CN103472726A - Non-linear tracing control method capable of prolonging service life of space moving part - Google Patents
Non-linear tracing control method capable of prolonging service life of space moving part Download PDFInfo
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Abstract
Provided is a non-linear tracing control method capable of prolonging the service life of a space moving part. The angular speed threshold and the angular speed of a movement stopping area are calculated at first, then judgment on the movement stopping area is carried out, azimuth dimension and pitch dimension of the movement stopping area are set if a target is located in the movement stopping area, non-linear control on a mechanism is finished if the target is located outside the movement stopping area, a radar control system continues outputting calculated values to a mechanism controller, and a control mechanism can trace movement of the target. The non-linear tracing control method achieves mechanism control optimization through a non-linear method, effectively overcomes the defects of a general mechanism control method, reduces frequent vibration of the mechanical moving part, prolongs the service life of the mechanism, is easy to achieve in engineering and is very suitable for the field of guiding butt joint between an accompanying satellite and an aircraft.
Description
Technical field
The present invention relates to a kind of nonlinear tracking control method that improves the space operation component life.
Background technology
Spaceborne radar mainly adopts two-dimentional machinery mechanism real-time follow-up target at present, guiding satellite accompanying flying or aircraft docking.Generally, there is linear relationship in the distance that the angular velocity of radar sending mechanism and target depart from the antenna normal, and this relation is the radar error slope.In the tracking target process, radar can continuously send angle error information to mechanism, long-time tracking can cause the mechanical movable part wearing and tearing, reduce mechanism serviceable life, the mechanical activity position is frequently shaken and can be produced disturbing moment to satellite body, increase Satellite Attitude control burden, affect the platform control accuracy.
Control structural scheme of mechanism when Fig. 1 is radar lock on, the radar normal direction is OA, and it is OB that target departs from the radar normal line direction, and wherein the angle of OA and OB is α °.The antenna back side is arranged on two dimensional servomechanism, and radar can rotate α ° by control gear, thereby follows the tracks of upper target.
Fig. 2 is target deviation angle and angular velocity linear relationship chart, and X-axis represents that target departs from the size of antenna normal, and Y-axis represents the angular velocity of radar sending mechanism, and angular velocity is larger, illustrates that mechanism needs larger driving force to rotate to target.The AB dotted line represents the linear relationship between them, and the larger explanation radar tracking of slope control ability is stronger, but target will cause great angular velocity control gear with a bit departing from of normal, causes mechanism's shake.Reduce the shake of the less mechanism of slope energy, but can cause radar not catch up with the target of rapid movement.
Summary of the invention
A kind of nonlinear tracking control method that improves the space operation component life provided by the invention, realize the optimization of mechanism controls by non-linear method, can effectively overcome the deficiency of conventional mechanism controls mode, reduce the frequent shake of mechanical movable part, increase mechanism serviceable life, also be easy to realize on engineering, be highly suitable for guiding satellite accompanying flying and aircraft docking field and use.
In order to achieve the above object, the invention provides a kind of nonlinear tracking control method that improves the space operation component life, this control method comprises following steps:
Step 1, calculating Ting Dong district angular velocity threshold value;
Step 2, calculating angular velocity;
Step 3, carry out the judgement of Ting Dong district, if target is positioned at the Ting Dong district, carry out step 4, if target is positioned at outside the Ting Dong district, carry out step 6;
Step 4, carry out azimuth dimension Ting Dong district and arrange;
Step 5, carry out pitching Wei Tingdongqu setting;
Step 6, complete mechanism's nonlinear Control,--Radar Control System continues the output calculated value to the mechanism controls device, and the control gear tracking target moves.
Described step 1 comprises following steps:
Step 1.1, use microwave dummy source are given the echoed signal of standard-gain horn guinea pig target reflection, the determining positions target that standard-gain horn is put departs from the deviation angle of radar antenna principal normal, in test process, standard-gain horn must be in the antenna main beam scope;
Step 1.2,--Radar Control System send the instruction of making zero of microwave radar mechanism, and now the radar antenna orientation angle is that 0, OA direction is the radar antenna normal direction, and then--Radar Control System sends the autonomous trace command of radar, and the angular velocity now calculated is
, moving instruction and the autonomous trace command of radar of allowing of--Radar Control System transmitting mechanism, now radar antenna points to standard-gain horn, is the OB direction, records the now deviation angle of radar antenna
;
Standard-gain horn departs from radar antenna normal angle
,
size equals the size of Ting Dong district threshold value S, and the scope of S is no more than the maximum subtended angle of radar antenna main beam, deviation angle
corresponding angular velocity measurement value
the corresponding Ting Dong of Wei Tingdong district threshold value district angular velocity threshold value;
Calculate Ting Dong district angular velocity threshold value in azimuth dimension and pitching dimension respectively, must arrive Ting Dong district, orientation angular velocity threshold value beta
the orientation thresholdwith pitching Ting Dong district angular velocity threshold value beta
the pitching threshold.
In described step 2, microwave radar calculates by sampling the energy obtained respectively with signal, bearing signal and pitching signal three road signals and is respectively: X1, X2 and X3;
The Azimuth, Speed, Altitude value of calculating sending mechanism is:
（1）
Wherein, K is the angular velocity slope, be one on the occasion of;
The rate of pitch value of calculating sending mechanism is:
（2）
Wherein, K is the angular velocity slope, be one on the occasion of.
In described step 3, if Azimuth, Speed, Altitude
be less than Ting Dong district, orientation threshold value beta
the orientation threshold, and rate of pitch β
pitchingbe less than pitching Ting Dong district threshold value beta
the pitching threshold, target falls into the Ting Dong district and enables zone so, carry out step 4, otherwise target falls into the Ting Dong district and enables, outside zone, carry out step 6.
In described step 4, Provisioning Policy is:
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal on orientation.
In described step 5, Provisioning Policy is:
（4）
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal in pitching.
The present invention has following advantage:
1, adopt the nonlinear Control technology to replace linear control technique, can improve the sport life span of space operation parts, increase the working time in-orbit.
2, reduce mechanism's shake satellite body is brought to disturbance, reduce platform and control burden, improve the platform control accuracy.
3, the Ting Dong of mechanism district threshold value is controlled, can change the size in Ting Dong district according to mission requirements, improves the dirigibility of nonlinear tracking control technology, is applicable to following the tracks of the target of different motion speed.
If 4 Ting Dong district threshold value is set is 0, can change linear the tracking into from nonlinear tracking control and control, change flexibly mechanism's tracking control.
5, also be easy to realize on engineering, can not cause the change that the original system conceptual design is large, by increasing Ting Dong district function, just can realize the nonlinear Control of mechanism.
The accompanying drawing explanation
When being radar lock on, Fig. 1 controls structural scheme of mechanism;
Fig. 2 is target deviation angle and angular velocity linear relationship chart;
Fig. 3 is process flow diagram of the present invention;
Fig. 4 Shi Tingdong district threshold measurement method schematic diagram;
Fig. 5 is target following non-linear hour control gear schematic diagram;
Fig. 6 is target schematic diagram in radar antenna Ting Dong district.
Embodiment
Following according to Fig. 3～Fig. 6, illustrate preferred embodiment of the present invention.
As shown in Figure 3, the invention provides a kind of nonlinear tracking control method that improves the space operation component life, this control method comprises following steps:
Step 1, calculating Ting Dong district angular velocity threshold value;
Step 1.1, use microwave dummy source are given the echoed signal of standard-gain horn guinea pig target reflection, the determining positions target that standard-gain horn is put departs from the deviation angle of radar antenna principal normal, in test process, standard-gain horn must be in the antenna main beam scope;
As shown in Figure 4, B is illustrated in the position that the azimuth dimension standard-gain horn is put, and OC means the subtended angle of radar antenna main beam maximum, and the angle that OB departs from must be less than the angle of OC and OA;
Step 1.2,--Radar Control System send the instruction of making zero of microwave radar mechanism, and now the radar antenna orientation angle is that 0, OA direction is the radar antenna normal direction, and then--Radar Control System sends the autonomous trace command of radar, and the angular velocity now calculated is
, moving instruction and the autonomous trace command of radar of allowing of--Radar Control System transmitting mechanism, now radar antenna points to standard-gain horn, is the OB direction, records the now deviation angle of radar antenna
;
Standard-gain horn departs from radar antenna normal angle
,
size equals the size of Ting Dong district threshold value S, and the scope of S is no more than the maximum subtended angle of radar antenna main beam, deviation angle
corresponding angular velocity measurement value
the corresponding Ting Dong of Wei Tingdong district threshold value district angular velocity threshold value;
Calculate Ting Dong district angular velocity threshold value in azimuth dimension and pitching dimension respectively, must arrive Ting Dong district, orientation angular velocity threshold value beta
the orientation thresholdwith pitching Ting Dong district angular velocity threshold value beta
the pitching threshold;
Step 2, calculating angular velocity;
Microwave radar calculates by sampling the energy obtained respectively with signal, bearing signal and pitching signal three road signals and is respectively: X1, X2 and X3;
The Azimuth, Speed, Altitude value of calculating sending mechanism is:
Wherein, K is the angular velocity slope, be one on the occasion of;
The rate of pitch value of calculating sending mechanism is:
（2）
Wherein, K is the angular velocity slope, be one on the occasion of;
Step 3, carry out the judgement of Ting Dong district, if target is positioned at the Ting Dong district, carry out step 4, if target is positioned at outside the Ting Dong district, carry out step 6;
If Azimuth, Speed, Altitude
be less than Ting Dong district, orientation threshold value beta
the orientation threshold, and rate of pitch β
pitchingbe less than pitching Ting Dong district threshold value beta
the pitching threshold, target falls into the Ting Dong district and enables zone so, carry out step 4, otherwise target falls into the Ting Dong district and enables, outside zone, carry out step 6;
As shown in Figure 5, AB representative office follows the tracks of the Ting Dong district, if target departs from the angle of radar antenna normal in the AB zone, the angular velocity of radar sending mechanism is 0, and mechanism is carried out to nonlinear Control; CABD means the nonlinear curve of control gear; Arranging of Ting Dong district realized mechanism's nonlinear Control not only larger slope can being set, and reduced the shake of mechanism;
Step 4, carry out azimuth dimension Ting Dong district and arrange;
Stopping area Nei Dui mechanism nonlinear Control, departing from the degree of radar antenna normal according to target, the control strategy of different brackets is set, highest ranking is the angular velocity zero setting sending mechanism, and now mechanism is no longer along with target moves;
Provisioning Policy is:
（3）
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal on orientation;
Step 5, carry out pitching Wei Tingdongqu setting;
Provisioning Policy is:
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal in pitching;
Step 6, complete mechanism's nonlinear Control,--Radar Control System continues the output calculated value to the mechanism controls device, and the control gear tracking target moves.
Fig. 6 is target schematic diagram in radar antenna Ting Dong district, if target is positioned at antenna radiation pattern Ting Dong district, the angular velocity of radar sending mechanism is 0 so, and mechanism remains static; Wherein Y-axis is Ting Dong district, ，XZhou Shi orientation, pitching Ting Dong district, in the square frame of ABCD, is the two dimension Ting Dong of mechanism district, is to consist of pitching and both direction Ting Dong district, orientation, only has target to leave boxed area, the rotation of radar ability control gear.
Although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a nonlinear tracking control method that improves the space operation component life, is characterized in that, this control method comprises following steps:
Step 1, calculating Ting Dong district angular velocity threshold value;
Step 2, calculating angular velocity;
Step 3, carry out the judgement of Ting Dong district, if target is positioned at the Ting Dong district, carry out step 4, if target is positioned at outside the Ting Dong district, carry out step 6;
Step 4, carry out azimuth dimension Ting Dong district and arrange;
Step 5, carry out pitching Wei Tingdongqu setting;
Step 6, complete mechanism's nonlinear Control,--Radar Control System continues the output calculated value to the mechanism controls device, and the control gear tracking target moves.
2. the nonlinear tracking control method of raising space operation component life as claimed in claim 1, is characterized in that, described step 1 comprises following steps:
Step 1.1, use microwave dummy source are given the echoed signal of standard-gain horn guinea pig target reflection, the determining positions target that standard-gain horn is put departs from the deviation angle of radar antenna principal normal, in test process, standard-gain horn must be in the antenna main beam scope;
Step 1.2,--Radar Control System send the instruction of making zero of microwave radar mechanism, and now the radar antenna orientation angle is that 0, OA direction is the radar antenna normal direction, and then--Radar Control System sends the autonomous trace command of radar, and the angular velocity now calculated is
, moving instruction and the autonomous trace command of radar of allowing of--Radar Control System transmitting mechanism, now radar antenna points to standard-gain horn, is the OB direction, records the now deviation angle of radar antenna
;
Standard-gain horn departs from radar antenna normal angle
,
size equals the size of Ting Dong district threshold value S, and the scope of S is no more than the maximum subtended angle of radar antenna main beam, deviation angle
corresponding angular velocity measurement value
the corresponding Ting Dong of Wei Tingdong district threshold value district angular velocity threshold value;
Calculate Ting Dong district angular velocity threshold value in azimuth dimension and pitching dimension respectively, must arrive Ting Dong district, orientation angular velocity threshold value beta
the orientation thresholdwith pitching Ting Dong district angular velocity threshold value beta
the pitching threshold.
3. the nonlinear tracking control method of raising space operation component life as claimed in claim 2, is characterized in that, in described step 2,
Microwave radar calculates by sampling the energy obtained respectively with signal, bearing signal and pitching signal three road signals and is respectively: X1, X2 and X3;
The Azimuth, Speed, Altitude value of calculating sending mechanism is:
（1）
Wherein, K is the angular velocity slope, be one on the occasion of;
The rate of pitch value of calculating sending mechanism is:
Wherein, K is the angular velocity slope, be one on the occasion of.
4. the nonlinear tracking control method of raising space operation component life as claimed in claim 3, is characterized in that, in described step 3, if Azimuth, Speed, Altitude
be less than Ting Dong district, orientation threshold value beta
the orientation threshold, and rate of pitch β
pitchingbe less than pitching Ting Dong district threshold value beta
the pitching threshold, target falls into the Ting Dong district and enables zone so, carry out step 4, otherwise target falls into the Ting Dong district and enables, outside zone, carry out step 6.
5. the nonlinear tracking control method of raising space operation component life as claimed in claim 4, is characterized in that, in described step 4,
Provisioning Policy is:
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal on orientation.
6. the nonlinear tracking control method of raising space operation component life as claimed in claim 5, is characterized in that, in described step 5,
Provisioning Policy is:
Wherein, K1, K2 is zoom factor, meets
, wherein
the angle that means target off-normal in pitching.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105138011A (en) * | 2015-08-31 | 2015-12-09 | 哈尔滨工业大学 | Time and fuel pulse optimal traversal method for observing local scope of spatial target during on-orbit service of spacecraft |
| CN105549384A (en) * | 2015-09-01 | 2016-05-04 | 中国矿业大学 | Inverted pendulum control method based on neural network and reinforced learning |
| CN112797597A (en) * | 2021-01-07 | 2021-05-14 | 珠海格力电器股份有限公司 | Air conditioning equipment control method and device, electronic equipment and storage medium |
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Application publication date: 20131225 |