Stable platform angle automatic compensation resolving method
阅读说明：本技术 一种稳定平台角度自动补偿解算方法 (Stable platform angle automatic compensation resolving method ) 是由 韩瑞 赵创社 王新伟 姜世洲 任元斌 徐飞飞 刘栋 刘建伟 谭名栋 宁飞 王璞 于 2019-10-21 设计创作，主要内容包括：本发明公开了一种稳定平台角度自动补偿解算方法,该方法通过嵌入式计算机中的软件对惯性稳定平台的转动角度进行采样、检测、位置判断,自动生成新的角度零位,自动存储新的角度零位等多种处理。该处理方法在惯性稳定平台上电时自动运行,全程自动处理,无需人工干预,降低了系统维护难度。采用本发明自动补偿解算稳定平台的角度零位,解决了光电稳定平台和计算机板存储角度零位不一致的冲突,解决了计算机板和光电稳定平台的互换性问题。(The invention discloses a method for automatically compensating and resolving an angle of a stabilized platform, which carries out sampling, detection and position judgment on a rotation angle of an inertia stabilized platform through software in an embedded computer, automatically generates a new angle zero position, automatically stores the new angle zero position and the like. The processing method automatically operates when the inertially stabilized platform is powered on, automatically processes in the whole process, does not need manual intervention, and reduces the difficulty of system maintenance. The method automatically compensates and solves the angle zero position of the stabilized platform, solves the conflict of inconsistent storage angle zero positions of the photoelectric stabilized platform and the computer board, and solves the interchangeability problem of the computer board and the photoelectric stabilized platform.)
1. A stable platform angle automatic compensation resolving method is characterized in that: the method is characterized in that the stable platform is a two-axis four-frame stable platform, and comprises the following steps:
step 1: electrifying the stable platform, respectively rotating the inner direction and the inner pitching frame to positive and negative mechanical limit positions, checking whether the angle zero positions of the inner direction and the inner pitching frame are correct or not, if so, finishing the method, and if not, entering the step 2;
step 2: resetting the inner azimuth and the inner pitching frame angle zero position according to the corresponding rotation angle data obtained by rotating the inner azimuth and the inner pitching frame to the positive and negative mechanical limit positions in the step 1; respectively rotating the outer orientation and the outer pitching frame to positive and negative mechanical limit positions to obtain corresponding rotation angles, and resetting the angle zero positions of the outer orientation and the outer pitching frame according to the obtained rotation angles;
and step 3: and automatically storing the angle zero position information of the four frames of the inner direction, the inner pitch, the outer direction and the outer pitch.
2. The stabilized platform angle automatic compensation calculation method according to claim 1, characterized in that: the process of checking whether the angle zero position of a certain inner ring frame in the inner azimuth or the inner pitch frame is correct in the step 1 is as follows:
when the stable platform is powered on, a constant rotation instruction is given to the inner ring frame to enable the inner ring frame to rotate continuously, the inner ring rotation data is continuously recorded in an array with the length of N, the length is judged to be the difference delta x between the maximum value and the minimum value of elements in the array with the length of N, when the delta x is less than or equal to 4000, the inner ring frame is judged to reach mechanical limit, and the rotation angle of the inner ring frame at the moment is read; then, enabling the inner ring frame to rotate in the opposite direction, continuously recording rotation data in the rotating process, recording the data in an array with the length of N, judging the difference delta x between the maximum value and the minimum value of array elements, judging that the inner ring frame reaches the other side mechanical limit when the delta x is less than or equal to 4000, and recording the rotation data of the inner ring frame at the moment;
and adding the rotation data of the inner ring frame at the positive and negative mechanical limit positions, and if the added sum is less than a set angle detection threshold value W, determining that the null position of the inner ring frame is correct.
3. The stabilized platform angle automatic compensation calculation method according to claim 2, characterized in that: the angle detection threshold W is 0.5 °.
4. The stabilized platform angle automatic compensation calculation method according to claim 2, characterized in that: when the difference Delta x between the maximum value and the minimum value of the elements in the array with the length N is judged, if Delta x is larger than the difference Delta x between the maximum value and the minimum value of the elements in the array with the length N
5. The stabilized platform angle automatic compensation calculation method according to claim 1, characterized in that: in step 2, a corresponding rotation angle is obtained by rotating one outer ring frame in the outer orientation or the outer pitching frame to the positive and negative mechanical limit positions, and the process of resetting the angle zero position of the outer orientation and the outer pitching frame according to the obtained rotation angle is as follows:
giving a constant rotation instruction to the outer ring frame to enable the outer ring frame to rotate continuously, continuously reading a signal of the outer ring frame tachometer in the process, when the voltage value of the signal of the outer ring frame tachometer is smaller than a set threshold value Z, indicating that the outer ring frame reaches a limiting position, and reading the value of the outer ring frame rotary transformer at the moment; then giving an opposite rotation instruction to the outer ring frame to enable the outer ring frame to rotate in the opposite direction, when the voltage value of the outer ring frame tachometer signal is smaller than a set threshold value Z, indicating that the outer ring frame reaches the limit position on the other side, and reading the value of the outer ring frame rotary transformer at the moment; and then controlling the outer ring frame to rotate to the middle positions of two mechanical limit positions of the outer ring frame in opposite directions according to the numerical values of the outer ring frame rotary transformer twice, and regenerating the null angle of the outer ring frame.
6. The stabilized platform angle automatic compensation calculation method according to claim 5, wherein: and Z is 0.05V.
Technical Field
The invention belongs to the field of electronic control, mainly relates to a stable platform angle compensation resolving method, and particularly relates to an automatic stable platform angle compensation resolving method.
Background
At present widely used inertial stabilization platform installs sensors such as top, rotary transformer on two degree of freedom universal gimbals, and stable platform uses the angle zero position as the center when moving and rotates, so need confirm the angle zero position of every motion frame of stable platform, stable platform just can rotate according to certain law like this, can not take place out of control. No matter the two-axis two-frame or four-axis four-frame stable platform is adopted, the angle output by the angle sensor needs to be subjected to angle calculation to calculate the angle zero position of each rotating frame, the calculated angle zero positions are ensured to be positioned at the mechanical center positions of the inner ring frame and the outer ring frame of the stable platform, and the stable platform can normally run by taking the angle zero positions as the center. When the angle zero position is set for the inner ring rotating frame and the outer ring rotating frame at present, the front cover and the rear cover of the stabilizing platform need to be opened firstly, then the four frames of the inner pitch, the inner direction, the outer pitch and the outer direction are pushed to the mechanical limiting position, the program is operated at the mechanical limiting position to execute the corresponding operation of setting the zero position, and the obtained electric zero position information is stored in the embedded computer board of the stabilizing platform.
The electric zero position information of the sight stabilizing system stores information such as the angle range, the zero position and the like of the rotating frame of the photoelectric turret. The angle of the rotating frame of the photoelectric turret is generated by a rotary transformer, because the mounting positions of the rotary transformers of each photoelectric turret are different, angle information such as the electric zero positions of the inner ring frame and the outer ring frame of the photoelectric turret and the like needs to be stored in an embedded computer board of the photoelectric turret before use, when the photoelectric turret is electrified, the embedded computer board automatically reads the stored electric zero position information of the inner ring frame and the outer ring frame, corrects the angle of the frame, the electric zero position of the frame is consistent with the mechanical zero position, and the turret is controlled to rotate according to a certain rule. When the photoelectric sighting stabilizing system replaces a rotating frame of the photoelectric turret, a control electronic box or a computer board in the control electronic box, the electric zero position information in the computer board is inconsistent with the mechanical zero position of the photoelectric turret rotating frame, and under the condition, the photoelectric turret is out of control. Therefore, after the photoelectric sighting stabilizing system is replaced with the photoelectric turret, the control electronic box or the computer board of the control electronic box, the system needs to reset the null position angle for angle correction, and stores new null position information into the embedded computer, so that the sighting stabilizing system can normally work.
The traditional method for setting the electric zero position needs to remove front and rear covers of the photoelectric turret and push inner and outer rings of the photoelectric turret to mechanical limit positions, so that the operation time is long, and foreign matters such as sand and wind can enter the photoelectric system when the photoelectric turret is operated in an external field environment; moreover, the copying of the zero-electricity position data of the embedded computer board requires debugging of cables and computers and requires maintenance personnel to have certain skills of the embedded operating system; in some foreign trade projects, the operation of setting the null-bit cannot be performed if the foreign person is unfamiliar with the product principle and the operation flow.
Disclosure of Invention
In order to realize reliable and rapid exchange of computer boards of an inertially stabilized platform, the invention provides an automatic angle compensation resolving method for the stabilized platform. The method realizes the judgment of the mechanical limit position of the product and the acquisition of angle data by utilizing the existing angle and speed sensors under two environments of static and vibration without the restriction of structural and electrical improvement on the original product; when the system is powered on, the angle zero positions of the inner ring frame and the outer ring frame of the product are automatically detected and calibrated, and the reliable and quick exchange of computer boards of the stable platform is realized.
The technical scheme of the invention is as follows:
the method for automatically compensating and resolving the angle of the stable platform is characterized by comprising the following steps of: the method is characterized in that the stable platform is a two-axis four-frame stable platform, and comprises the following steps:
step 1: electrifying the stable platform, respectively rotating the inner direction and the inner pitching frame to positive and negative mechanical limit positions, checking whether the angle zero positions of the inner direction and the inner pitching frame are correct or not, if so, finishing the method, and if not, entering the
step 2: resetting the inner azimuth and the inner pitching frame angle zero position according to the corresponding rotation angle data obtained by rotating the inner azimuth and the inner pitching frame to the positive and negative mechanical limit positions in the
and step 3: and automatically storing the angle zero position information of the four frames of the inner direction, the inner pitch, the outer direction and the outer pitch.
In a further preferred embodiment, the method for calculating the angle automatic compensation of the stabilized platform is characterized in that: the process of checking whether the angle zero position of a certain inner ring frame in the inner azimuth or the inner pitch frame is correct in the
when the stable platform is powered on, a constant rotation instruction is given to the inner ring frame to enable the inner ring frame to rotate continuously, the inner ring rotation data is continuously recorded in an array with the length of N, the length is judged to be the difference delta x between the maximum value and the minimum value of elements in the array with the length of N, when the delta x is less than or equal to 4000, the inner ring frame is judged to reach mechanical limit, and the rotation angle of the inner ring frame at the moment is read; then, enabling the inner ring frame to rotate in the opposite direction, continuously recording rotation data in the rotating process, recording the data in an array with the length of N, judging the difference delta x between the maximum value and the minimum value of array elements, judging that the inner ring frame reaches the other side mechanical limit when the delta x is less than or equal to 4000, and recording the rotation data of the inner ring frame at the moment;
and adding the rotation data of the inner ring frame at the positive and negative mechanical limit positions, and if the added sum is less than a set angle detection threshold value W, determining that the null position of the inner ring frame is correct.
In a further preferred embodiment, the method for calculating the angle automatic compensation of the stabilized platform is characterized in that: when the difference Delta x between the maximum value and the minimum value of the elements in the array with the length N is judged, if Delta x is larger than the difference Delta x between the maximum value and the minimum value of the elements in the array with the length NThen use 2k- Δ x is determined as the difference between the maximum value and the minimum value, k being the number of bits of the rotating data bus.
In a further preferred embodiment, the method for calculating the angle automatic compensation of the stabilized platform is characterized in that: the angle detection threshold W is 0.5 °.
In a further preferred embodiment, the method for calculating the angle automatic compensation of the stabilized platform is characterized in that: in
giving a constant rotation instruction to the outer ring frame to enable the outer ring frame to rotate continuously, continuously reading a signal of the outer ring frame tachometer in the process, when the voltage value of the signal of the outer ring frame tachometer is smaller than a set threshold value Z, indicating that the outer ring frame reaches a limiting position, and reading the value of the outer ring frame rotary transformer at the moment; then giving an opposite rotation instruction to the outer ring frame to enable the outer ring frame to rotate in the opposite direction, when the voltage value of the outer ring frame tachometer signal is smaller than a set threshold value Z, indicating that the outer ring frame reaches the limit position on the other side, and reading the value of the outer ring frame rotary transformer at the moment; and then controlling the outer ring frame to rotate to the middle positions of two mechanical limit positions of the outer ring frame in opposite directions according to the numerical values of the outer ring frame rotary transformer twice, and regenerating the null angle of the outer ring frame.
In a further preferred embodiment, the method for calculating the angle automatic compensation of the stabilized platform is characterized in that: and Z is 0.05V.
Advantageous effects
The beneficial effects of the invention are shown in the following aspects:
compared with the prior art, the invention can realize the quick interchange of the boundary of the computer board of the photoelectric stable platform;
the invention automatically detects and calculates the angle zero positions of the inner ring frame and the outer ring frame of the inertially stabilized platform, does not need to open the front cover and the rear cover of the product, prevents foreign matters such as wind sand and the like from entering the photoelectric device, and reduces the failure rate of the product;
the invention can automatically detect the system zero position not only in a static state, but also in a vibration environment;
the invention realizes the automatic angle detection and compensation through software, does not need to change the hardware of the photoelectric system, improves the reliability and saves the cost;
and (V) product maintenance personnel do not need to arrive at the site, the after-sale difficulty is reduced, and the after-sale cost is saved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a general flow chart of the present invention.
Fig. 2 is a flow chart of inner ring judgment limit.
The static state of fig. 3 inner ring reaches the limit resolver sample value.
Figure 4 resolver sample values where the ring reaches a limit in the vibration environment.
FIG. 5 is an enlarged view of sampling values of the inner ring reaching the limit resolver in a vibration environment.
FIG. 6 is a flow chart of outer loop determination limit.
Detailed Description
The invention is described in further detail below with reference to the drawings and preferred embodiments.
The preferred embodiment completes the work of automatic detection and compensation of the zero position angle of the photoelectric sight stabilizing system, and mainly comprises the following steps for a two-axis four-frame stable platform as shown in fig. 1.
Checking the null angle correctness of the inner azimuth and inner pitch frames:
checking the correctness of the angle of the inner ring null position when the photoelectric turret stable platform is electrified; the photoelectric turret is in a vibration environment during flying, so that the zero position information can be correctly checked in the vibration environment.
When the photoelectric turret is electrified, the consistency of the electric zero positions of the internal azimuth rotating frame and the internal pitching rotating frame and the mechanical zero position is checked, and whether the electric zero position of the photoelectric turret is correct is judged:
as shown in fig. 2, when the photoelectric turret is powered on, the consistency between the null positions of the internal azimuth rotating frame and the internal elevation rotating frame and the mechanical null position is checked, and whether the null position of the photoelectric turret is correct or not is judged. When an embedded computer of the photoelectric turret is powered on, a constant rotation instruction is given to the inner orientation frame, the inner orientation frame is enabled to rotate continuously, data of inner orientation rotation change are continuously recorded in an array with the length N (N is more than or equal to 80 and less than or equal to 120), N is obtained through a test result, the length is judged to be the difference delta x between the maximum value and the minimum value of elements in the array with the length N, the difference delta x is obtained through experiments, and when the delta x is less than or equal to 4000, the inner orientation rotation frame reaches mechanical limit. After the inner orientation frame rotates to the mechanical limit position, the embedded computer reads the rotary angle of the inner orientation frame through the rotary angle resolving chip, then the inner orientation frame rotates in the opposite direction at a certain speed, rotary data are continuously recorded in the rotating process and recorded in an array with the length of N, the difference between the maximum value and the minimum value of the array elements is judged, and when delta x is less than or equal to 4000, the inner orientation rotating frame reaches the other side mechanical limit. And recording the rotation data of the position after reaching the other side limit position. And then the embedded computer controls the inner position frame to rotate to a position between the positive mechanical limit and the negative mechanical limit, and the checking of the inner position null position angle is finished. The zero angle checking process of the inner pitch frame is the same as that of the inner azimuth frame.
When the inner ring movement frame rotates to check the null angle, the data of the rotary transformer at the limiting position is stored in an array with the length of N, and the difference between the maximum value and the minimum value of N array elements is delta x. When the inner azimuth and the inner pitching frame rotate in a typical vibration environment, although the inner ring can swing back and forth, the whole trend still continues to rotate forwards, and experiments show that when the inner ring rotates to a limiting position in the vibration environment, the delta x is still less than or equal to 4000, so that whether the inner ring frame reaches the limiting position can be judged by judging the delta x value range in both static and vibration states.
Fig. 3 is a sampling value curve of the rotary transformer when the inner ring frame reaches the limit in the static state. As can be seen from fig. 3, when the inner ring reaches the limit in the static state and is in the locked-rotor state, the sampling value of the resolver maintains a fixed value, the difference Δ x between the maximum and minimum values of the array N is close to zero and is smaller than the decision value of 4000, and it can be determined whether the inner ring reaches the limit accordingly.
Fig. 4 shows the sampling values of the resolver during rotation of the inner ring frame in a vibration environment, and it can be seen from fig. 4 that the difference Δ x between the maximum value and the minimum value of the N array elements is greater than 4000 during rotation of the inner ring frame in a vibration environment. Fig. 5 is an amplification curve of the variation range of the sampling value of the resolver when the inner ring reaches the limit in the vibration environment. As can be seen from fig. 5, when the inner ring reaches the limit in the vibration environment, the sampling values of N groups of elements of the inner ring resolver are within a certain range, the difference between the maximum value and the minimum value is about 1000, and Δ x is smaller than a set value of 4000.
The sampling value of the rotary transformer is stored in the embedded computer through embedded computer development software Tornado, and the embodiment of the invention adopts a system of a 16-bit data bus, 21665536, the maximum value of the sampled data of the rotary transformer in the corresponding array is 65536 and the minimum value is 0. For a k-bit data bus, the maximum value of the sampled data of the rotary transformer in the corresponding array is 2kAnd the minimum value is 0. Observing data, when the inner ring motor rotates at a given speed, the difference between the maximum value and the minimum value of the N groups of sampling data is delta x, and if delta x is less than or equal to 4 in a static or vibrating state000, the inner ring is considered to have reached the limit, and the collected inner azimuth or inner pitch resolver data is the resolver data for the mechanical limit position. The process of determining the inner ring limit by using the variation of the resolver data is shown in fig. 2:
the precise poles of the inner ring rotary transformer are m pairs of poles, and the angle range of each precise pole is
After the inner position and the inner pitching frame reach the mechanical limit position, recording the resolver data of the inner position and the pitching frame at the limit position, checking the angle zero positions of the inner pitching and the inner position frames, and checking the angle zero positions by adopting a mode of adding positive and negative limit angles of the inner ring frame. The angle detection threshold is set to be W less than or equal to 0.5 degrees, and the range of W is obtained through experiments. If the sum of the angle values of the positive limit position and the negative limit position of the inner ring frame is smaller than W, the null position angle of the inner ring frame is considered to be correct; and if the sum value of the angles of the inner ring frame at the positive limit position and the negative limit position exceeds W, the null angle is considered to be incorrect, and the operation of doing the null angle again is executed. Since the stabilized sighting system can be powered up again in the flying process of the airplane, the null angle can be correctly checked in the flying process. Through experimental verification, in the vibration process, the angle sum of the positive limit position and the negative limit position of the inner ring frame is smaller than W, namely the null angle can be correctly checked in the vibration environment.
If the angle of the inner ring frame is checked to be correct, the system operates normally; if the inner ring frame angle is checked to be incorrect, the null angle needs to be reset to the system.
After the photoelectric turret automatically sets the zero-position angle, only the inner ring frame automatically checks the zero-position angle after each power-on, so that the outer ring automatically sets the zero-position angle only after the embedded computer board is just replaced in the ground static environment. The outer ring rotating frame has very large moment due to the motor reduction box and the gear reduction mechanism, and can only be in a very short locked-rotor state, and the mechanical limit position of the outer ring is judged by adopting a tachometer signal detected in real time. When the data of the outer ring tachometer is less than or equal to 0.05V, the range of 0.05V is obtained through experiments, and the outer ring is considered to reach the limit position. The flow chart for determining the outer ring reaching the limit is shown in fig. 6.
And (3) giving a fixed instruction to the outer orientation frame through Tornado software of the embedded computer, enabling the outer orientation frame to continuously rotate, continuously reading a signal of the outer orientation tachometer in the process, and when the signal of the outer orientation tachometer is less than or equal to 0.05V, indicating that the orientation frame stops rotating to reach a limit position. After the outer orientation frame rotates to the limiting position, the embedded computer reads the original numerical value of the rotary transformer of the outer orientation frame at the limiting position through the angle resolving chip and records the original numerical value. And then giving an opposite instruction to the outer orientation frame, rotating the outer orientation frame in the opposite direction, and when the signal of the outer orientation tachometer is less than or equal to 0.05V, limiting the outer orientation frame, and recording the rotary variable value at the position. Then the outer orientation frame rotates towards the opposite direction, the middle position of the two mechanical limit positions of the outer orientation is operated, and the rotation of the outer orientation is stopped. The outer pitching frame also reaches two limit positions according to the process, and the rotary change values of the limit positions are recorded.
The embedded computer automatically operates a function for calculating the angle zero position according to the rotational data acquired by the four frames of the inner direction, the inner pitch, the outer direction and the outer pitch at the mechanical limit position, and generates rough and fine combined electrical zero-bit data of the rotational angle.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
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