CN109489588A - A kind of dynamic auto-collimation tracking measurement control method - Google Patents
A kind of dynamic auto-collimation tracking measurement control method Download PDFInfo
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- CN109489588A CN109489588A CN201811249146.4A CN201811249146A CN109489588A CN 109489588 A CN109489588 A CN 109489588A CN 201811249146 A CN201811249146 A CN 201811249146A CN 109489588 A CN109489588 A CN 109489588A
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- collimation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to geometric measurements and automatic control technology field, and in particular to a kind of dynamic auto-collimation tracking measurement control method.The following steps are included: control system sends self-test order to self-collimation measurement system, while acquiring code-disc capture card data value；If self-collimation measurement system does not reply self-test order or can not read code-disc capture card data, abnormality processing is carried out；Carry out operation mode selection, including manual operation mode and automatic operation mode；No matter manual operation mode or automatic operation mode, when extraneous synchronous sampling signal arrives, control system will all synchronize signal acquisition, the self-collimation measurement value and code-disc angle value of locking synchronization sampling instant, and by treated, angle value is stored, shown and is sent, and continues synchronous acquisition judgement later；Measurement process terminates.The present invention is for realizing dynamic, wide-angle, high-precision attitude measurement and calibration in dynamic auto-collimation tracking measurement device.
Description
Technical field
The invention belongs to geometric measurements and automatic control technology field, and in particular to a kind of dynamic auto-collimation tracking measurement
Control method.
Background technique
Currently, for movable bodies such as aircraft, ship, naval vessels, the measurement and calibration of dynamic attitude accuracy, frequently with longitude and latitude
The instruments such as instrument, laser tracker or photoelectric auto-collimator are established several by static base in a manner of optical delivery with measured target
What angular relationship is realized.However, theodolite (total station) quasi-instrument, is primarily adapted for use in static measurement, dynamic response is generally small
In 10Hz, and major part does not have auto-collimation function；Laser tracker, camera unit, target unit combination metering system use
Image measuring method, dynamic response can reach 100Hz, but precision is lower, be 0.01 ° (RMS), and when systematic survey, it is necessary to
Target unit is filled on measured target, system service efficiency is not high；Photoelectric auto-collimator measurement range about 1000 ", it can arrive individually
1.0 °, dynamic response can arrive 500Hz, precision 2.0 ", resolution ratio 0.1 ", but measured value is the opposite variation of angle when its exclusive use
Amount, and without indexing mechanism, use scope is limited.
Summary of the invention
The purpose of the present invention is to provide a kind of dynamic auto-collimation tracking measurement control methods, track for dynamic auto-collimation
In measuring device, dynamic, wide-angle, high-precision attitude measurement and calibration are realized.
In order to achieve the above objectives, the technical solution used in the present invention are as follows:
A kind of dynamic auto-collimation tracking measurement control method, comprising the following steps:
Step 1: control system sends self-test order to self-collimation measurement system, while acquiring code-disc capture card data value；
If self-collimation measurement system does not reply self-test order or can not read code-disc capture card data, abnormality processing is carried out；If
Normally, step 2 is carried out；
Step 2: operation mode selection, including manual operation mode and automatic operation mode are carried out；
Step 3: no matter manual operation mode or automatic operation mode are controlled when extraneous synchronous sampling signal arrives
System will all synchronize signal acquisition, the self-collimation measurement value and code-disc angle value of locking synchronization sampling instant, and will handle
Angle value afterwards is stored, shown and is sent, and continues synchronous acquisition judgement later；
Step 4: measurement process terminates.
The manual operation mode, which is divided into, slightly takes aim at mode and auto-collimation mode.
Described slightly to take aim at mode as follows: control system, which is lighted, slightly takes aim at laser, and operator may be selected purely manual or semi-automatic
Mode searches for target；Operator seems the no auto-collimation lens barrel that enters as target acquistion foundation using the return of visual laser, has such as been searched for
To target, then operator sends to control system and instructs, and closes and slightly takes aim at laser, opens auto-collimation light source, into it is semi-automatic with
Track process；Operator drives according to self-collimation measurement value, micro-positioning regulators angle input quantity, control system according to this input quantity open loop
Motor movement tracks target.
When the purely manual mode searches for target, operator can be manually rotated pitching and azimuth axis search target, control system
System only feeds back real time position by code-disc.
When the semiautomatic fashion searches for target, operator sends start and stop search instruction, and control system is power amplification
Device power-up, according to scheduled angular speed, open loop drives pitching and azimuth-drive motor movement, is up to receiving no-operation instruction
Only.
The auto-collimation mode is as follows: control system lights auto-collimation light source, and operator searches for mesh with semiautomatic fashion
Whether mark, operator export pitching and azimuth direction measured value as target acquistion foundation using auto-collimation system；When measured target into
After entering visual field, just enter semiautomatic tracing process, operator's micro-positioning regulators angle input quantity, control system is opened according to this input quantity
The movement of ring driving motor, tracks target.
When the semiautomatic fashion searches for target, operator sends start and stop search instruction, and control system is power amplification
Device power-up, according to scheduled angular speed, open loop drives pitching and azimuth-drive motor movement, is up to receiving no-operation instruction
Only.
The automatic operation mode, that is, auto-collimation tracking measurement mode: control system default opens auto-collimation light source, function
Rate amplifier is powered on always；Control system carries out automatic target search first, i.e., according to predetermined angular speed, open loop drive pitching and
Azimuth direction motor movement, and according to the measured value of self-collimation measurement system, judge whether measured target enters visual field；Work as capture
When to measured target, control system enters Automatic Target Tracking process；Control system is with auto-collimation system in pitching and orientation side
To measured value as input quantity, obtained using angle measurement element code-disc value as feedback quantity, and with code-disc position signal through differential process
To speed signal as velocity feedback, speed loop is constituted；To improve dynamic property, control system also with self-collimation measurement value and
Closed-loop control system is added as feedforward control amount in the composite value of code-disc value of feedback；Control system is computed processing, corrector loop
Section obtains control output, exports the movement of control amount driving motor by D/A, to realize that the dynamic auto-collimation tracking of target is surveyed
Amount.
It is obtained by the present invention to have the beneficial effect that
Dynamic auto-collimation tracking measurement control method of the present invention, i.e., target is identified with auto-collimation system,
Locking, is fed back by angle measurement element, measures control using computer control system, to realize searching for measured target
Rope, automatic identification are captured and are automatically tracked.Using the dynamic auto-collimation tracking measurement device of this method development, auto-collimation is surveyed
Measure range ± 600 ", resolution ratio 0.1 ", precision 1 ", dynamic response 70Hz, 360 ° of horizontal following range, vertical following range ±
45°.When testee is with angular velocity omega=2.0 °/s movement, " (2.7 σ) has dynamic to dynamic comprehensive angle measurement error 10
Response is fast, measurement angle is big, advantage with high accuracy, suitable for measurement and calibration quiet to motion carrier, dynamic attitude accuracy.
Detailed description of the invention
Fig. 1 is dynamic auto-collimation tracking measurement control method flow chart；
Fig. 2 is control system functional block diagram.
Specific embodiment
The present invention is described in detail with specific implementation with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, dynamic auto-collimation tracking measurement control method of the present invention the following steps are included:
Step 1: self-test.Including two parts, first is that control system sends self-test order to self-collimation measurement system, second is that
Acquire code-disc capture card data value.If self-collimation measurement system does not reply self-test order or can not read code-disc capture card number
According to then carrying out abnormality processing.When there are abnormal conditions, software interface jumps out error box, terminates measurement.If self-test is just
Often, step 2 is carried out.
Step 2: operation mode selection, including manual operation mode and automatic operation mode are carried out.Control system is not according to
Same operation mode, takes different control methods.
(1) manual operation mode, which is divided into, slightly takes aim at mode and auto-collimation mode.
(a) mode is slightly taken aim at.It slightly takes aim under mode, control system is lighted first slightly takes aim at laser.Operator may be selected purely manual
Or semiautomatic fashion searches for target.When purely manual mode searches for target, operator can be manually rotated pitching and azimuth axis search target,
Hardware power amplifier and motor in control system do not work, and only feed back real time position by code-disc；Semiautomatic fashion search
When, operator sends start and stop search instruction by software interface, and control system is power amplifier power-up, then according to scheduled
Angular speed, open loop drives pitching and azimuth-drive motor movement, until receiving no-operation instruction.It slightly takes aim under mode, operates
Person seems the no auto-collimation lens barrel that enters as target acquistion foundation using the return of visual laser.As searched target, then operator to
Control system sends instruction, closes and slightly takes aim at laser, auto-collimation light source is opened, into semiautomatic tracing process.Operator according to
Self-collimation measurement value, micro-positioning regulators angle input quantity, control system are moved according to this input quantity open loop driving motor, track mesh
Mark.
(b) auto-collimation mode.Under auto-collimation mode, control system lights auto-collimation light source.Operator is with semiautomatic fashion
Target is searched for, method is identical as slightly semiautomatic fashion is taken aim at.Operator whether exports pitching with auto-collimation system and azimuth direction is surveyed
Magnitude is target acquistion foundation.After measured target enters visual field, just enter semiautomatic tracing process, operator's micro-positioning regulators angle
Input quantity is spent, control system is moved according to this input quantity open loop driving motor, tracks target.
(2) automatic operation mode
Automatic mode, that is, auto-collimation tracking measurement mode.Control system default opens auto-collimation light source, and power amplifier begins
Power-up eventually.Control system carries out automatic target search first, i.e., according to predetermined angular speed, open loop drives pitching and azimuth direction electricity
Machine movement, and according to the measured value of self-collimation measurement system, judge whether measured target enters visual field.When capturing measured target
When, control system enters Automatic Target Tracking process.Control system with auto-collimation system pitching and azimuth direction measured value
As input quantity, speed signal is obtained through differential process using angle measurement element code-disc value as feedback quantity, and with code-disc position signal
As velocity feedback, speed loop is constituted.To improve dynamic property, control system is also with self-collimation measurement value and code-disc value of feedback
Composite value as feedforward control amount, closed-loop control system is added.Control system is computed processing, and correction link is controlled
Output exports the movement of control amount driving motor by D/A, to realize the dynamic auto-collimation tracking measurement of target.
Step 3: no matter in manual mode or automatic mode, when extraneous synchronous sampling signal arrives, control system is all
It will synchronize signal acquisition, the self-collimation measurement value and code-disc angle value of locking synchronization sampling instant, and will treated angle
Angle value is stored, shown and is sent, and continues synchronous acquisition judgement later.
Step 4: after operator, which clicks interface, stops measurement button, measurement process terminates.
Claims (8)
1. a kind of dynamic auto-collimation tracking measurement control method, it is characterised in that: the following steps are included:
Step 1: control system sends self-test order to self-collimation measurement system, while acquiring code-disc capture card data value；If
Self-collimation measurement system does not reply self-test order or can not read code-disc capture card data, then carries out abnormality processing；If normal,
Carry out step 2；
Step 2: operation mode selection, including manual operation mode and automatic operation mode are carried out；
Step 3: no matter manual operation mode or automatic operation mode, when extraneous synchronous sampling signal arrive when, control system
Signal acquisition, the self-collimation measurement value and code-disc angle value of locking synchronization sampling instant will be all synchronized, and treated by general
Angle value is stored, shown and is sent, and continues synchronous acquisition judgement later；
Step 4: measurement process terminates.
2. dynamic auto-collimation tracking measurement control method according to claim 1, it is characterised in that: the manual operation
Mode, which is divided into, slightly takes aim at mode and auto-collimation mode.
3. dynamic auto-collimation tracking measurement control method according to claim 2, it is characterised in that: described slightly takes aim at mode
As follows: control system is lighted and slightly takes aim at laser, and purely manual or semiautomatic fashion search target may be selected in operator；Operator is with mesh
Regarding laser return seems the no auto-collimation lens barrel that enters as target acquistion foundation, has such as searched target, then operator is to control
System sends instruction, closes and slightly takes aim at laser, auto-collimation light source is opened, into semiautomatic tracing process；Operator is according to auto-collimation
Measured value, micro-positioning regulators angle input quantity, control system are moved according to this input quantity open loop driving motor, track target.
4. dynamic auto-collimation tracking measurement control method according to claim 3, it is characterised in that: the purely manual side
When formula searches for target, operator can be manually rotated pitching and azimuth axis search target, and control system only passes through code-disc and feeds back real-time position
It sets.
5. dynamic auto-collimation tracking measurement control method according to claim 3, it is characterised in that: the semi-automatic side
When formula searches for target, operator sends start and stop search instruction, and control system is power amplifier power-up, according to scheduled angle speed
Degree, open loop drives pitching and azimuth-drive motor movement, until receiving no-operation instruction.
6. dynamic auto-collimation tracking measurement control method according to claim 2, it is characterised in that: the auto-collimation mould
Formula is as follows: control system lights auto-collimation light source, and operator searches for target with semiautomatic fashion, and operator is with auto-collimation system
No output pitching and azimuth direction measured value are target acquistion foundation；After measured target enters visual field, just enter it is semi-automatic with
Track process, operator's micro-positioning regulators angle input quantity, control system are moved according to this input quantity open loop driving motor, track mesh
Mark.
7. dynamic auto-collimation tracking measurement control method according to claim 6, it is characterised in that: the semi-automatic side
When formula searches for target, operator sends start and stop search instruction, and control system is power amplifier power-up, according to scheduled angle speed
Degree, open loop drives pitching and azimuth-drive motor movement, until receiving no-operation instruction.
8. dynamic auto-collimation tracking measurement control method according to claim 1, it is characterised in that: described is automatically brought into operation
Mode, that is, auto-collimation tracking measurement mode: control system default opens auto-collimation light source, and power amplifier is powered on always；Control system
System carries out automatic target search first, i.e., according to predetermined angular speed, open loop driving pitching and azimuth direction motor movement, and according to
The measured value of self-collimation measurement system, judges whether measured target enters visual field；When capturing measured target, control system into
Enter Automatic Target Tracking process；Control system using auto-collimation system in the measured value of pitching and azimuth direction as input quantity, with
Angle measurement element code-disc value obtains speed signal as velocity feedback through differential process as feedback quantity, and using code-disc position signal,
Constitute speed loop；For improve dynamic property, control system also using the composite value of self-collimation measurement value and code-disc value of feedback as
Closed-loop control system is added in feedforward control amount；Control system is computed processing, and correction link obtains control output, passes through D/A
The movement of control amount driving motor is exported, to realize the dynamic auto-collimation tracking measurement of target.
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Cited By (1)
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| CN111258337A (en) * | 2020-02-28 | 2020-06-09 | 中国科学院西安光学精密机械研究所 | High-precision servo control system and method for pitching motion of two-dimensional turntable under load eccentricity |
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