基于微惯性传感器的高灵敏度随动控制技术

doi:10.12382/bgxb.2021.0584

摘要/Abstract

摘要：

目前的随动控制装备因难以满足传感器与执行器对实时性、准确性与稳定性需求,出现控制延迟大、执行精度低等问题,极大地限制了随动控制装备应用空间。针对上述问题,提出一种基于微惯性器件与模糊控制云台的低延迟高精度随动控制技术。该技术使用微机电系统惯性测量单元(MEMS IMU)获取高灵敏度体感姿态数据,并使用该姿态数据对双轴云台进行实时高精度随动控制。相对于传统技术手段,本研究通过传感器的实时采集算法改进与云台的高频位置闭环模糊PID控制设计,用低成本实现了低延迟高精度随动控制功能。实测结果表明,系统在连续动作命令发出后88.17ms时间内达到了1.478°(1σ)的云台位置响应精度,可满足高灵敏度随动控制需求;新技术适用于无人机控制与观察、车载雷达与武器站控制等领域,可大幅度降低设备操控复杂度,提升控制特性。

关键词: 微惯性传感器, 随动控制, 互补滤波, 模糊控制

Abstract:

The current follow-up control equipment is difficult to meet the requirements of real-time, accuracy and stability for sensors and actuators. Problems such as high control delay and low accuracy exist, greatly limiting the applications of such equipment. To address the above problems,this study proposes a low-delay and high-precision follow-up control technology based on MEMS inertial devices and fuzzy control pan/tilt. This technology uses a micro-inertial unit (MEMS IMU) to obtain high-sensitivity attitude dataand uses the attitude data to perform real-time and high-precision follow-up control of the high-precision pan/tilt. Compared with traditional technical means, the improved real-time acquisition algorithm optimizesthe high-frequency position closed-loop fuzzy PID control of the pan/tilt and realizes low-delay and high-precision follow-up control functions at low cost. According to the measurement results, the system achieves a pan-tilt position response accuracy of 1.478deg (1σ) within 88.17ms after the continuous action command is issued, which can meet the needs of high-sensitivity follow-up control. This application is suitable for UAV control and observation,vehicle radar and weapon station control, etc., which can greatly reduce the complexity of equipment control and enhance control characteristics.

Key words: inertial sensor, follow-up control, complementary filtering, fuzzy control

中图分类号:

TP212

张天, 靳舒馨, 王强, 段晓波, 刘铁成, 牛海涛, 侯曾, 杨毅, 刘彤. 基于微惯性传感器的高灵敏度随动控制技术[J]. 兵工学报, 2023, 44(2): 566-576.

ZHANG Tian, JIN Shuxin, WANG Qiang, DUAN Xiaobo, LIU Tiecheng, NIU Haitao, HOU Zeng, YANG Yi, LIU Tong. High-Sensitivity Follow-up Control Technology Based on Micro-Inertial Sensors[J]. Acta Armamentarii, 2023, 44(2): 566-576.

图/表 20

图1 搭载ADIS16475的DSP28335最小系统

Fig.1 DSP28335 minimum system with ADIS16475

图2 坐标变换矩阵的3次变换

Fig.2 Three transformations of the coordinate transformation matrix

图3 小型云台结构示意图

Fig.3 Schematic diagram of the small turntable structure

图4 小型云台电气原理图

Fig.4 Electrical schematic diagram of the two-axis turntable

图5 以DSP28335为处理器的小型云台控制框图

Fig.5 Control block diagram of the turntable with DSP28335

图6 数字PID控制器设计

Fig.6 Design of the digital PID controller

图7 姿态精度实验设备图

Fig.7 Attitude accuracy test equipment

图8 姿态测量精度实验

Fig.8 Attitude measurement accuracy experiment

图9 姿态测量精度实验航向角误差随时间变化关系

Fig.9 Relationship between heading angle error andtime

图10 头部运动测量实验设备

Fig.10 Head movement measurement equipment

图11 头部位置测量实验运动示意图

Fig.11 Schematic diagram of the head position measurement test

图12 头部位置测量实验10次测量数据

Fig.12 Data of the ten measurement experiments

图13 头部位置测量实验单次测量数据

Fig.13 Single-time measurement data

图14 云台运动响应实验原理图

Fig.14 Schematic diagram of the gimbal motion response experiment

图15 云台运动响应实验设备

Fig.15 Experimental equipment for PTZ motion response

图16 随动响应延迟时间计算原理

Fig.16 Schematic diagram for the calculation of follow-up response delay

表1 随动延迟时间估算

Table 1 Follow-up delay time estimation

序号及平均值	延时/ms	标准差/(°)
1	87.04	1.80002
2	76.01	2.28956
3	88.33	2.48999
4	91.18	2.60603
5	93.04	1.65869
6	93.43	2.27194
平均值	88.17

图17 位置随动响应实验

Fig.17 Experiments of location follow-up response

图18 航向角速度随时间变化

Fig.18 Relationship between course angle velocity and time

图19 航向角偏差随时间变化

Fig.19 Relationship between course angle deviation and time

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