CN106323282A - Stable platform adaptive to various environments - Google Patents

Stable platform adaptive to various environments Download PDF

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Publication number
CN106323282A
CN106323282A CN201610548415.1A CN201610548415A CN106323282A CN 106323282 A CN106323282 A CN 106323282A CN 201610548415 A CN201610548415 A CN 201610548415A CN 106323282 A CN106323282 A CN 106323282A
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attitude
stabilized platform
platform
algorithm
pid
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CN201610548415.1A
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CN106323282B (en
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李孟委
蒋孝勇
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North University of China
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North University of China
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/18—Stabilised platforms, e.g. by gyroscope

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses a stable platform adaptive to various environments. The stable platform can detect angular rate information caused by the environment change through an MEMS gyroscope; a PID parameter of the stable platform is intelligently planned according to the angular rate information in the environment, so that the aim of freely switching a PID algorithm under any environment is achieved, and the stabilization precision of the platform can be further improved. An inertial measurement combination comprises a three-axis gyroscope, a three-axis accelerometer, a three-axis magnetometer, a main control chip and an attitude algorithm, and outputs a course angle, a roll angle and a pitching angle. The attitude algorithm adopts a quaternion attitude algorithm, a calculated attitude is fed back to a driving motor, and the intelligently planned PID algorithm is used for stably controlling an attitude, so that the stable effect of the platform is achieved.

Description

A kind of stabilized platform adapting to multiple environment
Technical field
The present invention relates to automatization and technology of instrument and meter field, particularly related to a kind of adapt to multiple environmental work Stabilized platform.
Background technology
Present stage, the battlefield wounded transport, severely injured personnel rescue often occur in transit due to road bump shake to The wounded cause secondary injury.The transport of harmful influence, fragile article faces Uneven road too, and the harm that shake of jolting brings is with economical Loss.Solve shock insulation stabilization and will become the very corn of a subject.For this problem, plan stabilized platform and be applied to wounded's rescue, dangerous The scenes such as fragile article transport, isolation environment is shaken, so will more effectively be ensured people life property safety.
The most how to make stabilized platform adapt to different application scene, be the difficult problems that face of people equally.Such as, how car is made Carry radar stabilisation systems to receive stabilization signal and can receive stable letter in the wild country of bending again on the highway travelled Number？How to make Shipborne satellite antenna can when calm tracking satellite signal, satellite can be received again on the wave jolted Signal？Solve these problems, need a kind of stabilized platform being operated under various modes, and this stabilized platform can complete multiple Intelligence switching under pattern, to meet the demand of different application environment.The most unmanned, unmanned plane is also required in taking photo by plane can be The stabilized platform used in varying environment.
Summary of the invention
The present invention devises a kind of stabilized platform being suitable for multiple environmental work, can intelligence can cut under various modes Change, and the attitude control mode met under straight highway switches to the intelligence between the attitude control mode jolted under the environment of wild country.
Technical scheme is specific as follows: a kind of stabilized platform adapting to multiple environmental work, described stabilized platform Including attitude measurement assembly, stabilized platform, control circuit and drive circuit；
Being arranged on described attitude measurement assembly on stabilized platform inside casing rotor, attitude number measured by described attitude measurement assembly According to, described control circuit receives attitude data, and feedback control drive circuit controls the inside casing rotor of stabilized platform, it is achieved stable.
Further, described attitude measurement assembly includes three-axis gyroscope, three axis accelerometer, three axle magnetometers；
Described three-axis gyroscope, three axis accelerometer, three axle magnetometers carry out attitude algorithm and draw initial attitude angle.
Further, the gyroscope in attitude measurement assembly is utilized to detect the angular rate information ω caused because of environmental change；
The angular rate information that described stabilized platform Control PID parameter causes according to environment carries out intelligent planning；
The initial attitude angle recorded feeds back to electric machine actuating mechanism, and is realized flat by the pid control algorithm of intelligent planning Platform stablizing effect.
Further, described incremental timestamp algorithm includes, controller increment
Δu k = K p ( 1 + T T i + T d T ) e k - K p ( 1 + 2 T d T ) e k - 1 + K p T d T e k - 2 = Ae k + Be k - 1 + Ce k - 2
Increment type control algolithm recurrence formula controller exports: uk=uk-1+Δuk, wherein T represents sampling period, Kp、Ti、 TdRepresent tri-parameters of PID；The angular rate information ω that wherein increment type PID algorithm parameter detects according to gyroscope determines, and
Kp=k1(ω)·f1(ω)；Ti=k2(ω)·f2(ω)；Td=k3(ω)·f3(ω)；k1、k2、k3For correction system Number, can table look-up acquisition according to ω, f1、f2、f3For control modulation trnasfer function.
Further, described three-axis gyroscope, three axis accelerometer, three axle magnetometers carry out attitude algorithm and draw initial appearance State angle includes:
(1) add table by three-axis gyroscope, three axles, three axle magnetometer nine axle initial datas input；
(2) acceleration of gravity, magnetometer data normalized；
(3) weight component, magnetic-field component are extracted；
(4) attitude error is obtained；
(5) attitude error integration；
(6) gyro angular speed complementary filter correction；
(7) quaternion differential equation is solved；
(8) quaternary number normalization；
(9) quaternary number solves Eulerian angles.
Further, described stabilized platform leveling control algolithm, measured combination by used group and attitude information is transferred to motor Perform structure, and adjust platform holding level according to the pid parameter updated under varying environment.
By the present invention, stabilized platform can use under the various modes in any environment, and attitude stabilization algorithm can Intelligence switching, improves pose stabilization control precision.
Accompanying drawing explanation
Fig. 1 stabilized platform schematic diagram；
Attitude algorithm intelligent switch method schematic diagram under one kind of multiple environment of Fig. 2；
Fig. 3 quaternary number attitude algorithm schematic diagram；
Fig. 4 stabilized platform is from steady principle.
Detailed description of the invention
It is further explained below by way of Figure of description and detailed description of the invention.
As it is shown in figure 1, a kind of stabilized platform adapting to multiple environment provided for the present invention, this stabilized platform 1 includes base Seat 11, housing 12, center 13, inside casing rotor 14, described inside casing rotor 14 center arranges described attitude measurement assembly 15, described Inside casing rotor 14 two ends connect center motor 18,19, outside the non-two ends connection arranging center motor 18,19 of described center 13 has Frame motor 16,17；
The present invention has implemented the stabilized platform of the multiple environment of adaptation by method once；
The first step, carry out attitude algorithm draw initial attitude by three-axis gyroscope, three axis accelerometer, three axle magnetometers Angle.Second step, MEMS gyroscope in IMU is utilized to detect the angular rate information ω caused because of environmental change.3rd The angular rate information that step, stabilized platform Control PID parameter cause according to environment carries out intelligent planning.4th step, record initial Attitude angle feeds back to electric machine actuating mechanism, realizes platform stable effect by the pid control algorithm of intelligent planning.
Described attitude algorithm initial attitude angle such as Fig. 2, includes (1) and adds table, three axle magnetic force by three-axis gyroscope, three axles Counting nine axle initial data inputs, (2) acceleration of gravity, magnetometer data normalized, (3) weight component, magnetic-field component carry Taking, (4) obtain attitude error, (5) attitude error integration, and the angular speed complementary filter correction of (6) gyro, it is micro-that (7) solve quaternary number Dividing equation, the number normalization of (8) quaternary, (9) quaternary number solves Eulerian angles.Final is course angle yaw with new attitude angle in real time, bows Elevation angle pitch, roll angle roll.
Further, told stable platform apparatus includes, attitude measurement assembly, and stabilized platform internal rotor, in stabilized platform Frame, stabilized platform housing, stabilized platform pedestal, stabilized platform inner rotor motor, stabilized platform center motor, stabilized platform housing Motor, control circuit and motor-drive circuit.Told attitude measurement component level is fixedly mounted on stabilized platform internal rotor.
Further, the MEMS gyroscope in IMU is utilized to detect the angular rate information caused because of environmental change ω。
Further, told incremental timestamp algorithm includes, controller increment
Δu k = K p ( 1 + T T i + T d T ) e k - K p ( 1 + 2 T d T ) e k - 1 + K p T d T e k - 2 = Ae k + Be k - 1 + Ce k - 2
Increment type control algolithm recurrence formula controller exports: uk=uk-1+Δuk, wherein T represents sampling period, Kp、Ti、 TdRepresent tri-parameters of PID.The angular rate information ω that wherein increment type PID algorithm parameter detects according to MEMS gyroscope determines, And
Kp=k1(ω)·f1(ω)；Ti=k2(ω)·f2(ω)；Td=k3(ω)·f3(ω)；k1、k2、k3For correction system Number, can table look-up acquisition according to ω, f1、f2、f3For control modulation trnasfer function.
Further, told stabilized platform leveling control algolithm, measured combination by used group and attitude information is transferred to motor Perform structure, and adjust platform holding level according to the pid parameter of intelligent updating under varying environment.
By the present invention, stabilized platform can use under the various modes in any environment, and attitude stabilization algorithm can Intelligence switching, improves pose stabilization control precision.

Claims (6)

1. one kind adapt to multiple environmental work stabilized platform, it is characterised in that described stabilized platform include attitude measurement assembly, Stabilized platform, control circuit and drive circuit；
Being arranged on described attitude measurement assembly on stabilized platform inside casing rotor, attitude data measured by described attitude measurement assembly, Described control circuit receives attitude data, and feedback control drive circuit controls the inside casing rotor of stabilized platform, it is achieved stable.
A kind of stabilized platform adapting to multiple environmental work the most according to claim 1, it is characterised in that described attitude is surveyed Amount assembly includes three-axis gyroscope, three axis accelerometer, three axle magnetometers；
Described three-axis gyroscope, three axis accelerometer, three axle magnetometers carry out attitude algorithm and draw initial attitude angle.
A kind of stabilized platform adapting to multiple environmental work the most according to claim 2, it is characterised in that utilize attitude to survey Gyroscope in amount assembly detects the angular rate information ω caused because of environmental change；
The angular rate information that described stabilized platform Control PID parameter causes according to environment carries out intelligent planning；
The initial attitude angle recorded feeds back to electric machine actuating mechanism, and it is steady to realize platform by the pid control algorithm of intelligent planning Determine effect.
A kind of stabilized platform adapting to multiple environmental work the most according to claim 2, it is characterised in that described increment type Pid control algorithm includes, controller increment
Δu k = K p ( 1 + T T i + T d T ) e k - K p ( 1 + 2 T d T ) e k - 1 + K p T d T e k - 2 = Ae k + Be k - 1 + Ce k - 2
Increment type control algolithm recurrence formula controller exports: uk=uk-1+Δuk, wherein T represents sampling period, Kp、Ti、TdTable Show tri-parameters of PID；The angular rate information ω that wherein increment type PID algorithm parameter detects according to gyroscope determines, and
Kp=k1(ω)·f1(ω)；Ti=k2(ω)·f2(ω)；Td=k3(ω)·f3(ω)；k1、k2、k3For correction coefficient, Can table look-up acquisition according to ω, f1、f2、f3For control modulation trnasfer function.
A kind of stabilized platform adapting to multiple environmental work the most according to claim 2, it is characterised in that described three axle tops Spiral shell instrument, three axis accelerometer, three axle magnetometers carry out attitude algorithm and show that initial attitude angle includes:
(1) add table by three-axis gyroscope, three axles, three axle magnetometer nine axle initial datas input；
(2) acceleration of gravity, magnetometer data normalized；
(3) weight component, magnetic-field component are extracted；
(4) attitude error is obtained；
(5) attitude error integration；
(6) gyro angular speed complementary filter correction；
(7) quaternion differential equation is solved；
(8) quaternary number normalization；
(9) quaternary number solves Eulerian angles.
A kind of stabilized platform adapting to multiple environmental work the most according to claim 2, it is characterised in that described stable flat Platform leveling control algolithm, is measured combination by used group and attitude information is transferred to motor performs structure, and according under varying environment more New pid parameter adjusts platform and keeps level.
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Cited By (7)

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Publication number Priority date Publication date Assignee Title
CN107356938A (en) * 2017-09-07 2017-11-17 大连海事大学 A kind of unmanned boat two-dimensional laser radar autostabiliazer unit and its control method
CN107817821A (en) * 2017-10-27 2018-03-20 成都鼎信精控科技有限公司 A kind of stable head and control method based on MEMS gyroscope combination
CN108426559A (en) * 2018-02-27 2018-08-21 北京环境特性研究所 A kind of antenna attitude detection device and method
CN108939512A (en) * 2018-07-23 2018-12-07 大连理工大学 A kind of swimming attitude measurement method based on wearable sensor
CN109030862A (en) * 2018-06-20 2018-12-18 南京信息工程大学 A kind of gyroscope balancing device and its angle adaptive equalization adjusting method for ultrasonic aerovane
CN109786967A (en) * 2019-03-04 2019-05-21 大连理工大学 A kind of ship-board antenna attitude control system of high-precision real-time tracking
CN111141283A (en) * 2020-01-19 2020-05-12 杭州十域科技有限公司 Method for judging advancing direction through geomagnetic data

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CN205248448U (en) * 2015-12-08 2016-05-18 陕西瑞特测控技术有限公司 Remove satellite antenna detection and control system
CN105607639A (en) * 2015-12-21 2016-05-25 河北汉光重工有限责任公司 Posture solving and compensating method for triaxial stable servo platform

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CN205248448U (en) * 2015-12-08 2016-05-18 陕西瑞特测控技术有限公司 Remove satellite antenna detection and control system
CN105607639A (en) * 2015-12-21 2016-05-25 河北汉光重工有限责任公司 Posture solving and compensating method for triaxial stable servo platform

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107356938A (en) * 2017-09-07 2017-11-17 大连海事大学 A kind of unmanned boat two-dimensional laser radar autostabiliazer unit and its control method
CN107817821A (en) * 2017-10-27 2018-03-20 成都鼎信精控科技有限公司 A kind of stable head and control method based on MEMS gyroscope combination
CN108426559A (en) * 2018-02-27 2018-08-21 北京环境特性研究所 A kind of antenna attitude detection device and method
CN108426559B (en) * 2018-02-27 2020-07-24 北京环境特性研究所 Antenna attitude detection device and method
CN109030862A (en) * 2018-06-20 2018-12-18 南京信息工程大学 A kind of gyroscope balancing device and its angle adaptive equalization adjusting method for ultrasonic aerovane
CN108939512A (en) * 2018-07-23 2018-12-07 大连理工大学 A kind of swimming attitude measurement method based on wearable sensor
CN109786967A (en) * 2019-03-04 2019-05-21 大连理工大学 A kind of ship-board antenna attitude control system of high-precision real-time tracking
CN111141283A (en) * 2020-01-19 2020-05-12 杭州十域科技有限公司 Method for judging advancing direction through geomagnetic data

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