing high-precision and strong-robust beam tracking.

[0006] This application discloses a high-interference-resistant VICTS antenna beam composite control method, comprising: a target beam vector coordinate transformation stage, in which the target beam vector of the target satellite in the world coordinate system is obtained through a satellite navigation receiver, and the target beam vector is transformed to the carrier coordinate system based on the carrier attitude information; an inverse kinematic mapping stage for beam pointing to disk position command, in which the position command of each radiating disk is obtained through inverse kinematic mapping based on the beam pointing vector in the carrier coordinate system; a velocity feedforward compensation calculation stage, in which the velocity feedforward command of each radiating disk is calculated through kinematic transformation based on the carrier angular velocity information; and an active disturbance rejection control stage, in which an independent second-order active disturbance rejection controller is set for each radiating disk, the active disturbance rejection controller including an extended state observer and a state error feedback controller, the extended state observer being used to estimate the state and total disturbance of each radiating disk in real time, and the state error feedback controller generating a basic control quantity based on the position error and velocity error, and combining the velocity feedforward command and total disturbance compensation to generate a final control torque output.

[0007] The effect is that precise disk control commands are generated through coordinate transformation and inverse kinematic mapping; known and modelable main disturbances are actively compensated by velocity feedforward based on carrier motion information; and each radial disk is equipped with an independent ADRC controller, whose extended state observer (ESO) estimates and compensates for the remaining unmodeled dynamic and random disturbances in real time. In this way, the estimation burden on the ESO is reduced through velocity feedforward, and each radial disk is equipped with an independent ADRC controller for position tracking control. Through this hierarchical disturbance rejection mechanism, the observation accuracy is improved, resulting in enhanced system dynamic response speed and dynamic tracking accuracy.

[0008] Furthermore, the target beam vector is transformed into the carrier coordinate system based on the carrier attitude information, specifically including: based on the carrier roll angle measured by the inertial measurement unit. Pitch angle θ and yaw angle Calculate the rotation matrix from the carrier coordinate system to the world coordinate system. ; and then through the inverse of the rotation matrix The target beam vector in the world coordinate system Transform to the carrier coordinate system to obtain .

[0009] Furthermore, the inverse kinematic mapping is achieved by solving for the beam pointing vector. The positive mapping function between the position vector X of the radiating disk and the radiating disk The inverse function is implemented, where the inverse function of the forward mapping function obtains the result corresponding to the target beam vector. The disk position command is:

[0010]

[0011] in:

[0012] , These are the desired position command vectors for the four radiating disks.

[0013] Furthermore, the calculation speed feedforward instructions include: real-time measurement of the carrier angular velocity:

[0014]

[0015] The carrier angular velocity is obtained by transforming the matrix. Mapped to beam angular velocity ,include:

[0016]

[0017] in, The rate of change of beam azimuth angle. The rate of change of beam elevation angle, Current beam azimuth angle and pitch angle The transformation matrix is ​​determined, where az is the beam azimuth angle and el is the beam elevation angle; then, the Jacobian matrix J at the current operating point is mapped using the inverse kinematics. m The beam angular velocity is mapped to the velocity feedforward command vector of each radiation disk:

[0018] .

[0019] Furthermore, the extended state observer is a linear extended state observer, and its state estimation differential equations are as follows:

[0020]

[0021] in, For the first Individual observation residuals, y i The actual position measurement value of the i-th disk. , , These are the extended state observer estimates of the position, velocity, and total disturbance of the i-th disk, respectively. Let u be the first derivative of the estimated position, velocity, and total disturbance of the i-th disk, respectively. i Here, b is the control input signal for the i-th disk, and b0 is the nominal control gain of the system. This is the observer gain.

[0022] Furthermore, the observer gain Based on the expected observer bandwidth Configure it to meet the following requirements: , , .

[0023] Furthermore, the state error feedback controller is a linear PD controller, and its output... for:

[0024]

[0025] in, For positional error, For speed error, Let K be the desired position of the i-th disk. p and K d The control gain is adjustable; then, the final control torque output u i It is generated by the following formula:

[0026] in, The total disturbance estimated by the observer of the expanded state of the i-th disk, For the first The speed feedforward value of each disk, k ff This represents the velocity feedforward coefficient.

[0027] Furthermore, the second-order active disturbance rejection controller configured for each radiating disk records the desired position and velocity of the i-th disk.

[0028] This application also discloses a highly interference-resistant VICTS antenna beam recombination control device, including a processor and a memory; the processor performs read and write operations on the memory, and the memory stores a computer program for implementing the highly interference-resistant VICTS antenna beam recombination control method.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0031] Figure 1 This is a simplified flowchart illustrating some highly interference-resistant VICTS antenna beam recombination control methods according to embodiments of this application;

[0032] Figure 2 This is a modular schematic diagram of some VICTS antenna beam recombination control methods with high interference immunity according to embodiments of this application; Detailed Implementation

[0033] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or more embodiments or examples. In addition, different embodiments or examples described in the present specification and the features of different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0034] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified.

[0035] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout.

[0036] According to Figure 1 and Figure 2 , a high-jamming-resistant VICTS antenna beam composite control method and a communication terminal according to the embodiments of the present application are understood.

[0037] In the prior art, when the VICTS antenna is applied to a mobile platform, it faces multi-source strong disturbances caused by time-varying wind disturbance, mechanical vibration and carrier motion, and the traditional PID or sliding mode control method has problems of insufficient anti-interference ability, difficult parameter setting or chattering, etc., which makes it difficult to guarantee the beam tracking precision and stability. Therefore, referring to Figure 1 , the embodiments of the present application disclose a high-jamming-resistant VICTS antenna beam composite control method, comprising:

[0038] In the target beam vector coordinate conversion stage, the satellite navigation receiver (such as the GPS / Beidou module) is used to obtain the unit direction vector of the target satellite in the world coordinate system (such as the Earth-Centered Earth-Fixed coordinate system ECEF) At the same time, the attitude information of the carrier is measured in real time by the inertial measurement unit (IMU module), including attitude and angular velocity information, such as roll angle , pitch angle θ and yaw angle Based on this attitude information, the rotation matrix from the carrier coordinate system (the carrier system in the figure) to the world coordinate system is calculated To convert the beam target beam vector in the world coordinate system to the carrier coordinate system, its inverse transformation is calculated, i.e. the rotation matrix from the world coordinate system to the carrier coordinate system: Then, the target beam vector in the world coordinate system is converted to the carrier coordinate system wherein represents the target satellite direction vector described in the carrier coordinate system, thereby ensuring that the beam control instruction is established on the basis of the current carrier attitude.

[0039] The inverse kinematics mapping stage of the beam pointing to the disc position instruction, in the carrier coordinate system, the beam pointing unit vector and the pose vector of the four radiation discs there is a certain nonlinear mapping relationship, To describe the forward mapping function from the disc position to the beam pointing, it can be expressed as To obtain the control instruction, the inverse function of the mapping needs to be solved. Through inverse kinematics calculation, the disc position instruction corresponding to the target beam vector P b is obtained wherein , are the expected position instruction vectors of the four radiation discs, and thus the beam pointing target of the high layer is converted into the direct position target of the bottom layer actuator (radiation disc).

[0040] After receiving the output of the IMU module, the speed feedforward compensation amount calculation stage can be carried out synchronously:

[0041] To quickly offset the disturbance caused by the carrier motion, the carrier angular velocity information measured by the IMU in real time Through rigid body kinematics analysis, the mapping relationship between the carrier angular velocity and the beam angular velocity is established: wherein is the beam azimuth angle change rate, is the beam elevation angle change rate, is the conversion matrix determined by the current beam azimuth angle az and elevation angle el.

[0042] Further, through the first order differential relationship of the mapping function of the beam pointing to the disc position , i.e. the Jacobian matrix J m , the beam angular velocity is mapped to the feedforward instruction corresponding to the disc speed of the four discs: wherein is the speed feedforward amount of the four discs, is the mapping function The Jacobian matrix at the current operating point. It should be understood that this velocity feedforward is used for subsequent control, allowing for early compensation of known motion disturbances.

[0043] refer to Figure 1 After completing the target beam vector coordinate transformation stage and the velocity feedforward compensation calculation stage, the active disturbance rejection control stage can be carried out.

[0044] Specifically, an independent second-order active disturbance rejection controller (ADRC) is designed for each radiating disk. Let the desired position and velocity of the i-th disk (from the velocity feedforward calculation stage) be: The actual location feedback is y i (Sensor feedback). Furthermore, an extended state observer (ESO) is designed. A linear ESO is designed for each disk to estimate the system state and total disturbance in real time. The state estimation differential equations are as follows:

[0045]

[0046] in, For the first Individual observation residuals (the difference between the actual measured position and the estimated position), y i The actual position measurement value of the i-th disk (obtained from sensor feedback), , , are the position, velocity, and total disturbance of the i-th disk, respectively, as estimated by the extended state observer. As an extended state observer estimate of the total disturbance, it includes unmodeled dynamics, external disturbances, etc. Let u be the first derivative of the estimated position, velocity, and total disturbance of the i-th disk, respectively. i Here, b is the control input signal for the i-th disk, and b0 is the nominal control gain of the system. The observer gain. Based on the expected observer bandwidth Configure it to meet the following requirements: , , .

[0047] Design a linear state error feedback controller. Calculate the position error. and speed error Specifically, the state error feedback controller is a linear PD controller, and its output... for: , Let K be the desired position of the i-th disk. p and K d It is an adjustable control gain.

[0048] Finally, disturbance compensation and speed feedforward are fused to generate the final control torque output, and a PD control law is used to generate the basic control quantity: .

[0049] As described above, the nominal control gain is denoted as b0; and the first term in the above formula The core disturbance compensation function of the second-order self-disturbance controller is implemented, and the total disturbance is compensated in real time The system is simplified as a standard integrator series; the second term is the speed feedforward term, k ff is the speed feedforward coefficient, is the speed feedforward value of the i-th disc. The speed feedforward term compensates in advance for the known disturbance caused by the target trajectory change and the carrier motion. Thus, the estimation pressure of the ESO on these deterministic components is significantly reduced, the disturbance of the unmodeled dynamics on the ESO is reduced, the observation accuracy is improved, and the system dynamic response is accelerated.u i That is, the output value of the second-order self-disturbance controller of the i-th disc, as a control input signal, is directly used as the antenna disc servo motor torque control input, thereby realizing beam tracking.

[0050] For better illustration, reference Figure 2 is made to

[0051] In the control process, first, the satellite navigation receiver obtains a target beam vector of a target satellite in a world coordinate system; then, an inertial measurement unit, such as an IMU sensor, is used to measure the attitude information of the carrier, including the carrier attitude quaternion and the carrier angular velocity. Through a coordinate transformation algorithm module, the target beam vector is converted to a carrier coordinate system based on the attitude information, the coordinate transformation algorithm module performs coordinate transformation and speed feedforward, so as to obtain the position instructions of each radiation disc according to the beam pointing vector in the carrier coordinate system through inverse kinematics mapping, and calculate the speed feedforward instructions of each radiation disc through kinematics transformation based on the carrier angular velocity information. Then, the plurality of radiation discs serve as actuators, which include servo motors.

[0052] Finally, based on a plurality of independent second-order active disturbance rejection controllers (ADRC controllers), and each controller corresponding to a radiation disc, the state and total disturbance of the corresponding radiation disc are estimated in real time through an extended state observer, and input to a PD control combination unit, and the basic control quantity is generated based on the position error and speed error through a state error feedback control law, and the speed feedforward instructions and total disturbance compensation are combined to generate the final control torque output to the corresponding radiation disc.

[0053] The high-jamming-resistant VICTS antenna beam composite control device implemented according to the application comprises a processor and a storage; the processor performs read and write operations on the storage, and the storage stores a computer program for implementing the high-jamming-resistant VICTS antenna beam composite control method in the foregoing embodiments.

[0054] It should be understood that parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be realized by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if realized by hardware, and as in another embodiment, any one or a combination of the following technologies known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application-specific integrated circuit with suitable combination logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA), etc.

[0055] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by a program instructing the relevant hardware, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0056] In addition, each functional unit in each embodiment of the present application can be integrated in one processing module, or each unit can exist physically independently, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0057] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A highly interference-resistant VICTS antenna beam recombination control method, characterized in that, include: The target beam vector of the target satellite in the world coordinate system is obtained by a satellite navigation receiver, and the target beam vector is transformed into the carrier coordinate system based on the carrier attitude information; Based on the beam pointing vector in the carrier coordinate system, the position commands of each radiation disk are obtained through inverse kinematic mapping; Based on the carrier angular velocity information, the velocity feedforward commands for each radiating disk are calculated through kinematic transformations, including: Real-time measurement of carrier angular velocity using an IMU: The carrier angular velocity is obtained by transforming the matrix. Mapped to beam angular velocity ,include: in, The rate of change of beam azimuth angle. The rate of change of beam elevation angle, Current beam azimuth angle and pitch angle The transformation matrix is ​​defined, where az is the beam azimuth angle and el is the beam elevation angle; Then, the Jacobian matrix J at the current operating point is obtained through the inverse kinematic mapping. m The beam angular velocity is mapped to the velocity feedforward command vector of each radiation disk: in, For the speed feedforward of the four disks; An independent second-order active disturbance rejection controller is set up for each radiating disk. The second-order active disturbance rejection controller includes an extended state observer and a state error feedback controller. The extended state observer is used to estimate the state and total disturbance of each radiating disk in real time. The state error feedback controller generates basic control quantities based on position error and velocity error, and generates the final control torque output by combining the velocity feedforward command and total disturbance compensation.

2. The high interference immunity VICTS antenna beam recombination control method according to claim 1, characterized in that, The target beam vector is transformed into the carrier coordinate system based on the carrier attitude information, specifically including: Carrier roll angle measured by inertial measurement unit Pitch angle θ and yaw angle Calculate the rotation matrix from the carrier coordinate system to the world coordinate system. ; Then, through the inverse matrix of the rotation matrix The target beam vector in the world coordinate system Transform to the carrier coordinate system to obtain .

3. The high interference immunity VICTS antenna beam recombination control method according to claim 2, characterized in that, The inverse kinematics mapping yields the position commands for each radial disk, including: By solving the beam pointing vector The positive mapping function between the position vector X of the radiating disk and the radiating disk The inverse function is implemented, where the inverse function of the forward mapping function obtains the result corresponding to the target beam vector. The position command is: in: , These are the desired position command vectors for the four radiating disks.

4. The high interference immunity VICTS antenna beam recombination control method according to claim 1, characterized in that, The extended state observer is a linear extended state observer, and its state estimation differential equations are as follows: in, For the first Individual observation residuals, y i For the first The actual position measurement value of each disk, , , These are the extended state observer estimates of the position, velocity, and total disturbance of the i-th disk, respectively. Let u be the first derivative of the extended state observer estimates of the position, velocity, and total disturbance of the i-th disk, respectively. i Here, b is the control input signal for the i-th disk, and b0 is the nominal control gain of the system. This is the observer gain.

5. The high interference immunity VICTS antenna beam recombination control method according to claim 4, characterized in that, The observer gain Based on the expected observer bandwidth Configure it to meet the following requirements: , , .

6. The high interference immunity VICTS antenna beam recombination control method according to claim 4, characterized in that, The state error feedback controller is a linear PD controller, outputting... for: in, For positional error, For speed error, Let K be the desired position of the i-th disk. p and K d The control gain is adjustable; Then, the final control torque output u i The control input signal is generated by the following formula: in, The total disturbance estimated by the observer of the expanded state of the i-th disk, Let k be the velocity feedforward value of the i-th disk. ff This represents the velocity feedforward coefficient.

7. The high interference immunity VICTS antenna beam recombination control method according to claim 1, characterized in that, The second-order active disturbance rejection controller configured for each radiating disk records the desired position and velocity of the i-th disk.

8. A highly interference-resistant VICTS antenna beam recombination control device, characterized in that, Including processor and storage; The processor performs read and write operations on the memory, which stores a computer program that implements the highly interference-resistant VICTS antenna beam recombination control method according to any one of claims 1-7.

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