CN104111663A - Three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation - Google Patents
Three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation Download PDFInfo
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- CN104111663A CN104111663A CN201410317498.4A CN201410317498A CN104111663A CN 104111663 A CN104111663 A CN 104111663A CN 201410317498 A CN201410317498 A CN 201410317498A CN 104111663 A CN104111663 A CN 104111663A
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Abstract
The invention provides a three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation. The method comprises the following steps: an electric collimator uses a CCD camera to capture a target prism, and an aiming controller identifies a target through an image acquisition card, and controls the electric collimator and an electric guide rail to implement whole-process scanning; the electric collimator acquires offset and azimuth rotation signals of the target prism in the horizontal and pitching directions; the aiming controller performs closed-loop feedback control on the target prism; and the aiming controller controls the motion of the electric guide rail and the electric collimator to track the three-dimensional attitude change of the target prism and implement automatic target prism collimation. The three-dimensional closed-loop feedback control method has the advantage that as a photoelectric sensor and the CCD camera are arranged and the double closed-loop control scheme is adopted, the motion state of a carrier rocket can be detected and monitored in real time, the state of automatic collimation is maintained, and collimation with a rocket inertia unit target prism can be automatically completed in 10 minutes under the condition of rocket target loss.
Description
Technical field
The present invention relates to control method, particularly a kind of rocket is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism.
Background technology
With respect to traditional carrier rocket, a new generation's carrier rocket adopts strapdown to be used to the Celestial Guidance Scheme of group+arrow borne computer, and rocket launching pad is without revolute function, there is variation in the requirement to ground sighting system: because ground aiming system need to be used to group for strapdown north orientation benchmark is provided, so need to keep collimating status with the target prism that strapdown is used in group.Yet carrier rocket needs to erect for a long time work before transmitting, the impacts such as moving, filling of now swinging due to wind, can cause carrier rocket occurred level, pitching two directions to produce displacements.Because ground aiming system is used to group (25m) far away apart from strapdown, the displacement meeting of carrier rocket causes pointing accuracy to decline, and even aims at unsuccessfully.
Therefore, ground aiming system needs real time monitoring, from the motion of motion tracking carrier rocket, automatically keeps collimating status, and automatically controlled point instrumentation has been proposed to higher requirement, and conventional art cannot be satisfied the demand.
Summary of the invention
The object of the invention is to overcome the defect of conventional art, provide a kind of rocket to be used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, to detect in real time, to monitor carrier rocket motion, automatically complete and keep automatically controlled point instrumentation and rocket to be used to the collimating status of group.
For reaching above-mentioned purpose, rocket provided by the invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, comprise automatically controlled guide rail, automatically controlled point instrumentation and aiming controller are set, automatically controlled point instrumentation comprises photoelectric sensor and ccd video camera, aiming controller comprises image pick-up card, ccd video camera is connected with image pick-up card, and aiming controller is connected respectively with automatically controlled guide rail with automatically controlled point instrumentation, and the method comprises the steps:
Step 1, described automatically controlled point instrumentation adopts ccd video camera to obtain target image, and described aiming controller is identified target by image pick-up card, controls automatically controlled point instrumentation and automatically controlled guide rail and implements omnidistance scanning;
Step 2, described automatically controlled point instrumentation obtains described target prism and is offset and orientation rotation signal on level, pitching both direction;
Step 3, described aiming controller carries out close-loop feedback control to described target prism;
Step 4, described aiming controller changes and follows the tracks of described target prism 3 d pose by controlling the motion of described automatically controlled guide rail and automatically controlled point instrumentation, implements the autocollimation of described target prism.
Rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, and in wherein said step 1, the step of the omnidistance scanning of aiming controller comprises:
(1) whether aiming controller judgement " omnidistance scanning " sign is effective, if invalid, exit " omnidistance scanning " process, otherwise enters next step;
(2) aiming controller judges whether to detect target prism, if target prism detected, proceeds to (4) step, otherwise enters next step;
(3) aiming controller control guide rail moves to--200mm place, control automatically controlled point instrumentation position angle and rotate-10 °, then position angle be take 1 ° as step-length, control automatically controlled point instrumentation position angle to 10 ° of rotations, maximum scan number of times is 50 times, if discovery target, enters next step, otherwise exit " omnidistance scanning " process;
(4) aiming controller obtains the side-play amount of current goal prism in height direction, if this side-play amount surpasses [10,10], aiming controller is controlled automatically controlled point instrumentation pitch rotation, until height direction side-play amount is in scope; Aiming controller obtains current goal prism side-play amount in the horizontal direction, if this side-play amount surpasses [30,30], aiming controller is controlled automatically controlled point instrumentation azimuth rotation, until horizontal direction side-play amount is in scope;
(5) whether the automatically controlled point instrumentation PSD angle measurement result that aiming controller judgement receives is effective, if effectively, proceed to next step; Otherwise control automatically controlled point instrumentation orientation according to left, return center, to the right, the mode of going back to center scans, scanning step is 3 ', each is no more than 20 times to scanning times, or after scanning, target offset amount is no more than 50mm, after a step-length of each scanning, need to have judged whether PSD angle measurement result, if have, proceed to next step; If after the end of scan, do not have all the time PSD angle measurement result guide rail to right translation 80mm, repeat said process, until find PSD collimation deviation angle, proceed to next step, or guide rail moves to low order end, exit " omnidistance scanning ";
(6) start " automatically controlling ", until " omnidistance scanning " is exited in the horizontal direction of target prism, pitch orientation, orientation corner middle position all;
(7) aiming controller judges whether to have received " suddenly stopping " instruction in " omnidistance scanning ", if receive, exits " omnidistance scanning " process, otherwise continues execution step (2) to step (6).
Rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, in wherein said step 2, obtain that target prism is offset on level, pitching both direction and the step of orientation rotation signal comprises: the automatically controlled point instrumentation cross-graduation plate of take is benchmark, coaxially set up ccd video camera system, laser is from the outgoing of automatically controlled point instrumentation telescope, by target prismatic reflection, return, represent the corner of the relatively automatically controlled point instrumentation cross-graduation of target prism plate in level orientation; Centered by target prism, design around annular character marking, the line convergent point of all character center and target prism center superposition, by the line convergent point of ccd video camera identification character, calculating character center, derivation character center, thereby draw target prism center, relatively the deviation at itself and automatically controlled point instrumentation cross-graduation plate center, obtains the shifted signal of the relatively automatically controlled point instrumentation cross-graduation of target prism plate on level, pitching both direction.
Rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, and in wherein said step 3, the step that aiming controller carries out close-loop feedback control comprises:
(1) whether sign " is controlled " in aiming controller judgement automatically effective, if invalid, exit " automatically controlling " process, otherwise enters next step;
(2) aiming controller is obtained current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges that whether this side-play amount has surpassed setting value [10,10], if do not exceed, proceeds to (5) step, otherwise enters next step;
(4) whether aiming controller exceeds guide rail travel range setting value [220,220] after judging direction that target prism is offset in the horizontal direction and guide rail skew, if do not exceed this setting value, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " automatically controlling " process;
(5) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result, obtains the rotation amount of current goal prism in orientation;
(6) aiming controller judges that whether this side-play amount has surpassed setting value [10,10], if do not exceed this setting value, proceeds to (8) step, otherwise enters next step;
(7) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure, if deviation for just, tracking amount is for just; If departure is for negative, tracking amount is for negative;
(8) aiming controller judges that side-play amount in the horizontal direction of target prism and the rotation amount in orientation whether all in the scope requiring, if meet the demands, exit " automatically controlling " process, otherwise enter next step;
(9) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " automatically controlling " process, otherwise proceeds to (1) step.
Rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, in wherein said step 3 and step 4, target 3 d pose is changed to step that the step carry out Tracking Feedback Control comprises that translation follows the tracks of, the step that follows the tracks of in orientation and the step of following in elevation, wherein:
A. the step that translation is followed the tracks of comprises:
(1) whether aiming controller judgement " translation tracking " sign is effective, if invalid, exit " translation tracking " process, otherwise enters next step;
(2) aiming controller obtains current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges whether this side-play amount has surpassed [30,30], if do not exceed, exits " translation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " translation tracking " process, otherwise enters next step;
(5) whether aiming controller exceeds guide rail travel range [220,220] after judging the direction of target prism skew in the horizontal direction and guide rail translation, if do not exceed this guide rail travel range, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " translation tracking " process;
B. the step that follow the tracks of in orientation comprises:
(1) whether aiming controller judgement " orientation tracking " sign is effective, if invalid, exit " orientation tracking " process, otherwise enters next step;
(2) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result by serial ports, obtains the rotation amount of current goal prism in orientation;
(3) aiming controller judges whether to have surpassed rotation amount [30,30], if do not exceed this rotation amount, exits " orientation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " orientation tracking " process, otherwise enters next step;
(5) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure; If deviation is being for just, tracking amount is for just; If deviation is for negative, tracking amount is for negative.
C. the step of following in elevation comprises:
(1) whether aiming controller judgement " following in elevation " sign is effective, if invalid, exit " following in elevation " process, otherwise enters next step;
(2) aiming controller obtains the side-play amount of current goal prism in height direction;
(3) aiming controller judges whether to have surpassed side-play amount [10,10], if do not exceed this side-play amount, exits " following in elevation " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " following in elevation " process, otherwise enters next step;
(5) whether aiming controller reaches spacing position [70 °, 110 °] after judging automatically controlled point instrumentation pitch rotation, if surpass this spacing position, exits; Otherwise the automatically controlled point instrumentation duty of cycle criterion, when being empty, sends " pitch rotation " order to automatically controlled point instrumentation, if side-play amount is timing, angle of pitch negative sense rotates; When if side-play amount is negative, angle of pitch forward rotation.
The advantage that rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism is: owing to being provided with photoelectric sensor and ccd video camera, adopt two close-loop control scheme, realized real-time detection, monitored the motion state of carrier rocket and keep autocollimation state, can lose under rocket dbjective state, in 10min, automatically complete the collimation of being used to group with rocket.
Accompanying drawing explanation
Fig. 1 is that in the present invention, rocket is used to organize the autocollimating structural representation of target prism;
Fig. 2 is the process flow diagram of the omnidistance scanning of aiming controller in control method of the present invention;
Fig. 3 is the process flow diagram that in control method of the present invention, aiming controller close-loop feedback is controlled;
Fig. 4 is the process flow diagram that in control method of the present invention, aiming controller translation is followed the tracks of;
Fig. 5 is the process flow diagram that in control method of the present invention, follow the tracks of in aiming controller orientation;
Fig. 6 is the process flow diagram of aiming controller following in elevation in control method of the present invention.
Embodiment
Below in conjunction with accompanying drawing, describe the embodiment that a kind of rocket of the present invention is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism in detail.
Referring to Fig. 1, at rocket provided by the invention, be used to organize in the autocollimating three-dimensional closed-loop feedback control method of target prism, be provided with automatically controlled guide rail, automatically controlled point instrumentation and aiming controller, automatically controlled point instrumentation is provided with photoelectric sensor and ccd video camera, and aiming controller comprises image pick-up card.Ccd video camera is connected with image pick-up card, and aiming controller is connected respectively with automatically controlled guide rail with automatically controlled point instrumentation.The method is divided into 4 steps, specifically comprises:
Step 1, automatically controlled point instrumentation adopts ccd video camera to obtain target image, and aiming controller is identified target by image pick-up card, controls automatically controlled point instrumentation and automatically controlled guide rail and implements omnidistance scanning; .
Referring to Fig. 2, the step of the omnidistance scanning of aiming controller comprises:
(1) whether aiming controller judgement " omnidistance scanning " sign is effective, if invalid, exit " omnidistance scanning " process, otherwise enters next step;
(2) aiming controller judges whether to detect target prism, if target prism detected, proceeds to (4) step, otherwise enters next step;
(3) aiming controller control guide rail moves to--200mm place, control automatically controlled point instrumentation position angle and rotate-10 °, then position angle be take 1 ° as step-length, control automatically controlled point instrumentation position angle to 10 ° of rotations, maximum scan number of times is 50 times, if discovery target, enters next step, otherwise exit " omnidistance scanning " process;
(4) aiming controller obtains the side-play amount of current goal prism in height direction, if this side-play amount surpasses [10,10], aiming controller is controlled automatically controlled point instrumentation pitch rotation, until height direction side-play amount is in scope; Aiming controller obtains current goal prism side-play amount in the horizontal direction, if this side-play amount surpasses [30,30], aiming controller is controlled automatically controlled point instrumentation azimuth rotation, until horizontal direction side-play amount is in scope;
(5) whether the automatically controlled point instrumentation PSD angle measurement result that aiming controller judgement receives is effective, if effectively, proceed to next step; Otherwise control automatically controlled point instrumentation orientation according to left, return center, to the right, the mode of going back to center scans, scanning step is 3 ', each is no more than 20 times to scanning times, or after scanning, target offset amount is no more than 50mm, after a step-length of each scanning, need to have judged whether PSD angle measurement result, if have, proceed to next step; If after the end of scan, do not have all the time PSD angle measurement result guide rail to right translation 80mm, repeat said process, until find PSD collimation deviation angle, proceed to next step, or guide rail moves to low order end, exit " omnidistance scanning ";
(6) start " automatically controlling ", until " omnidistance scanning " is exited in the horizontal direction of target prism, pitch orientation, orientation corner middle position all;
(7) aiming controller judges whether to have received " suddenly stopping " instruction in " omnidistance scanning ", if receive, exits " omnidistance scanning " process, otherwise continues execution step (2) to step (6).
Step 2, automatically controlled point instrumentation obtains target prism and is offset and orientation rotation signal on level, pitching both direction.
Obtain that target prism is offset on level, pitching both direction and the step of orientation rotation signal comprises: the automatically controlled point instrumentation cross-graduation plate of take is benchmark, coaxially set up ccd video camera system, laser is from the outgoing of automatically controlled point instrumentation telescope, by target prismatic reflection, return, represent the corner of the relatively automatically controlled point instrumentation cross-graduation of target prism plate in level orientation; Centered by target prism, design around annular character marking, the line convergent point of all character center and target prism center superposition, by the line convergent point of ccd video camera identification character, calculating character center, derivation character center, thereby draw target prism center, relatively the deviation at itself and automatically controlled point instrumentation cross-graduation plate center, obtains the shifted signal of the relatively automatically controlled point instrumentation cross-graduation of target prism plate on level, pitching both direction.
Step 3, aiming controller carries out close-loop feedback control to target prism.
Referring to Fig. 3, the step that aiming controller carries out close-loop feedback control comprises:
(1) whether sign " is controlled " in aiming controller judgement automatically effective, if invalid, exit " automatically controlling " process, otherwise enters next step;
(2) aiming controller is obtained current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges whether this side-play amount has surpassed setting value, if do not exceed, proceeds to (5) step, otherwise enters next step;
(4) whether aiming controller exceeds guide rail travel range setting value after judging direction that target prism is offset in the horizontal direction and guide rail skew, if do not exceed this setting value, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " automatically controlling " process;
(5) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result, obtains the rotation amount of current goal prism in orientation;
(6) aiming controller judges whether this side-play amount has surpassed setting value, if do not exceed this setting value, proceeds to (8) step, otherwise enters next step;
(7) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure, if deviation for just, tracking amount is for just; If departure is for negative, tracking amount is for negative;
(8) aiming controller judges that side-play amount in the horizontal direction of target prism and the rotation amount in orientation whether all in the scope requiring, if meet the demands, exit " automatically controlling " process, otherwise enter next step;
(9) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " automatically controlling " process, otherwise proceeds to (1) step.
Step 4, aiming controller changes and follows the tracks of target prism 3 d pose, the autocollimation of implementation goal prism by controlling the motion of automatically controlled guide rail and automatically controlled point instrumentation.
Target 3 d pose is changed to step that the step carry out Tracking Feedback Control comprises that translation follows the tracks of, the step that follows the tracks of in orientation and the step of following in elevation, wherein:
A. referring to Fig. 4, the step that translation is followed the tracks of comprises:
(1) whether aiming controller judgement " translation tracking " sign is effective, if invalid, exit " translation tracking " process, otherwise enters next step;
(2) aiming controller obtains current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges whether this side-play amount has surpassed [30,30], if do not exceed, exits " translation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " translation tracking " process, otherwise enters next step;
(5) whether aiming controller exceeds guide rail travel range [220,220] after judging the direction of target prism skew in the horizontal direction and guide rail translation, if do not exceed this guide rail travel range, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " translation tracking " process;
B. referring to Fig. 5, the step that follow the tracks of in orientation comprises:
(1) whether aiming controller judgement " orientation tracking " sign is effective, if invalid, exit " orientation tracking " process, otherwise enters next step;
(2) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result by serial ports, obtains the rotation amount of current goal prism in orientation;
(3) aiming controller judges whether to have surpassed rotation amount [30,30], if do not exceed this rotation amount, exits " orientation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " orientation tracking " process, otherwise enters next step;
(5) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure; If deviation is being for just, tracking amount is for just; If deviation is for negative, tracking amount is for negative.
C. referring to Fig. 6, the step of following in elevation comprises:
(1) whether aiming controller judgement " following in elevation " sign is effective, if invalid, exit " following in elevation " process, otherwise enters next step;
(2) aiming controller obtains the side-play amount of current goal prism in height direction;
(3) aiming controller judges whether to have surpassed side-play amount [10,10], if do not exceed this side-play amount, exits " following in elevation " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " following in elevation " process, otherwise enters next step;
(5) whether aiming controller reaches spacing position [70 °, 110 °] after judging automatically controlled point instrumentation pitch rotation, if surpass this spacing position, exits; Otherwise the automatically controlled point instrumentation duty of cycle criterion, when being empty, sends " pitch rotation " order to automatically controlled point instrumentation, if side-play amount is timing, angle of pitch negative sense rotates; When if side-play amount is negative, angle of pitch forward rotation.
At rocket of the present invention, be used to organize in the autocollimating three-dimensional closed-loop feedback control method of target prism, automatically controlled guide rail has horizontal direction translation functions, automatically controlled point instrumentation has level, pitching two direction rotation functions, automatically controlled point instrumentation is erected on automatically controlled guide rail, by controlling respectively automatically controlled guide rail and automatically controlled point instrumentation moves, realize the tracking that target 3 d pose is changed.Closed-loop control adopts two closed loop policies.Interior closed loop be automatically controlled guide rail and automatically controlled point instrumentation separately according to the motion requirement of input, control respectively translation and rotation separately, consistent with input requirements.Outer closed loop is that aiming controller is according to the target offset amount of image detection, calculate the amount of exercise of automatically controlled guide rail and automatically controlled point instrumentation, by serial ports, to automatically controlled guide rail and automatically controlled point instrumentation, send motion requirement, treat that its motion is complete, detect again target offset amount, repeat said process, until the deviation at target and automatically controlled point instrumentation cross-graduation plate center is in claimed range.
Adopt rocket of the present invention to be used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, specific works process is:
Aiming controller gathers data, the status information of automatically controlled point instrumentation, comprising: the collimation deviation angle information of the video information of ccd video camera, photoelectric sensor, position angle, the angle of pitch, gather the position of automatically controlled guide rail.Whether aiming controller shows the information collecting, and points out each equipment state normal.Aiming controller adopts the ccd video camera vision signal receiving level, the high and low position of image processing techniques identification target, and show, the side-play amount of the relatively automatically controlled point instrumentation cross-graduation of prompting operation person's rocket plate, when side-play amount is slight, prompt for yellow when overproof, when side-play amount serious when overproof, prompt for redness, the overproof scope dictates of data sees the following form:
| Data content | Data are slightly overproof | Data are seriously overproof |
| Collimation deviation angle | [-60,-30]or[30,60] | <-60or>60 |
| Image X-axis | [-60,-30]or[30,60] | <-60or>60 |
| Image Y-axis | [-20,-10]or[10,20] | <-20or>20 |
Aiming controller sees the following form according to the content of the condition prompting operator operation detecting:
Operator, according to show state, starts different control flows by button, opertaing device work, until target is placed in the middle:
If a. target level skew is overproof, click " translation tracking ", aim at the automatically controlled guide rail of control software control and move horizontally, until target level direction is placed in the middle;
If b. target pitching skew is overproof, click " following in elevation ", aim at and control the automatically controlled point instrumentation angle of pitch rotation of software control, until target pitch orientation is placed in the middle;
If c. target azimuth corner is overproof, click " orientation tracking ", aim at and control the rotation of the automatically controlled point instrumentation of software control position angle, until the collimation deviation angle that target is returned is approximately zero;
If d. can monitor collimation deviation angle, the horizontal departure amount of target, the pitch deviation amount of target, click " automatically controlling ", aiming at the automatically controlled guide rail of control software control moves horizontally, controlling the automatically controlled point instrumentation angle of pitch rotates, control automatically controlled point instrumentation position angle and rotate, until the collimation deviation angle of target, horizontal departure amount, pitch deviation amount are approximately zero;
If target e. do not detected, click " omnidistance scanning ", aim at the automatically controlled guide rail of control software control and move horizontally, control the automatically controlled point instrumentation angle of pitch and rotate, control automatically controlled point instrumentation position angle and rotate, until the collimation deviation angle of target, horizontal departure amount, pitch deviation amount are approximately zero.
Embodiment recited above is described the preferred embodiment of the present invention, not the spirit and scope of the present invention is limited.Do not departing under the prerequisite of design concept of the present invention; various modification and improvement that this area ordinary person makes technical scheme of the present invention; all should drop into protection scope of the present invention, the technology contents that the present invention asks for protection, is all documented in claims.
Claims (5)
1. rocket is used to organize the autocollimating three-dimensional closed-loop feedback control method of target prism, comprise automatically controlled guide rail, automatically controlled point instrumentation and aiming controller are set, it is characterized in that: described automatically controlled point instrumentation comprises photoelectric sensor and ccd video camera, described aiming controller comprises image pick-up card, described ccd video camera is connected with described image pick-up card, described aiming controller is connected respectively with automatically controlled guide rail with described automatically controlled point instrumentation, and the method comprises the steps:
Step 1, described automatically controlled point instrumentation adopts ccd video camera to obtain target image, and described aiming controller is identified target by image pick-up card, controls automatically controlled point instrumentation and automatically controlled guide rail and implements omnidistance scanning; ;
Step 2, described automatically controlled point instrumentation obtains described target prism and is offset and orientation rotation signal on level, pitching both direction;
Step 3, described aiming controller carries out close-loop feedback control to described target prism;
Step 4, described aiming controller changes and follows the tracks of described target prism 3 d pose by controlling the motion of described automatically controlled guide rail and automatically controlled point instrumentation, implements the autocollimation of described target prism.
2. control method according to claim 1, is characterized in that: in wherein said step 1, the step of the omnidistance scanning of aiming controller comprises:
(1) whether aiming controller judgement " omnidistance scanning " sign is effective, if invalid, exit " omnidistance scanning " process, otherwise enters next step;
(2) aiming controller judges whether to detect target prism, if target prism detected, proceeds to (4) step, otherwise enters next step;
(3) aiming controller is controlled move to-200mm of guide rail place, control automatically controlled point instrumentation position angle and rotate-10 °, then position angle be take 1 ° as step-length, control automatically controlled point instrumentation position angle to 10 ° of rotations, maximum scan number of times is 50 times, if discovery target, enters next step, otherwise exit " omnidistance scanning " process;
(4) aiming controller obtains the side-play amount of current goal prism in height direction, if this side-play amount surpasses [10,10], aiming controller is controlled automatically controlled point instrumentation pitch rotation, until height direction side-play amount is in scope; Aiming controller obtains current goal prism side-play amount in the horizontal direction, if this side-play amount surpasses [30,30], aiming controller is controlled automatically controlled point instrumentation azimuth rotation, until horizontal direction side-play amount is in scope;
(5) whether the automatically controlled point instrumentation PSD angle measurement result that aiming controller judgement receives is effective, if effectively, proceed to next step; Otherwise control automatically controlled point instrumentation orientation according to left, return center, to the right, the mode of going back to center scans, scanning step is 3 ', each is no more than 20 times to scanning times, or after scanning, target offset amount is no more than 50mm, after a step-length of each scanning, need to have judged whether PSD angle measurement result, if have, proceed to next step; If after the end of scan, do not have all the time PSD angle measurement result guide rail to right translation 80mm, repeat said process, until find PSD collimation deviation angle, proceed to next step, or guide rail moves to low order end, exit " omnidistance scanning ";
(6) start " automatically controlling ", until " omnidistance scanning " is exited in the horizontal direction of target prism, pitch orientation, orientation corner middle position all;
(7) aiming controller judges whether to have received " suddenly stopping " instruction in " omnidistance scanning ", if receive, exits " omnidistance scanning " process, otherwise continues execution step (2) to step (6).
3. control method according to claim 1 and 2, it is characterized in that: in wherein said step 2, the step of obtaining target prism shifted signal on level, pitching both direction comprises: the automatically controlled point instrumentation cross-graduation plate of take is benchmark, coaxially set up ccd video camera system, laser is from the outgoing of automatically controlled point instrumentation telescope, by target prismatic reflection, return, represent the corner of the relatively automatically controlled point instrumentation cross-graduation of target prism plate in level orientation; Centered by target prism, design around annular character marking, the line convergent point of all character center and target prism center superposition, by the line convergent point of ccd video camera identification character, calculating character center, derivation character center, thereby draw target prism center, relatively the deviation at itself and automatically controlled point instrumentation cross-graduation plate center, obtains the shifted signal of the relatively automatically controlled point instrumentation cross-graduation of target prism plate on level, pitching both direction.
4. control method according to claim 3, is characterized in that: in wherein said step 3, the step that aiming controller carries out close-loop feedback control comprises:
(1) whether sign " is controlled " in aiming controller judgement automatically effective, if invalid, exit " automatically controlling " process, otherwise enters next step;
(2) aiming controller is obtained current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges whether this side-play amount has surpassed setting value, if do not exceed, proceeds to (5) step, otherwise enters next step;
(4) whether aiming controller exceeds guide rail travel range setting value after judging direction that target prism is offset in the horizontal direction and guide rail skew, if do not exceed this setting value, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " automatically controlling " process;
(5) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result, obtains the rotation amount of current goal prism in orientation;
(6) aiming controller judges whether this side-play amount has surpassed setting value, if do not exceed this setting value, proceeds to (8) step, otherwise enters next step;
(7) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure, if deviation for just, tracking amount is for just; If departure is for negative, tracking amount is for negative;
(8) aiming controller judges that side-play amount in the horizontal direction of target prism and the rotation amount in orientation whether all in the scope requiring, if meet the demands, exit " automatically controlling " process, otherwise enter next step;
(9) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " automatically controlling " process, otherwise proceeds to (1) step.
5. control method according to claim 4, it is characterized in that: in wherein said step 3 and step 4, target 3 d pose is changed to step that the step carry out Tracking Feedback Control comprises that translation follows the tracks of, the step that follows the tracks of in orientation and the step of following in elevation, wherein:
A. the step that translation is followed the tracks of comprises:
(1) whether aiming controller judgement " translation tracking " sign is effective, if invalid, exit " translation tracking " process, otherwise enters next step;
(2) aiming controller obtains current goal prism side-play amount in the horizontal direction;
(3) aiming controller judges whether this side-play amount has surpassed [30,30], if do not exceed, exits " translation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " translation tracking " process, otherwise enters next step;
(5) whether aiming controller exceeds guide rail travel range [220,220] after judging the direction of target prism skew in the horizontal direction and guide rail translation, if do not exceed this guide rail travel range, sends " guide rail translation " order, and translational movement is side-play amount; If side-play amount is timing, amount of movement is for just; When if side-play amount is negative, amount of movement is for negative; Otherwise exit " translation tracking " process;
B. the step that follow the tracks of in orientation comprises:
(1) whether aiming controller judgement " orientation tracking " sign is effective, if invalid, exit " orientation tracking " process, otherwise enters next step;
(2) aiming controller gathers automatically controlled point instrumentation PSD angle measurement result by serial ports, obtains the rotation amount of current goal prism in orientation;
(3) aiming controller judges whether to have surpassed rotation amount [30,30], if do not exceed this rotation amount, exits " orientation tracking " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " orientation tracking " process, otherwise enters next step;
(5) the automatically controlled point instrumentation duty of aiming controller cycle criterion, when being empty, sends " azimuth rotation " order to automatically controlled point instrumentation, and tracking amount is departure; If deviation is being for just, tracking amount is for just; If deviation is for negative, tracking amount is for negative.
C. the step of following in elevation comprises:
(1) whether aiming controller judgement " following in elevation " sign is effective, if invalid, exit " following in elevation " process, otherwise enters next step;
(2) aiming controller obtains the side-play amount of current goal prism in height direction;
(3) aiming controller judges whether to have surpassed side-play amount [10,10], if do not exceed this side-play amount, exits " following in elevation " process, otherwise enters next step;
(4) aiming controller judges whether to have received " suddenly stopping " instruction, if receive, exits " following in elevation " process, otherwise enters next step;
(5) whether aiming controller reaches spacing position [70 °, 110 °] after judging automatically controlled point instrumentation pitch rotation, if surpass this spacing position, exits; Otherwise the automatically controlled point instrumentation duty of cycle criterion, when being empty, sends " pitch rotation " order to automatically controlled point instrumentation, if side-play amount is timing, angle of pitch negative sense rotates; When if side-play amount is negative, angle of pitch forward rotation.
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| CN201410317498.4A CN104111663A (en) | 2014-07-04 | 2014-07-04 | Three-dimensional closed-loop feedback control method for automatic rocket inertia unit target prism collimation |
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Application publication date: 20141022 |