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On-line debugging method of servo system of two-axis two-frame photoelectric image stabilization platform

A technology of servo system and debugging method, which is applied in general control system, control/adjustment system, electrical test/monitoring, etc. It can solve the problems of cumbersome operation, increased time and labor costs, and high professional requirements of operators, so as to achieve simple and convenient operation , Saving manpower and time costs, the effect of intuitive servo system regulation

Active Publication Date: 2022-04-01
CHANGCHUN TONGSHI PHOTOELECTRIC TECH CO LTD
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of debugging method involving debug sampling and matlab analysis is cumbersome to operate, and has high professional requirements for operators. When debugging is not ideal, it is necessary to switch repeatedly between embedded software and mathematical software until the ideal debugging result is obtained, which increases time. and labor costs

Method used

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  • On-line debugging method of servo system of two-axis two-frame photoelectric image stabilization platform
  • On-line debugging method of servo system of two-axis two-frame photoelectric image stabilization platform
  • On-line debugging method of servo system of two-axis two-frame photoelectric image stabilization platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] like figure 1 As shown, the two-axis two-frame photoelectric image stabilization platform servo system includes: three-axis gyroscope, azimuth motor, pitch motor, servo control board, azimuth axis position encoder, pitch axis position encoder, azimuth drive current sensor and pitch Drive current sensor, upper computer, etc.

[0038] In the above servo system, the azimuth motor and the pitch motor can use DC torque motors, which are respectively responsible for the rotary motion of the two axes of the platform with load, and the direct excitation signal is the PWM power amplification signal generated by the servo control board.

[0039] The MCU of the servo control board is an STM32F4 series chip based on the Cortex-M4 architecture, which can complete the digital closed-loop control during the platform movement, including the output signal of the azimuth axis position encoder, the pitch axis position encoder, the azimuth drive current sensor, and the pitch drive current ...

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Abstract

The invention relates to a servo system online debugging method of a two-axis two-frame photoelectric image stabilization platform. The method is as follows: calibrate the open-loop transfer model of each loop; for any loop, set the expected design bandwidth of the loop as and the initial time Gain parameters of the loop controller, recursively obtain the estimated value of the expected gain parameter and the bandwidth error of the loop controller; perform discrete transformation on the estimated value of the gain parameter and the preset zero position parameter to obtain the discretized control parameters, and use this group of discretized The control parameters are closed-loop tested to obtain the corresponding test curves; the discrete control parameters corresponding to the ideal test curves are solidified as ideal discrete control parameters to the servo control board to complete the debugging of the platform servo system. The invention can perform real-time and intuitive servo system regulation on the platform, has simple and convenient operation, and saves manpower and time costs.

Description

technical field [0001] The invention belongs to the technical field of automatic control and relates to an online debugging method of a servo system of a two-axis two-frame photoelectric image stabilization platform. Background technique [0002] As a packaging device and integration carrier for high-precision sensors, optoelectronic platforms have been widely used in important fields such as industry, aviation, and military with the development of optoelectronic information technology and sensor technology in recent years. In the application of military unmanned systems, the main function of the optoelectronic platform is to use high-precision images and remote sensing detection sensors to realize important functions such as reconnaissance, search, tracking and positioning of small field of view targets. [0003] The servo control system of the platform is an important subsystem to realize various modes of the platform and ensure the stability of the visual axis. Taking the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B23/02
CPCG05B23/0213G05B2219/24065
Inventor 曲正徐晓睿
Owner CHANGCHUN TONGSHI PHOTOELECTRIC TECH CO LTD
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