CN110045595A - Steady platform spike inhibits control method certainly - Google Patents
Steady platform spike inhibits control method certainly Download PDFInfo
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- CN110045595A CN110045595A CN201910302229.3A CN201910302229A CN110045595A CN 110045595 A CN110045595 A CN 110045595A CN 201910302229 A CN201910302229 A CN 201910302229A CN 110045595 A CN110045595 A CN 110045595A
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- control amount
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005070 sampling Methods 0.000 claims description 2
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 13
- 230000002045 lasting effect Effects 0.000 abstract description 3
- 230000010355 oscillation Effects 0.000 abstract description 2
- 230000005764 inhibitory process Effects 0.000 abstract 1
- 230000005622 photoelectricity Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 241001544487 Macromiidae Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a kind of steady platform spikes to inhibit control method certainly.Steady platform spike refers to that stablizing pid algorithm to tradition improves from inhibition control method, when departure is larger, absolute value according to departure reduces the gain of system automatically, prevent overshoot, oscillation, to guarantee that system is reliable and stable, when departure is lesser, the absolute value according to departure increases system gain automatically, to improve the dynamic performance index and lasting accuracy of system.The spike effect that the method occurs when effectively overcoming rate curve in rocking process close to zero, can improve the reliability of lasting accuracy and system.
Description
Technical field
The invention belongs to steady platform automation control area, especially it is a kind of be suitable for steady platform spike that the steady platform of car and boat uses from
Inhibit control method.
Background technique
There is photoelectricity to investigate equipment on many cruisers or naval vessel at present, for the ease of vehicle or ship during the motion to mesh
Mark is observed, is tracked, and needs to use steady platform.The effect of steady platform is the angular disturbance when moving base loads photoelectricity, makes photoelectricity
Load stabilization is in fixed inertial space.When the supporting axis of photoelectricity load is acted on without any disturbance torque, steady platform relative inertness
Space remains on original position.When photoelectricity load deviates original orientation because of disturbance torque effect, sensor
The angular speed of axis variation will be measured, and feeds back to motor by control system, compensating torque is generated to disturbance torque by motor
It compensates, to make photoelectricity load keep stablizing, convenient for being detected, being investigated to target.
In rolling test test and actual motion use process, using traditional PID control method, due to its integral element
It can lag, a spike can be generated when the gyro rate curve zero passage of steady platform, steady picture effect is poor at this time, i.e., so-called
Spike effect, it is clear that traditional PID control method can not overcome this spike effect.
Hebei Hanguang Heavy Industry Ltd. has applied for patent in 2014, and " a kind of spike adaptive stabilizing control is flat
Platform " increases accelerometer, obliquity sensor in that patent on platform, by acceleration closed loop, inclination angle closed loop come
Overcome in rocking process that for rate curve close to the spike effect near zero, this method can also reach effect, but higher cost, and
Accelerometer and obliquity sensor itself may bring the problem of zero bias into.
Summary of the invention
The purpose of the present invention is to provide a kind of steady platform spikes from control method is inhibited, and can efficiently solve the top of steady platform
The spike effect problem that spiral shell rate curve is generated in zero passage.
The technical solution for realizing the aim of the invention is as follows: a kind of steady platform spike is from control method is inhibited, and steps are as follows:
1) current steady platform velocity amplitude Gyro_speed is obtained by gyrosensor:
A., on the weight-bearing surface that gyrosensor is installed to steady platform, so that the sensitive rotary shaft and torque motor of gyrosensor
Concentric rotation axis
B. by fixed sampling period 0.25ms-3ms, the data of gyrosensor, top are acquired using communication interface
The specific data format of spiral shell sensor is as shown in the table:
2) current steady platform velocity amplitude Gyro_speed is subtracted using the setting value of steady platform speed, obtains a departure e
(k), which is brought into control algolithm, by the way that a control amount u (k), the control amount u (k) warp is calculated
Overpower amplifies to drive straight drive torque motor mechanism, and by straight drive torque motor mechanism come band dynamic load, to make steady platform
Load relative inertness space remains on initial position.
The calculation method of control amount is as follows:
A. current steady platform velocity amplitude Gyro_speed is subtracted with steady platform speed setting value zero, obtains the departure of a speed
e(k)；
B. by the departure e (k) of speed multiplied by an adjustable parameter kp, to obtain a control amount up=kp*e(k)；
C. the departure e (k) of speed add up i.e.Multiplied by adjustable parameter ki, to obtain a control
Amount processedWherein e (j) is indicated from 0 moment to the k moment, any one departure, and the value range of j is from 0
It is integer between k；
D., the departure e (k) of speed is subtracted to last velocity deviation amount e (k-1), multiplied by adjustable parameter kd, from
And obtain a control amount ud=kd* (e (k)-e (k-1)), while current departure being saved, it is used for next time；
E. to the departure e (k) of speed, take absolute value | e (k) |, multiplied by an adjustable parameter kf, 1 is added, from
And obtain a control amount uf=1+kf×|e(k)|；
F. final control amount u (k) is calculated using following formula using operation result above, formula is as follows:
Control amount u (k) driving machine electric loading after power amplifier amplifies；
Step A-F is repeated, calculates current control amount u (k) in real time, goes real-time control electromechanical load to steady platform by u (k)
Relative inertness space remains on initial position.
Control parameter method of adjustment is as follows:
It is k respectively that 4 adjustable parameters are shared in this control methodp,ki,kd,kf, elder generation's adjusting parameter when parameter adjusts
kp, then adjusting parameter ki, last adjusting parameter k againd, to guarantee platform nonoscillatory, departure e during parameter adjustment
(k) small as far as possible.
Compared with prior art, the present invention its remarkable advantage:
1, compared with traditional PID control method, the present invention can effectively overcome rate curve in rocking process attached close to zero
Close spike effect；
2, compared with the patent of Hebei Chinese light heavy industry, the present invention does not need to increase additional sensor, it is only necessary in algorithm
On do some improvement and can reach and overcome in rocking process that rate curve is close to the spike effect near zero, to can be greatly reduced
Cost.
Detailed description of the invention
Fig. 1 is the square frame principle schematic diagram of the method for the present invention.
Fig. 2 is the control principle schematic diagram of the method for the present invention.
Fig. 3 is the calculation method flow chart of the control amount of the method for the present invention.
Fig. 4 is the gyrosensor scheme of installation of the method for the present invention.
Specific embodiment
The present invention does not need to increase any additional sensor, by improving to traditional pid algorithm, to reach gram
Rate curve is taken in rocking process close to the spike effect near zero.The present invention improves traditional stabilization pid algorithm, when
When departure is larger, the absolute value according to departure reduces the gain of system automatically, prevents overshoot, oscillation, thus
Guarantee system is reliable and stable, and when departure is lesser, the absolute value according to departure increases system gain automatically, to improve
The dynamic performance index and lasting accuracy of system.Its formula is as follows:
The detailed process of resolving is as follows:
A. the value of current gyro is subtracted to obtain the departure e (k) of a speed with the setting value of speed；
B. by the departure e (k) of speed multiplied by an adjustable parameter kp, to obtain a control amount up=kp*e(k)；
C. the departure e (k) of speed add up i.e.Multiplied by adjustable parameter ki, to obtain a control
Amount processed
D., the departure e (k) of speed is subtracted to last velocity deviation amount e (k-1), multiplied by adjustable parameter kd, from
And obtain a control amount ud=kd* (e (k)-e (k-1)), while current departure being saved, it is used for next time；
E. to the departure e (k) of speed, take absolute value | e (k) |, multiplied by an adjustable parameter kf, one is added,
To obtain a control amount uf=1+kf×|e(k)|；
F. using operation result above so as to calculate final control amount u (k), formula is as follows:
Control amount u (k) driving machine electric loading after power amplifier amplifies；
Step a-f is repeated, calculates current control amount u (k) in real time, real-time control electromechanical load is gone to stablize by u (k)
Platform relative inertness space remains on initial Angle Position.
The invention will be further described below in conjunction with the accompanying drawings.
System principle and control principle of the invention is as shown in Figure 1, 2.By taking DSP control system as an example, gone here and there by RS232
The signal of mouth acquisition gyrosensor is the velocity amplitude Gyro_speed of current steady platform, and gyrosensor is fixed on steady platform, guarantor
The concentric rotation axis of the sensitive rotary shaft and torque motor of demonstrate,proving gyrosensor is subtracted with steady platform speed setting value zero as shown in Figure 4
Current steady platform velocity amplitude Gyro_speed, obtains the departure e (k) of a speed, carries it into control algolithm, control algolithm
Resolving flow chart as shown in figure 3, by calculating the control amount u (k) before obtain, by u (k) go real-time control electromechanical load from
And remain at steady platform relative inertness space on initial position.
It is k respectively that 4 adjustable parameters are shared in this control methodp,ki,kd,kf, elder generation's adjusting parameter when parameter adjusts
kp, then adjusting parameter ki, then adjusting parameter kd, last adjusting parameter k againf, to guarantee steady platform during parameter adjustment
Nonoscillatory, departure e (k) are small as far as possible.Method of the invention is applied in certain steady platform products, and is achieved
Good effect.
Claims (5)
1. a kind of steady platform spike inhibits control method certainly, which is characterized in that steps are as follows:
1) current steady platform velocity amplitude Gyro_speed is obtained by gyrosensor；
2) current steady platform velocity amplitude Gyro_speed is subtracted using the setting value of steady platform speed, obtains a departure e (k), it will
The departure e (k) is brought into the computation of control amount, by the way that a control amount u (k), the control amount u (k) is calculated
Straight drive torque motor mechanism is driven by power amplification, and by straight drive torque motor mechanism come band dynamic load, to make steady
Platform load relative inertness space remains on initial position.
2. steady platform spike according to claim 1 inhibits control method certainly, it is characterised in that: install gyrosensor steady
On the weight-bearing surface of platform, so that the sensitive rotary shaft of gyrosensor and torque motor concentric rotation axis.
3. steady platform spike according to claim 1 inhibits control method certainly, it is characterised in that: pass through the fixed sampling period
0.25ms-3ms acquires the data of gyrosensor, the specific data format such as following table of gyrosensor using communication interface
It is shown:
4. steady platform spike according to claim 1 inhibits control method certainly, it is characterised in that: in step 2), control amount u
(k) process of solution is as follows:
A. current steady platform velocity amplitude Gyro_speed is subtracted with steady platform speed setting value zero, obtains the departure e an of speed
(k)；
B. by the departure e (k) of speed multiplied by an adjustable parameter kp, to obtain a control amount up=kp*e(k)；
C. the departure e (k) of speed add up i.e.Multiplied by adjustable parameter ki, to obtain a control amountWherein e (j) indicate from 0 moment to the k moment, any one departure, the value range of j from 0 to k it
Between, it is integer；
D., the departure e (k) of speed is subtracted to last velocity deviation amount e (k-1), multiplied by adjustable parameter kd, to obtain
One control amount ud=kd* (e (k)-e (k-1)), while current departure being saved, it is used for next time；
E. to the departure e (k) of speed, take absolute value | e (k) |, multiplied by an adjustable parameter kf, 1 is added, thus
To a control amount uf=1+kf×|e(k)|；
F. final control amount u (k) is calculated using following formula using operation result above, formula is as follows:
Control amount u (k) driving machine electric loading after power amplifier amplifies；
Step A-F is repeated, calculates current control amount u (k) in real time, goes real-time control electromechanical load to which steady platform is opposite by u (k)
Inertial space remains on initial position.
5. steady platform spike according to claim 4 inhibits control method certainly, it is characterised in that: step 2) control amount u's (k)
In resolving, it is sequentially adjusted in parameter kp、ki、kdAnd kf, guarantee platform nonoscillatory during parameter adjustment, departure e (k) is to the greatest extent
It is possible small.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302229.3A CN110045595B (en) | 2019-04-16 | 2019-04-16 | Self-suppression control method for peak of stabilized platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302229.3A CN110045595B (en) | 2019-04-16 | 2019-04-16 | Self-suppression control method for peak of stabilized platform |
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| Publication Number | Publication Date |
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| CN110045595A true CN110045595A (en) | 2019-07-23 |
| CN110045595B CN110045595B (en) | 2022-05-20 |
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| CN201910302229.3A Active CN110045595B (en) | 2019-04-16 | 2019-04-16 | Self-suppression control method for peak of stabilized platform |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB611046A (en) * | 1945-06-07 | 1948-10-25 | Frederick Harold Belsey | Improvements in and relating to control systems of the correspondence kind for movable members |
| GB707932A (en) * | 1951-03-10 | 1954-04-28 | Bendix Aviat Corp | Improvements in or relating to automatic craft control systems |
| US20090089001A1 (en) * | 2007-08-14 | 2009-04-02 | American Gnc Corporation | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
| JP2011055591A (en) * | 2009-08-31 | 2011-03-17 | Daihen Corp | Inverter control circuit and grid-connected inverter system with the same |
| CN103713518A (en) * | 2012-09-29 | 2014-04-09 | 中国科学院沈阳自动化研究所 | Peg-top speed stabilization control device and method |
| CN103913597A (en) * | 2014-03-27 | 2014-07-09 | 北京航天控制仪器研究所 | Centering monitoring system for spinning top accelerometer floater |
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| CN104536297A (en) * | 2015-01-22 | 2015-04-22 | 中国科学院光电技术研究所 | Cascade active disturbance rejection multi-closed-loop control method |
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-
2019
- 2019-04-16 CN CN201910302229.3A patent/CN110045595B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB611046A (en) * | 1945-06-07 | 1948-10-25 | Frederick Harold Belsey | Improvements in and relating to control systems of the correspondence kind for movable members |
| GB707932A (en) * | 1951-03-10 | 1954-04-28 | Bendix Aviat Corp | Improvements in or relating to automatic craft control systems |
| US20090089001A1 (en) * | 2007-08-14 | 2009-04-02 | American Gnc Corporation | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
| JP2011055591A (en) * | 2009-08-31 | 2011-03-17 | Daihen Corp | Inverter control circuit and grid-connected inverter system with the same |
| CN103713518A (en) * | 2012-09-29 | 2014-04-09 | 中国科学院沈阳自动化研究所 | Peg-top speed stabilization control device and method |
| CN104635746A (en) * | 2013-11-14 | 2015-05-20 | 北京环境特性研究所 | Servo control method and system of two-axis four-frame optoelectronic pod |
| CN103913597A (en) * | 2014-03-27 | 2014-07-09 | 北京航天控制仪器研究所 | Centering monitoring system for spinning top accelerometer floater |
| CN104101364A (en) * | 2014-07-29 | 2014-10-15 | 济南飞越机电科技有限公司 | Method improving precision of micro-mechanical gyroscope image stabling platform |
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