Optoelectronic pod line-of-sight stabilization control method, system and device based on double encoders

Abstract

This application discloses a method, system, and device for stabilizing the line-of-sight control of an optoelectronic pod based on dual encoders. The method obtains the actual absolute position of the load shaft through a load-end encoder and the angular position and angular velocity of the motor through a motor-end encoder. Based on the motor's angular velocity and the reduction ratio of the harmonic reducer, the equivalent load speed at the input end of the transmission chain is determined. The actual absolute position is used as a measurement correction value, and the equivalent load speed is input to a preset speed fusion observer to obtain the target line-of-sight angular velocity. Based on the actual absolute position, the motor's angular position, and the reduction ratio of the harmonic reducer, the torsional deformation value of the transmission chain is determined. Based on the torsional deformation value, the total disturbance torque is determined and decomposed into internal and external disturbance values. The line-of-sight control of the optoelectronic pod is performed using the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position. This application can improve the accuracy of line-of-sight control for optoelectronic pods.

Description

Technical Field

[0001] This application relates to the field of photoelectric detection and servo control technology, and in particular to a method, system and device for stabilizing the line of sight of a photoelectric pod based on dual encoders. Background Technology

[0002] The servo control system of the optoelectronic pod is its core, responsible for isolating the carrier's motion disturbances and driving the optical payload to point precisely and stably at the target. To achieve high-precision control, the system's feedback loop is crucial. Current mainstream high-precision control schemes typically employ the following two architectures: Single-encoder fully closed-loop solution: A high-resolution absolute encoder is installed at the final output end of the drivetrain (i.e., the load shaft) to directly measure the actual position and speed of the load. This solution directly feeds back "line-of-sight" information, but the encoder measurement already includes all nonlinear errors in the drivetrain (such as the flexible deformation and friction of the harmonic reducer). The controller can only passively compensate for these errors, making it difficult to achieve proactive suppression and limiting system bandwidth and dynamic response speed. Motor-end encoder semi-closed-loop solution: An encoder is installed only on the motor shaft for feedback. This solution cannot detect errors at the end of the drivetrain, has a "blind spot," and cannot guarantee the final line-of-sight accuracy. It is only suitable for applications where high precision is not required.

[0003] Furthermore, in terms of improving accuracy, existing technologies mainly follow two paths: one is to continuously improve the transmission accuracy and rigidity of harmonic reducers, or to adopt direct drive technology to eliminate transmission errors; the other is to introduce disturbance observers, feedforward compensation, etc., into the control algorithm to estimate and counteract disturbances. However, the first path is limited by physical limits and cost, while the effectiveness of the second path heavily depends on the accuracy of the observation model and lacks robustness under complex and variable operating conditions. Therefore, the accuracy of existing technologies for line-of-sight control of optoelectronic pods is relatively low. Summary of the Invention

[0004] This application aims to propose a method, system, and device for stabilizing the line of sight of an optoelectronic pod based on dual encoders, which can improve the accuracy of line of sight control for optoelectronic pods.

[0005] In a first aspect, embodiments of this application provide a line-of-sight stabilization control method for an optoelectronic pod based on dual encoders, the method comprising: The actual absolute position of the load shaft is obtained by the encoder at the load end, and the angular position and angular velocity of the motor are obtained by the encoder at the motor end. The equivalent load speed at the input end of the transmission chain is determined based on the angular velocity of the motor and the reduction ratio of the harmonic reducer. The actual absolute position is used as the measurement correction value, and the equivalent load velocity is input to a preset velocity fusion observer to obtain the target line-of-sight angular velocity; The torsional deformation value of the transmission chain is determined based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer. Based on the torsional deformation value, the total disturbance torque is determined, and the total disturbance torque is decomposed into internal disturbance value and external disturbance value; The line-of-sight control of the photoelectric pod is achieved by using the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position.

[0006] In some embodiments, determining the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer includes: Dividing the angular velocity of the motor by the reduction ratio of the harmonic reducer yields the equivalent load speed at the input end of the transmission chain.

[0007] In some implementations, the step of using the actual absolute position as a measurement correction value and inputting the equivalent load velocity into a preset velocity fusion observer to obtain the target line-of-sight angular velocity includes: The equivalent load velocity is input to a preset velocity fusion observer to obtain the predicted load position and the predicted angular velocity. The preset velocity fusion observer is a Kalman filter or a Luneburg observer. The predicted load position is compared with the actual absolute position. When the comparison result is less than a preset threshold, the predicted angular velocity is taken as the target line-of-sight angular velocity.

[0008] In some embodiments, determining the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer includes: ; in, This indicates the torsional deformation value of the transmission chain. Indicates the actual absolute position. Indicates the angular position of the motor. This indicates the reduction ratio of the harmonic reducer.

[0009] In some implementations, determining the total disturbance torque based on the torsional deformation value includes: Differentiating the torsional deformation value yields the torsional deformation rate; The torsional deformation velocity is input to the extended state observer to obtain the total disturbance torque.

[0010] In some implementations, decomposing the total disturbance torque into internal disturbance values ​​and external disturbance values ​​includes: The angular velocity of the carrier is obtained by an inertial measurement unit, and the carrier includes a measurement camera and a laser ranging module coaxially fixed on the optoelectronic pod. Based on the angular velocity of the carrier, the total disturbance torque is decomposed into internal disturbance value and external disturbance value; wherein, the internal disturbance value is the product of the external disturbance coefficient and the angular velocity of the carrier, and the external disturbance value is the product of the internal disturbance coefficient and the angular velocity of the carrier.

[0011] In some embodiments, the step of controlling the line of sight of the optoelectronic pod using the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position includes: The internal disturbance value is input into the current loop in the form of current feedforward; The target line-of-sight angular velocity is used as feedback for the velocity loop, and the sum of the acquired external velocity and the external disturbance value is input into the velocity loop; The actual absolute position is used as feedback for the position loop; The current loop, the velocity loop, and the position loop are used in conjunction to control the line of sight of the photoelectric pod.

[0012] Secondly, embodiments of this application also provide a photoelectric pod line-of-sight stabilization control system based on dual encoders, the system comprising: The data acquisition module is used to acquire the actual absolute position of the load shaft through the load-side encoder, and to acquire the angular position and angular velocity of the motor through the motor-side encoder. The first data determination module is used to determine the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer. The second data determination module is used to take the actual absolute position as the measurement correction value and input the equivalent load speed into a preset speed fusion observer to obtain the target line-of-sight angular velocity; The third data determination module is used to determine the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer. The disturbance torque decomposition module is used to determine the total disturbance torque based on the torsional deformation value, and decompose the total disturbance torque into internal disturbance value and external disturbance value; The line-of-sight control module is used to control the line-of-sight of the photoelectric pod by means of the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position.

[0013] Thirdly, embodiments of this application also provide an electronic device, including at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which are executed by the at least one control processor to enable the at least one control processor to perform a dual-encoder-based photoelectric pod line-of-sight stabilization control method as described above.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above-described photoelectric pod line-of-sight stabilization control method based on dual encoders.

[0015] Compared with the prior art, this application has the following beneficial effects: This application obtains the actual absolute position of the load shaft through a load-end encoder and the angular position and angular velocity of the motor through a motor-end encoder; determines the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer; uses the actual absolute position as a measurement correction value and inputs the equivalent load speed to a preset speed fusion observer to obtain the target line-of-sight angular velocity; determines the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer; determines the total disturbance torque based on the torsional deformation value and decomposes the total disturbance torque into internal disturbance value and external disturbance value; and performs line-of-sight control of the photoelectric pod using the target line-of-sight angular velocity, internal disturbance value, external disturbance value, and actual absolute position. Thus, by combining the reduction ratio of the harmonic reducer and the data obtained from the dual encoders, the target line-of-sight angular velocity is determined, solving the problem of single encoder limiting system bandwidth and dynamic response speed, and improving the ability to resist high-frequency disturbances. By decomposing the total disturbance torque into internal disturbance values ​​and external disturbance values, and performing line-of-sight control of the optoelectronic pod based on the internal disturbance values ​​and external disturbance values, the source of disturbance can be distinguished, improving the accuracy of the optoelectronic pod's line-of-sight control. Attached Figure Description

[0016] 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: Figure 1 This is a flowchart illustrating an embodiment of the photoelectric pod line-of-sight stabilization control method based on dual encoders provided in this application; Figure 2 This is a schematic diagram of the system structure in the preferred embodiment of the photoelectric pod line-of-sight stabilization control method based on dual encoders provided in this application; Figure 3This is a schematic diagram of an embodiment of the photoelectric pod line-of-sight stabilization control system based on dual encoders provided in this application; Figure 4 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Detailed Implementation

[0017] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0018] In the description of this application, the use of terms such as "first," "second," etc., is for the purpose of distinguishing technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0019] In the description of this application, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, it should be noted that, unless otherwise explicitly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0021] To address the issue of low accuracy in line-of-sight control of optoelectronic pods in related technologies, this application proposes a method, system, and device for stabilizing line-of-sight control of optoelectronic pods based on dual encoders.

[0022] Reference Figure 1 This application provides a schematic flowchart of a line-of-sight stabilization control method for an optoelectronic pod based on dual encoders. This method is applied to electronic devices, such as servers or mobile terminals. Figure 1 As shown, the photoelectric pod line-of-sight stabilization control method based on dual encoders may include the following steps S101 to S106.

[0023] Step S101: Obtain the actual absolute position of the load shaft through the load-side encoder, and obtain the angular position and angular velocity of the motor through the motor-side encoder.

[0024] Specifically, the load-side encoder is a high-resolution multi-turn absolute encoder, which is directly mounted on the output shaft of the harmonic reducer (i.e., harmonic drive device) to measure the actual absolute position of the load shaft. The motor-side encoder is a high-resolution incremental or absolute encoder, which is mounted on the rotor shaft of the brushless torque motor to measure the angular position and angular velocity of the motor.

[0025] This step, by considering the data acquired by the dual encoders for subsequent processing, lays a solid data foundation for predicting the optimal target line-of-sight angular velocity later.

[0026] Step S102: Determine the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer.

[0027] Specifically, dividing the motor's angular velocity by the reduction ratio of the harmonic reducer yields the equivalent load speed at the input end of the transmission chain, which provides a solid data foundation for predicting the optimal target line-of-sight angular velocity later.

[0028] Step S103: Use the actual absolute position as the measurement correction value and input the equivalent load velocity into the preset velocity fusion observer to obtain the target line-of-sight angular velocity.

[0029] Specifically, the equivalent load velocity is input to a preset velocity fusion observer to obtain the predicted load position and the predicted angular velocity. The preset velocity fusion observer is a Kalman filter or a Romberg observer. The predicted load position is compared with the actual absolute position. When the comparison result is less than a preset threshold, the predicted angular velocity is taken as the target line-of-sight angular velocity.

[0030] The velocity fusion observer in this step predicts the target line-of-sight angular velocity by fusing data from two encoders. This allows for setting higher control gain in a region closer to the mechanical resonant frequency, thereby breaking through the bandwidth bottleneck of traditional single-encoder systems and improving the ability to resist high-frequency disturbances without replacing more expensive hardware.

[0031] The Kalman filter described above can be an algorithm that uses the state equations of a linear system to optimally estimate the system state using system input and output observation data. The Kalman filter is a technique well-known to those skilled in the art, and will not be described in detail in this embodiment.

[0032] The aforementioned Luneburger observer can be a method for solving the control law problem of dynamic systems. It is a technique for establishing an estimate of the state vector, determining an appropriate approximation of the state vector, and substituting this value into the ideal control law. The Luneburger observer is a technique well-known to those skilled in the art, and this embodiment will not describe it in detail.

[0033] The aforementioned preset threshold can be a value set based on human experience and can be changed according to actual circumstances. This embodiment does not impose specific restrictions on this.

[0034] Step S104: Determine the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer.

[0035] Specifically, the torsional deformation value of the transmission chain is determined using the following formula: ; in, This indicates the torsional deformation value of the transmission chain. Indicates the actual absolute position. Indicates the angular position of the motor. This indicates the reduction ratio of the harmonic reducer.

[0036] This step, by calculating the torsional deformation of the transmission chain, enables real-time separation of disturbances.

[0037] Step S105: Based on the torsional deformation value, determine the total disturbance torque and decompose the total disturbance torque into internal disturbance value and external disturbance value.

[0038] Specifically, the torsional deformation value is differentiated to obtain the torsional deformation velocity; the torsional deformation velocity is input to the extended state observer to obtain the total disturbance torque. The angular velocity of the carrier, which includes a measurement camera and a laser ranging module coaxially fixed on the optoelectronic pod, is obtained through an inertial measurement unit. Based on the angular velocity of the carrier, the total disturbance torque is decomposed into internal disturbance values ​​and external disturbance values; wherein, the internal disturbance value is the product of the external disturbance coefficient and the angular velocity of the carrier, and the external disturbance value is the product of the internal disturbance coefficient and the angular velocity of the carrier.

[0039] This step decomposes the total disturbance torque into internal and external disturbance values, which can distinguish the source of the disturbance and lay a good data foundation for improving the accuracy of the optoelectronic pod's line-of-sight control in the later stage.

[0040] The extended state observer (ESO) described above can be an advanced tool for estimating system state and external disturbances. The extended state observer (ESO) is a technology known to those skilled in the art, and will not be described in detail in this embodiment.

[0041] Step S106: Perform line-of-sight control of the optoelectronic pod using the target line-of-sight angular velocity, internal disturbance value, external disturbance value, and actual absolute position.

[0042] Specifically, the internal disturbance value is input into the current loop in the form of current feedforward; the target line-of-sight angular velocity is used as feedback for the velocity loop, and the sum of the acquired external velocity and external disturbance value is input into the velocity loop; the actual absolute position is used as feedback for the position loop; and the current loop, velocity loop, and position loop work together to control the line of sight of the optoelectronic pod.

[0043] This step improves the accuracy of line-of-sight control for the electro-optical pod by integrating the target's line-of-sight angular velocity, internal disturbance value, external disturbance value, and actual absolute position.

[0044] The aforementioned external speed refers to the speed at which the object moves, which is the speed received by the control system. It can be calculated from the distance and time the target object moves relative to the photoelectric pod.

[0045] To facilitate understanding by those skilled in the art, a set of preferred embodiments is provided below: The existing related technologies have the following drawbacks: 1. Lag in Sensing and Control: Although the single-load encoder scheme can directly measure the actual position and speed of the load, its feedback signal is the result of all transmission errors and disturbances, and therefore exhibits lag. The controller is essentially a "post-hoc remedy," and its ability to suppress high-frequency disturbances, especially structural resonances caused by the flexibility of the transmission chain, is limited, making it difficult to achieve ultra-precise line-of-sight angular velocity stabilization.

[0046] 2. Difficulty in isolating and identifying disturbance sources: A single encoder cannot distinguish the source of the error. For example, it cannot differentiate whether the angular velocity fluctuation at the load end originates from external wind disturbance, torque pulsation at the motor end, or internal friction in the transmission chain. This results in the controller's compensation action lacking specificity and diminishing its effectiveness.

[0047] 3. Bottleneck in system bandwidth improvement: To avoid triggering mechanical resonance, the servo control bandwidth of a system based on single encoder feedback is usually conservatively limited to less than 1 / 3 of the system's first-order resonant frequency, which severely restricts the system's fast response capability.

[0048] Based on the problems existing in the above-mentioned related technologies, this embodiment mainly solves the following problems: 1. Provide a feedback mechanism that can detect and distinguish the source of disturbance in advance, and realize the coordinated observation and targeted compensation of disturbances inside and outside the mechanical transmission chain.

[0049] 2. Without altering the hardware performance limits, information fusion methods can effectively expand the system's servo control bandwidth and enhance its ability to suppress high-frequency disturbances.

[0050] 3. Significantly improves the angular velocity stability of the optoelectronic pod during ultra-low speed scanning and the line-of-sight angular velocity accuracy during dynamic tracking, thereby achieving better stability and tracking performance.

[0051] To address the aforementioned technical problems, this embodiment proposes a dual-encoder method for improving the line-of-sight stabilization accuracy of an optoelectronic pod. The core of this method lies in constructing a collaborative control system comprising a dual-encoder information perception layer and a fusion intelligent control layer. The dual-encoder information perception layer includes a load-side encoder and a motor-side encoder, while the fusion intelligent control layer includes a fusion controller. (Refer to...) Figure 2 This system is applied to the single-axis (pitch axis as an example) servo control unit of an optoelectronic pod, including: a mechanical transmission chain: sequentially connecting a brushless torque motor, a harmonic drive, and the load (optical load, etc.); the brushless torque motor is connected to a fixed base for fixing its position; and a load-side encoder: a high-resolution multi-turn absolute encoder, directly mounted on the output shaft of the harmonic reducer (i.e., the harmonic drive), used to measure the actual absolute position of the load axis. Motor-side encoder: A high-resolution incremental or absolute encoder, mounted on the rotor shaft of a brushless torque motor, used to measure the angular position of the motor (i.e., the brushless torque motor). and angular velocity Fusion controller: This is the core of this embodiment. It receives signals from the dual encoders, external position / velocity commands, and disturbance signals from the inertial measurement unit (IMU), and outputs motor drive signals.

[0052] The essence of this embodiment lies in using the measurements from dual encoders to construct a "velocity fusion observer" and a "disturbance separation and compensation device". The implementation of this embodiment includes the following steps: I. High-precision line-of-sight angular velocity synthesis.

[0053] The controller does not directly use the angular velocity obtained by differentiating the encoder at the load end. (This signal has high noise and significant lag), so the following fusion calculation is performed: 1. Angular velocity measured by the encoder at the motor end Divide by the reduction ratio of the harmonic reducer (The reduction ratio can be selected as 50 or 100), to obtain the equivalent load speed at the input end of the transmission chain. .

[0054] 2. Design a model-based velocity fusion observer (i.e., a pre-defined velocity fusion observer, such as a Kalman filter or a Romberg observer). This velocity fusion observer uses the equivalent load velocity... As the prediction input, the actual absolute position is periodically sampled by the load-side encoder. As a measurement correction.

[0055] Equivalent load speed The input is fed into a Kalman filter or a Luneburg observer to obtain the predicted load position and predicted angular velocity, which are then compared with the actual absolute position. By comparing the estimated load location with the predicted location and continuously reducing the difference between the two (to almost zero, for example, a comparison result less than 0.05 (i.e., a preset threshold)), the optimal estimated line-of-sight angular velocity can be obtained. (i.e., the target line-of-sight angular velocity).

[0056] 3. The velocity fusion observer outputs an optimal estimate of the line-of-sight angular velocity. This estimate combines the high-frequency response characteristics of the motor with the absolute accuracy of the load, resulting in a smoother, faster, and more accurate reading than using either encoder signal alone.

[0057] II. Disturbance Separation and Look-Ahead Compensation.

[0058] By utilizing the difference information from the dual encoders, disturbances can be separated in real time, specifically including: 1. Observation of the internal state of the transmission chain: calculation This difference reflects the torsional deformation of the transmission chain. Differentiating it yields the torsional deformation rate. Inputting the torsional deformation rate into an extended state observer allows for real-time estimation of the total disturbance torque acting on the transmission chain. (Including friction, rigid nonlinearity, etc.).

[0059] The actual torsional deformation value is measured by the load-side encoder. The calculated torsional deformation rate is input to the extended state observer to predict the total disturbance torque and torsional deformation value. The predicted torsional deformation value is compared with the actual torsional deformation value, and the difference between the two is continuously reduced (until it is almost zero) to obtain the final total disturbance torque. The extended state observer uses an observer that is well-known to those skilled in the art, and will not be described in detail in this embodiment.

[0060] 2. Disturbance source decomposition: Combining the carrier's angular velocity provided by the IMU The total disturbance torque can be It can be further decomposed into internal disturbance values ​​and external disturbance values. Among them, internal disturbances include motor cogging torque and harmonic reducer friction torque; external disturbances are mainly generated by wind resistance and the transmission of carrier motion through the structure.

[0061] Specifically, the carrier can be a camera and a laser ranging module on an optoelectronic pod, with the camera and laser ranging module coaxially fixed and rotating together. Therefore, the angular velocity of the carrier can be directly measured via an IMU.

[0062] ; in, Indicates the internal disturbance value. ; Indicates the value of external disturbance. ; This represents the internal disturbance coefficient. This represents the external disturbance coefficient. The internal and external disturbance coefficients can be values ​​set through experiments or based on historical experience, and can be changed according to actual circumstances. This embodiment does not impose specific limitations on this.

[0063] 3. Feedforward Compensation: The estimated internal disturbance value is directly injected into the motor current loop as a current feedforward, achieving "feedforward cancellation". The estimated external disturbance value is fed into the speed loop as a feedforward, and the actual absolute position is... It is fed into the position loop to achieve active interference resistance.

[0064] 4. Control Loop Design. The final control system forms a three-layer composite structure: Inner loop (current loop): achieves rapid torque control and injects internal disturbance feedforward compensation. Middle loop (velocity loop): uses the fused high-precision line-of-sight angular velocity... As feedback, using the sum of the external speed command and the external disturbance feedforward as input, the setting bandwidth of this loop can be significantly improved. Outer loop (position loop): based on the actual absolute position of the encoder at the load end. As feedback, high-precision absolute pointing is achieved. That is, the inner loop controls the motor's output torque, the middle loop controls the motor's speed, and the outer loop controls the motor's final position and angle.

[0065] It should be noted that the control methods for the current loop, speed loop, and position loop in this embodiment can be implemented using methods known to those skilled in the art, such as using a PID (proportion integration differentiation) control algorithm. This embodiment will not describe this in detail. Although this embodiment uses methods known to those skilled in the art to control the current loop, speed loop, and position loop, the input or feedback values ​​of the current loop, speed loop, and position loop are calculated in this embodiment. By improving the accuracy of the input or feedback values ​​of the current loop, speed loop, and position loop, the accuracy of the optoelectronic pod's line-of-sight control is improved, thereby achieving stable line-of-sight control of the optoelectronic pod.

[0066] Compared with the prior art, the technical solution of this embodiment has the following advantages: 1. A significant leap in line-of-sight angular velocity accuracy and dynamic performance has been achieved: The fused line-of-sight angular velocity signal generated in this embodiment... Its dynamic response is superior to that of the load-side encoder, and its accuracy and smoothness are superior to those of the motor-side conversion speed, fundamentally solving the inherent contradictions of single encoder feedback. Actual measurements show that, under the same hardware conditions, the bandwidth of the speed loop in the system can be increased by 30% to 50%.

[0067] 2. Possesses "source-level" disturbance suppression capability: Through the difference between dual encoders, the system can "see" and distinguish the source of disturbance, achieving a leap from "general compensation" to "precision strike". It is particularly effective in suppressing internal disturbances such as motor torque pulsation and nonlinear friction, and can reduce angular velocity fluctuations at ultra-low speeds (such as 0.001° / s) by more than 60%.

[0068] 3. Effectively expands the system performance boundary: The technical solution in this embodiment greatly compensates for the influence of transmission chain flexibility, allowing for higher control gain to be set in a region closer to the mechanical resonant frequency. Thus, without replacing more expensive hardware, it breaks through the bandwidth bottleneck of traditional single encoder systems and improves the ability to resist high-frequency disturbances.

[0069] 4. Enhanced system robustness and reliability: The dual encoders provide redundancy. If one encoder fails, the system can degrade to the other encoder mode. Simultaneously, the model-based velocity fusion observer effectively filters sensor noise, improving system reliability in complex electromagnetic environments.

[0070] Reference Figure 3 This application also provides a line-of-sight stabilization control system for an optoelectronic pod based on dual encoders, the system comprising: The data acquisition module 100 is used to acquire the actual absolute position of the load shaft through the load-end encoder, and to acquire the angular position and angular velocity of the motor through the motor-end encoder. The first data determination module 200 is used to determine the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer. The second data determination module 300 is used to take the actual absolute position as the measurement correction value and input the equivalent load velocity into the preset velocity fusion observer to obtain the target line-of-sight angular velocity. The third data determination module 400 is used to determine the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer. The disturbance torque decomposition module 500 is used to determine the total disturbance torque based on the torsional deformation value and decompose the total disturbance torque into internal disturbance value and external disturbance value; The line-of-sight control module 600 is used to control the line of sight of the optoelectronic pod by using the target line-of-sight angular velocity, internal disturbance value, external disturbance value, and actual absolute position.

[0071] It should be noted that since the photoelectric pod line-of-sight stabilization control system based on dual encoders in this embodiment is based on the same inventive concept as the photoelectric pod line-of-sight stabilization control method based on dual encoders described above, the corresponding content in the method embodiment is also applicable to this system embodiment, and will not be described in detail here.

[0072] Reference Figure 4 This application also provides an electronic device, which includes: At least one memory; At least one processor; At least one program; The program is stored in memory, and the processor executes at least one program to implement the above-described photoelectric pod line-of-sight stabilization control method based on dual encoders as described in this disclosure.

[0073] This electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), and in-vehicle computers.

[0074] The electronic devices according to embodiments of this application will now be described in detail.

[0075] The processor 1600 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this disclosure. The memory 1700 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1700 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1700 and is called and executed by the processor 1600 to implement the dual-encoder-based photoelectric pod line-of-sight stabilization control method of this disclosure.

[0076] The input / output interface 1800 is used to implement information input and output. The communication interface 1900 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 2000 transmits information between various components of the device (e.g., processor 1600, memory 1700, input / output interface 1800, and communication interface 1900); The processor 1600, memory 1700, input / output interface 1800 and communication interface 1900 are connected to each other within the device via bus 2000.

[0077] This disclosure also provides a storage medium, which is a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the above-described photoelectric pod line-of-sight stabilization control method based on dual encoders.

[0078] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0079] The embodiments described in this disclosure are for the purpose of more clearly illustrating the technical solutions of this disclosure and do not constitute a limitation on the technical solutions provided by this disclosure. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by this disclosure are also applicable to similar technical problems.

[0080] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this disclosure, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0081] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0082] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0083] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0084] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause an electronic device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. The embodiments of this application have been described in detail above with reference to the accompanying drawings, but this application is not limited to the above embodiments. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of this application.

[0089] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A method for stabilizing the line of sight of a photoelectric pod based on dual encoders, characterized in that, The method includes: The actual absolute position of the load shaft is obtained by the encoder at the load end, and the angular position and angular velocity of the motor are obtained by the encoder at the motor end. The equivalent load speed at the input end of the transmission chain is determined based on the angular velocity of the motor and the reduction ratio of the harmonic reducer. The actual absolute position is used as the measurement correction value, and the equivalent load velocity is input to a preset velocity fusion observer to obtain the target line-of-sight angular velocity; The torsional deformation value of the transmission chain is determined based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer. Based on the torsional deformation value, the total disturbance torque is determined, and the total disturbance torque is decomposed into internal disturbance value and external disturbance value; The line-of-sight control of the photoelectric pod is achieved by using the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position.

2. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, Determining the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer includes: Dividing the angular velocity of the motor by the reduction ratio of the harmonic reducer yields the equivalent load speed at the input end of the transmission chain.

3. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, The step of using the actual absolute position as a measurement correction value and inputting the equivalent load velocity into a preset velocity fusion observer to obtain the target line-of-sight angular velocity includes: The equivalent load velocity is input to a preset velocity fusion observer to obtain the predicted load position and the predicted angular velocity. The preset velocity fusion observer is a Kalman filter or a Luneburg observer. The predicted load position is compared with the actual absolute position. When the comparison result is less than a preset threshold, the predicted angular velocity is taken as the target line-of-sight angular velocity.

4. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, Determining the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer includes: ； in, This indicates the torsional deformation value of the transmission chain. Indicates the actual absolute position. Indicates the angular position of the motor. This indicates the reduction ratio of the harmonic reducer.

5. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, Determining the total disturbance torque based on the torsional deformation value includes: Differentiating the torsional deformation value yields the torsional deformation rate; The torsional deformation velocity is input to the extended state observer to obtain the total disturbance torque.

6. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, The step of decomposing the total disturbance torque into internal disturbance values ​​and external disturbance values ​​includes: The angular velocity of the carrier is obtained by an inertial measurement unit, and the carrier includes a measurement camera and a laser ranging module coaxially fixed on the optoelectronic pod. Based on the angular velocity of the carrier, the total disturbance torque is decomposed into internal disturbance value and external disturbance value; wherein, the internal disturbance value is the product of the external disturbance coefficient and the angular velocity of the carrier, and the external disturbance value is the product of the internal disturbance coefficient and the angular velocity of the carrier.

7. The photoelectric pod line-of-sight stabilization control method based on dual encoders according to claim 1, characterized in that, The method of controlling the line of sight of the optoelectronic pod by using the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position includes: The internal disturbance value is input into the current loop in the form of current feedforward; The target line-of-sight angular velocity is used as feedback for the velocity loop, and the sum of the acquired external velocity and the external disturbance value is input into the velocity loop; The actual absolute position is used as feedback for the position loop; The current loop, the velocity loop, and the position loop are used in conjunction to control the line of sight of the photoelectric pod.

8. A photoelectric pod line-of-sight stabilization control system based on dual encoders, characterized in that, The system includes: The data acquisition module is used to acquire the actual absolute position of the load shaft through the load-side encoder, and to acquire the angular position and angular velocity of the motor through the motor-side encoder. The first data determination module is used to determine the equivalent load speed at the input end of the transmission chain based on the angular velocity of the motor and the reduction ratio of the harmonic reducer. The second data determination module is used to take the actual absolute position as the measurement correction value and input the equivalent load speed into a preset speed fusion observer to obtain the target line-of-sight angular velocity; The third data determination module is used to determine the torsional deformation value of the transmission chain based on the actual absolute position, the angular position of the motor, and the reduction ratio of the harmonic reducer. The disturbance torque decomposition module is used to determine the total disturbance torque based on the torsional deformation value, and decompose the total disturbance torque into internal disturbance value and external disturbance value; The line-of-sight control module is used to control the line-of-sight of the photoelectric pod by means of the target line-of-sight angular velocity, the internal disturbance value, the external disturbance value, and the actual absolute position.

9. An electronic device, characterized in that, It includes at least one control processor and a memory for communicatively connecting to the at least one control processor; the memory stores instructions executable by the at least one control processor, which, when executed by the at least one control processor, enables the at least one control processor to perform the dual-encoder-based photoelectric pod line-of-sight stabilization control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to perform the line-of-sight stabilization control method for an optoelectronic pod based on dual encoders as described in any one of claims 1 to 7.

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