车载定向天线稳定跟踪平台的研究与开发
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摘要
图像的无线传输是遥控系统的关键技术。在THMR-V的临场感遥控系统中,移动指挥站THMR-V(指挥站)使用定向天线接收室外移动机器人站(移动站)摄像头得到的图像信息。但是移动站和指挥站处于不断的运动中,如果定向天线不能对准移动站,会造成图像模糊或图像丢失,所以需要解决定向天线的实时对中问题。本文以THMR-V临场感遥控系统为应用背景,研究开发了一套速度快、精度高、实时性较好的车载定向天线稳定跟踪平台,该平台可以抵消由于运动载体的长距离移动和载体的角运动带来的干扰,使得指挥站的定向天线能够始终自动指向移动站,从而提高图像无线传输的抗干扰性和可靠性。
结合项目实际需求,对车载定向天线稳定跟踪平台的总体方案进行了深入的研究,选择了单轴转动机械结构,降低了系统成本和设计难度;确定了“GPS/电子罗盘组合”的稳定方案和“程序跟踪+闭环”的跟踪方式,提高了控制速度和精度。并根据总体方案,完成了以DSP为控制核心,以GPS、电子罗盘及光码盘为位姿传感器的稳定跟踪平台的软硬件设计,并对各个模块进行了详细讨论。
本文对稳定跟踪平台关键技术进行了研究,主要包括积分分离PID算法和速度前馈算法、改进的梯形加减速控制、遥控系统中的临场感技术和无缝切换技术,并详细介绍了实现方法。文中重点研究了定向天线的跟踪原理,给出了基于GPS地理位置坐标的天线目标方位角和天线伺服目标角的求解方法。分析并计算了天线的载荷情况,提出了提高定向天线稳定性能的有效措施。
最后,本文为THMR-V临场感遥控系统设计了基于力反馈和无缝切换技术的遥控器,协调监控系统完成对移动站的远程遥控。
本文研究开发的车载定向天线稳定跟踪平台基本达到预期设计要求,并成功应用于THMR-V的临场感遥控系统中。
Wireless image transmission is a key technology of remote control system. In the Tele-presence remote control system of THMR-V, mobile command station THMR-V (Command Station) receives the image information captured by camera of outdoor mobile robot station (Mobile Station) through directional antenna. However, Command Station and Mobile Station are moving unceasingly, if the directional antenna can't aim at Mobile Station, it will cause image fuzzy or image loss. So it is necessary for us to study the directional antenna real-time alignment technology. This thesis, based on the Tele-presence remote control system of THMR-V, designs a kind of vehicle stabilization and tracking platform with the advantages of quick alignment, high precision and good real-time performance. This platform can isolate the interference which is caused by long-distance motion and angular motion of Command Station and Mobile Station. Thereby, the directional antenna of Command Station can always point to Mobile Station automatically, and improve the anti-interference and reliability of wireless image transmission finally.
According to practical needs of the project, this paper carries out a thorough research on general scheme of vehicle stabilization and tracking platform, chooses the single-axis rotation mechanical structure, reducing system cost and design difficulty; establishes "Integration of GPS and electronic compass" as stabilization scheme and selects "Program tracking and closed-loop" as tracking mode, making control accuracy and speed higher. Adopting DSP control core and position and attitude sensors such as GPS, electronic compass and encoder, this thesis achieves software and hardware design of stabilization and tracking platform, and introduces every module in detail.
The thesis makes a study of key technologies in stabilization and tracking platform, which includes integral separation PID and speed feed-forward control algorithm, improved trapezoid acceleration and deceleration control method, the technologies of Tele-present and seamless handoff in remote control system, and discusses the realization method of these technologies. Through emphatically analysis and research on tracking principle of directional antenna, we put forward the calculation method of target azimuth angle and target servo angle of directional antenna based on GPS geographical coordinates. Next analyzes and calculates of the load situation of directional antenna. Then the solutions to improve stable performance of antenna are presented in this thesis.
In the end, based on force and seamless handoff technologies, we design a remote controller for Tele-presence remote control system of THMR-V, and coordinate the Monitoring System to accomplish the remote control of Mobile Station.
Vehicle stabilization and tracking platform designed and developed in this thesis can reach our anticipation, and is applied to Tele-presence remote control system of THMR-V successfully.
结合项目实际需求,对车载定向天线稳定跟踪平台的总体方案进行了深入的研究,选择了单轴转动机械结构,降低了系统成本和设计难度;确定了“GPS/电子罗盘组合”的稳定方案和“程序跟踪+闭环”的跟踪方式,提高了控制速度和精度。并根据总体方案,完成了以DSP为控制核心,以GPS、电子罗盘及光码盘为位姿传感器的稳定跟踪平台的软硬件设计,并对各个模块进行了详细讨论。
本文对稳定跟踪平台关键技术进行了研究,主要包括积分分离PID算法和速度前馈算法、改进的梯形加减速控制、遥控系统中的临场感技术和无缝切换技术,并详细介绍了实现方法。文中重点研究了定向天线的跟踪原理,给出了基于GPS地理位置坐标的天线目标方位角和天线伺服目标角的求解方法。分析并计算了天线的载荷情况,提出了提高定向天线稳定性能的有效措施。
最后,本文为THMR-V临场感遥控系统设计了基于力反馈和无缝切换技术的遥控器,协调监控系统完成对移动站的远程遥控。
本文研究开发的车载定向天线稳定跟踪平台基本达到预期设计要求,并成功应用于THMR-V的临场感遥控系统中。
Wireless image transmission is a key technology of remote control system. In the Tele-presence remote control system of THMR-V, mobile command station THMR-V (Command Station) receives the image information captured by camera of outdoor mobile robot station (Mobile Station) through directional antenna. However, Command Station and Mobile Station are moving unceasingly, if the directional antenna can't aim at Mobile Station, it will cause image fuzzy or image loss. So it is necessary for us to study the directional antenna real-time alignment technology. This thesis, based on the Tele-presence remote control system of THMR-V, designs a kind of vehicle stabilization and tracking platform with the advantages of quick alignment, high precision and good real-time performance. This platform can isolate the interference which is caused by long-distance motion and angular motion of Command Station and Mobile Station. Thereby, the directional antenna of Command Station can always point to Mobile Station automatically, and improve the anti-interference and reliability of wireless image transmission finally.
According to practical needs of the project, this paper carries out a thorough research on general scheme of vehicle stabilization and tracking platform, chooses the single-axis rotation mechanical structure, reducing system cost and design difficulty; establishes "Integration of GPS and electronic compass" as stabilization scheme and selects "Program tracking and closed-loop" as tracking mode, making control accuracy and speed higher. Adopting DSP control core and position and attitude sensors such as GPS, electronic compass and encoder, this thesis achieves software and hardware design of stabilization and tracking platform, and introduces every module in detail.
The thesis makes a study of key technologies in stabilization and tracking platform, which includes integral separation PID and speed feed-forward control algorithm, improved trapezoid acceleration and deceleration control method, the technologies of Tele-present and seamless handoff in remote control system, and discusses the realization method of these technologies. Through emphatically analysis and research on tracking principle of directional antenna, we put forward the calculation method of target azimuth angle and target servo angle of directional antenna based on GPS geographical coordinates. Next analyzes and calculates of the load situation of directional antenna. Then the solutions to improve stable performance of antenna are presented in this thesis.
In the end, based on force and seamless handoff technologies, we design a remote controller for Tele-presence remote control system of THMR-V, and coordinate the Monitoring System to accomplish the remote control of Mobile Station.
Vehicle stabilization and tracking platform designed and developed in this thesis can reach our anticipation, and is applied to Tele-presence remote control system of THMR-V successfully.
引文
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2.何克忠,郭木河,王宏等.智能移动机器人技术研究[J],机器人技术与应用,1996(2):11-13
3.Hu H,Brady M.A Parallel Processing Architecture for Sensor-based Control of Intelligent Mobile Robots[M].Beijing:Robotics and Autonomous Systems,1996,503-507
4.马明山,朱绍文,何克忠等.室外移动机器人定位技术研究[J],电工技术学报,1998,13(2):43-46
5.王宏,何克忠,张钹.智能车辆的自主驾驶与辅助导航[J],机器人,1997,19(2):155-160
6.王荣本,李兵,施树明等.世界智能车辆研究概述[J],公路交通科技,2001,18(5):93-97
7.Bertozzi M,Broggi A.A Parallel Real-time Stereo Vision System for Generic Obstacle and Lane Detection[J],IEEE Transactions on Image Processing,1998,7(1):62-81
8.K.Z.He,H.H.Sun,M.H.Research of intelligent mobile robot[J],Proc.of IEEE International Conference on Industrial Technology(ICIT'96),1996,5(2):503-507
9.李欣.THMR-V中的临场感遥控技术研究及自动对中云台的实现[D],北京:北京交通大学,2007
10.D.Langer,J.K.Rosenblatt,M.Hebert.An Integrated system for autonomous off-road navigation[J],Proceedings of the 1994 IEEE International Conference on Robotics and Automation,1994,3(6):414-419
11.Jill D.Cirsman,Charles E.Thorpe.Color Vision for road Following[J],Vision and Navigation,2001,10(3):9-24
12.张朋飞,何克忠,欧阳正柱等.多功能室外智能移动机器人实验平台THMR-V[J],机器人,2002,24(2):97-101
13.董挪军.对车载“动中通”伺服控制系统的研究[J],无线电通信技术,2002,28(3):15-17
14.叶自清.船载天线自动跟踪系统测控技术研究[D],湖南长沙:中南林学院,2003
15.刘进军.卫星移动天线系统[J],卫星电视与宽带多媒体,2007,8(7):28-35
16.吴益飞.机载天线跟踪系统设计及工程实现[D],江苏南京:南京理工大学,2004
17.陈庆伟.机载天线稳定跟踪系统的设计与实现[D],江苏南京:南京理工大学,2004
18.Parkinson W.B.Satellite Accessories MediaCom MCI-TV60[J],TELE-satellite International Magazine,2002,7(1):10-15
19.申宇.移动卫星电视接收伺服系统的研究与实现[D],陕西西安:西安电子科技大学,2006
20.张明亮.船载天线稳定平台系统研究[D],北京:北京科技大学,2007
21.聂旭涛,范大鹏.基于COSMOSWorks的三轴稳定平台框架的优化设计[J],机电工程技术,2005,34(1):74-76
22.X.Yang,M.Guo,K.He and B.Zhang.A Method of Local Behavior Control and Path Planning of Outdoor Autonomous Mobile Robot Based on Multi-sensor Information[A],Proceedings of 1998 IEEE International Conference on Intelligent Engineering Systems-INES'98[C],1998,73-78
23.雷达图像传输天线自动控制系统的设计[J],电子技术应用,2007,(5):86-88
24.X.Yang,K.He,M.Guo,B.Zhang.A Prototype toward Autonomous Navigation:The THMR-Ⅲ[A].Proceedings of 1998 International Conference on Advances in Vehicle Control and Safety-AVCS'98[C].1998,301-305
25.刘晓军.稳定跟踪平台移动载体姿态测试技术与建模[D],湖南长沙:国防科技大学,2005
26.赵会平.移动接收卫星电视的天线自动跟踪系统[J],广播与电视技术,2002(7):119-121
27.胡佑德,马东升,张莉松.伺服系统原理与设计[M].北京:北京理工大学出版社1999,23-35
28.刘世挺.雷达伺服控制技术的新发展[J],火控雷达技术,2002,31(3):33-35
29.崔丽丽,刘栋良.全数字交流伺服系统及其控制策略综述[J].Servo Control,2007(5):16-18
30.廖永忠.基于DSP运动控制卡及控制算法的设计与研究[D].湖南:湖南师范大学,2006
31.敖荣庆.袁坤.伺服系统[M].北京:航空工业出版社,2006:172-175
32.邱云兰.数字PID控制中微分中算法改进[J],福建电脑,2005(11):121-122
33.王锦标.计算机控制系统[M].北京:清华大学出版社,2004:6-39
34.胡寿松.自动控制原理[M].北京:科学出版社,2001:258-264
35.郭新贵,李从心.S曲线加减速算法研究[J],机床与液压,2002(5):60-62
36.固高科技.GT-400-SV运动控制卡手册[M].广东深圳:固高科技,2002,41-50
37.彭一准,原魁,周庆瑞.一种遥控操作移动机器人的研究与实现[J],科学技术与工程,2005,5(16):1162-1166
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