基于Elmo控制器的吊舱陀螺稳定平台设计
摘要
机载光电吊舱近10年来在国内外发展很快,特别是在侦查告警、目标指示、控制瞄准和导航跟踪等方面得到广泛重视。作为民用的机载吊舱,主要用于电力巡航和导航跟踪方面。光传感器,如TV,红外成像仪等安装在稳定平台上,通过陀螺稳定平台隔离载机的振动,获得相对惯性空间稳定的平台,并且在控制指令的驱动下,实现光电载荷对目标的搜索、捕获、跟踪和定位。
本文首先概述了国内外机载光电平台的研究现状,分析了我国机载吊舱与外国机载吊舱在稳定精度方面的差距。介绍机载吊舱的原理和组成框图,并详细分析了机载吊舱的核心组成部件——陀螺稳定该平台的原理和组成,进行了相关核心器件的选型论证。本设计采用以色列Elmo公司的Whistle数字伺服控制器作为核心控制器件。以Whistle系列控制器5/100型号为主要控制器,在硬件电路设计部分,设计包括陀螺稳定电路设计、电源电路设计、各传感器信号处理电路和串口通信电路;在软件设计部分,设计包括陀螺稳定程序、传感器信号处理程序和串口通信程序。
利用Whistle系列控制器设计出的陀螺稳定平台,一个很重要的工作就是在Elmo公司提供的Composer组件和Elmo Studio组件中,对所设计的平台进行配置和调试。本设计中,首先介绍了Composer组件的一般配置方法,包括通讯方式选择、电机极限参数配置、驱动器自身参数配置、Firmware软件导入等。接着介绍电流环参数的确定、方向环参数的确定、速度环和位置环PID参数的调整,并对其中几个比较复杂的步骤进行了详细的说明,附上了自己实践过程中的解决方法。通过Elmo Studio组件和Elmo Recorder组件,对整个系统进行调试,并分析记录的图形和数据,修改相关参数。最后,将所设计的稳定平台用于现有吊舱,通过振动台模拟飞机干扰信号,测试吊舱稳定精度,经过计算,达到预期的技术指标。
本设计最终实现的陀螺稳定平台的性能指标为:稳定平台的稳定精度为50μrad,俯仰转动角度为-120°～+15°,方位转动角度为360°连续,最大转动速度为60°/s,最大转动加速度200°/s2,功耗小于240W。
Airborne Electro-Optics pod has developed rapidly in the recent years, particularly in the detection of warning, target direction, control, tracking, targeting and navigation. As a civilian-used aircraft pod, it is mainly used for power cruising and navigation tracking. Optical sensors, such as TV, infrared imager, are installed on the stable platform. The pod thus obtains a relatively stable platform inertial space by the isolation of vibration through the gyro stabilized platform. And by the control of command instructions, the optical load can obtain the realization on the target search, acquisition, tracking and positioning.
This paper, firstly, outlines the current research situation of airborne optical platform both in domestic and in international. And then it states the gaps of accuracy and stability between our country and other countries. Describes the principle and block diagram of the airborne pod .Then it gives a detailed analysis of airborne pod core component parts-the principle and the composition of gyro stabilized platform .And then it has a selection of relevant arguments. This design uses a number of Israeli Elmo's Whistle Servo controller as the core control device. Using Whistle series controller 5 / 100 model as the main controller, in the hardware circuit design part, the design includes a gyro stabilized circuit design, power circuit design, the sensor signal processing circuit and serial communication circuit. In the software design part, the design includes a gyro stabilization program, the sensor signal processing program, and serial communication program.
A very important job for using Whistle series controller is to do the design configuration and debugging by using the components of Elmo's Composer and Elmo Studio provided by Elmo Company. This design, firstly introduced the general configuration of Composer component, including the means of communication options, the selected parameters of motor limit, the configuration of the parameters of the drive configuration, Firmware software to import and so on. Then it introduced the PID parameter adjustment in the velocity loop and position loop, the current loop parameters, the direction parameters. The paper then gave a detailed description on a few of more complex steps, accompanied by myself solution practice. By using the Elmo Studio components and the Elmo Recorder component, we make some debug for the whole system and modify some parameters.
Finally, our platform gets a performance shown in the following: the stability is 50μrad, the rotation angle is -120°~ +15°, the azimuth angle is 360°continuously, the maximum rotation speed is 60°/s, the maximum rotation acceleration is 200°/s2 , the power consumption is less than 240W.
本文首先概述了国内外机载光电平台的研究现状,分析了我国机载吊舱与外国机载吊舱在稳定精度方面的差距。介绍机载吊舱的原理和组成框图,并详细分析了机载吊舱的核心组成部件——陀螺稳定该平台的原理和组成,进行了相关核心器件的选型论证。本设计采用以色列Elmo公司的Whistle数字伺服控制器作为核心控制器件。以Whistle系列控制器5/100型号为主要控制器,在硬件电路设计部分,设计包括陀螺稳定电路设计、电源电路设计、各传感器信号处理电路和串口通信电路;在软件设计部分,设计包括陀螺稳定程序、传感器信号处理程序和串口通信程序。
利用Whistle系列控制器设计出的陀螺稳定平台,一个很重要的工作就是在Elmo公司提供的Composer组件和Elmo Studio组件中,对所设计的平台进行配置和调试。本设计中,首先介绍了Composer组件的一般配置方法,包括通讯方式选择、电机极限参数配置、驱动器自身参数配置、Firmware软件导入等。接着介绍电流环参数的确定、方向环参数的确定、速度环和位置环PID参数的调整,并对其中几个比较复杂的步骤进行了详细的说明,附上了自己实践过程中的解决方法。通过Elmo Studio组件和Elmo Recorder组件,对整个系统进行调试,并分析记录的图形和数据,修改相关参数。最后,将所设计的稳定平台用于现有吊舱,通过振动台模拟飞机干扰信号,测试吊舱稳定精度,经过计算,达到预期的技术指标。
本设计最终实现的陀螺稳定平台的性能指标为:稳定平台的稳定精度为50μrad,俯仰转动角度为-120°～+15°,方位转动角度为360°连续,最大转动速度为60°/s,最大转动加速度200°/s2,功耗小于240W。
Airborne Electro-Optics pod has developed rapidly in the recent years, particularly in the detection of warning, target direction, control, tracking, targeting and navigation. As a civilian-used aircraft pod, it is mainly used for power cruising and navigation tracking. Optical sensors, such as TV, infrared imager, are installed on the stable platform. The pod thus obtains a relatively stable platform inertial space by the isolation of vibration through the gyro stabilized platform. And by the control of command instructions, the optical load can obtain the realization on the target search, acquisition, tracking and positioning.
This paper, firstly, outlines the current research situation of airborne optical platform both in domestic and in international. And then it states the gaps of accuracy and stability between our country and other countries. Describes the principle and block diagram of the airborne pod .Then it gives a detailed analysis of airborne pod core component parts-the principle and the composition of gyro stabilized platform .And then it has a selection of relevant arguments. This design uses a number of Israeli Elmo's Whistle Servo controller as the core control device. Using Whistle series controller 5 / 100 model as the main controller, in the hardware circuit design part, the design includes a gyro stabilized circuit design, power circuit design, the sensor signal processing circuit and serial communication circuit. In the software design part, the design includes a gyro stabilization program, the sensor signal processing program, and serial communication program.
A very important job for using Whistle series controller is to do the design configuration and debugging by using the components of Elmo's Composer and Elmo Studio provided by Elmo Company. This design, firstly introduced the general configuration of Composer component, including the means of communication options, the selected parameters of motor limit, the configuration of the parameters of the drive configuration, Firmware software to import and so on. Then it introduced the PID parameter adjustment in the velocity loop and position loop, the current loop parameters, the direction parameters. The paper then gave a detailed description on a few of more complex steps, accompanied by myself solution practice. By using the Elmo Studio components and the Elmo Recorder component, we make some debug for the whole system and modify some parameters.
Finally, our platform gets a performance shown in the following: the stability is 50μrad, the rotation angle is -120°~ +15°, the azimuth angle is 360°continuously, the maximum rotation speed is 60°/s, the maximum rotation acceleration is 200°/s2 , the power consumption is less than 240W.
引文
[1]赵群力.现代战斗机的“火眼金睛”—导航/瞄准吊舱[J].航空周刊, 2001, (1): 27-29
[2]李文魁,王俊璞,金志华,等.直升机机载光电吊舱的发展现状及对策[J].中国惯性技术学报, 2004, 12 (5):75-80
[3]陈苗海.机载光电导航瞄准系统的应用和发展概况[J].电光与控制, 2003, 10(4): 42-46
[4]张纯学.美军的三种新型吊舱[J].飞航导弹, 2005, (5): 7
[5]陈苗海.机载光电导航瞄准系统的应用和发展概况[J].电光与控制, 2003, 10(4): 42-46
[6]吴欣.先进的飞机瞄准吊舱[J].现代兵器, 2002, 10: 28-31
[7]张秉华,张守辉.光电成像跟踪系统[M].电子科技大学出版社,2003:17-19
[8]黄一,吕俊芳,卢广山.机载光电跟瞄平台稳定与跟踪控制方法研究[J].飞机设计.2003,3:38-42
[9]贾平,张葆.航空光电侦察平台关键技术及其发展[J].光学精密工程, 2003, 11(1): 82-88
[10]蒋定定,许兆林,李开端.航空光电侦察平台中的关键技术及其发展[J].江苏航空, 2005 , (3): 30-31
[11]吴玉华.惯性测试转台的发展状况[J].中国科技信息, 2005(8):109
[12]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社, 1993: 183-245
[13]卢鸿谦.光纤陀螺数字控制回路及系统应用研究[D].哈尔滨:哈尔滨工业大学, 2000
[14]邓星钟.机电传动控制[M].第三版.武汉:华中科技大学出版社,2001:90-101
[15] Elmo Motion Control. Whistle/Tweeter Digital Servo Drives Installation Guide[EB/OL]. www.elmomc.com, March 2009(Ver.1.3)
[16]陆凯,罗超,吴健中.陀螺仪原理及应用[M].北京:国防工业出版社, 1981: 7-8, 285-345
[17]郭素云.陀螺仪原理及应用[M].哈尔滨:哈尔滨工业大学出版社, 1985: 138-181, 203-216
[18] NAV Technology.光纤陀螺仪VG941-3AS[EB/OL]. www.nav.com
[19] Lefevre H.C.光纤陀螺原理与技术[M].张桂才,王巍译.北京:国防工业出版社, 2002: 106-120, 170-172
[20]沈官秋.直流电机[M].西安:陕西科学技术出版社, 1979: 32-151
[21]王彤.机电领域中伺服电机的选择原则[J].应用科技. 2001, 2s(l):6-8
[22]金钰,胡祐德,李向春.伺服系统设计与指导[M].北京:北京理工大学出版社, 2000
[23]刘胜,彭侠夫.现代伺服系统设计[M].哈尔滨:哈尔滨工程大学出版社, 2001
[24]陈隆吕,阎治安,刘新正.控制电机[M].第3版.西安:西安电子科技大学出版社,2004:30-31, 53-55, 124-125
[25] MAXON MOTOR. RE-Max 29φ29mm, Graphite Brushes, 22 Watt[EB/OL]. www.maxonmotor.com
[26] www.maxonmotor.com
[27] WuXi YouDa Electronics Co., Ltd. YOUDA INTEGRATED CIRCUIT YD4558[EB/OL]. www.e-youda.com, 2004-9-20
[28] TRACO ELECTRONIC AG. TRACO POWER DC/DC Converters TSM Series,1 Watt[EB/OL]. www.tracopower.com
[29] ANALOG DEVICES. 5V Precision Voltage Reference /Temperature Transducer REF02[EB/OL]. www.analog.com
[30]姬伟.光纤陀螺信号误差分析与滤波算法的研究[J].传感技术学报. 2007, 20(4): 847-852
[31]付强文,张英敏.光纤陀螺信号处理的使用方法[J].传感技术学报. 2005, 18(1): 101 -104 ?[32]童诗白,华成英.模拟电子技术基础(第三版)[M].北京:高等教育出版社, 2003
[33]线性集成电路的应用[EB/OL]. http://wenku.baidu.com/view/24982a60ddccda38376bafbe.html
[34]颜重光.便携产品电源芯片的应用技术[EB/OL]. http://www.21ic.com/app/power/200602/11742.htm, 2006-02-13
[35] Elmo Motion Control. SimpleIQ Command Reference Manual[EB/OL]. www.elmomc.cm, April 2009
[36] Elmo Motion Control. SimpleIQ Software Manual[EB/OL]. www.elmomc.cm, April 2009
[37]万俊,潘鸿飞,杨柏军.陀螺仪随机漂移的测取和数学模型的确立[J].微计算机信息, 2003, 19(2): 23-25.
[38]谭浩强. C程序设计(第二版)[M].北京:清华大学出版社, 2002
[39] Elmo Motion Control. Evaluation Board for the Whistle, Bell & Guitar User Guide[EB/OL]. www.elmomc.com, July 2009(Ver.1.3)
[40] Elmo Motion Control. Composer User Manual for simpleIQ Servo Drives[EB/OL]. www.elmomc.cm, March 2007
[41]鲍齐克S.M.数字滤波和卡尔曼滤波.凌云旦译.何永保校[M].北京:科学出版社出版, 1984
[42]付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003
[43]阎石.数字电子技术基础[M].第4版.北京:高等教育出版社, 2003: 351-352
[44]刘晓军.稳定跟踪平台移动载体姿态测试技术与建模[D].长沙:国防科学技术大学, 2005.
[2]李文魁,王俊璞,金志华,等.直升机机载光电吊舱的发展现状及对策[J].中国惯性技术学报, 2004, 12 (5):75-80
[3]陈苗海.机载光电导航瞄准系统的应用和发展概况[J].电光与控制, 2003, 10(4): 42-46
[4]张纯学.美军的三种新型吊舱[J].飞航导弹, 2005, (5): 7
[5]陈苗海.机载光电导航瞄准系统的应用和发展概况[J].电光与控制, 2003, 10(4): 42-46
[6]吴欣.先进的飞机瞄准吊舱[J].现代兵器, 2002, 10: 28-31
[7]张秉华,张守辉.光电成像跟踪系统[M].电子科技大学出版社,2003:17-19
[8]黄一,吕俊芳,卢广山.机载光电跟瞄平台稳定与跟踪控制方法研究[J].飞机设计.2003,3:38-42
[9]贾平,张葆.航空光电侦察平台关键技术及其发展[J].光学精密工程, 2003, 11(1): 82-88
[10]蒋定定,许兆林,李开端.航空光电侦察平台中的关键技术及其发展[J].江苏航空, 2005 , (3): 30-31
[11]吴玉华.惯性测试转台的发展状况[J].中国科技信息, 2005(8):109
[12]秦继荣,沈安俊.现代直流伺服控制技术及其系统设计[M].北京:机械工业出版社, 1993: 183-245
[13]卢鸿谦.光纤陀螺数字控制回路及系统应用研究[D].哈尔滨:哈尔滨工业大学, 2000
[14]邓星钟.机电传动控制[M].第三版.武汉:华中科技大学出版社,2001:90-101
[15] Elmo Motion Control. Whistle/Tweeter Digital Servo Drives Installation Guide[EB/OL]. www.elmomc.com, March 2009(Ver.1.3)
[16]陆凯,罗超,吴健中.陀螺仪原理及应用[M].北京:国防工业出版社, 1981: 7-8, 285-345
[17]郭素云.陀螺仪原理及应用[M].哈尔滨:哈尔滨工业大学出版社, 1985: 138-181, 203-216
[18] NAV Technology.光纤陀螺仪VG941-3AS[EB/OL]. www.nav.com
[19] Lefevre H.C.光纤陀螺原理与技术[M].张桂才,王巍译.北京:国防工业出版社, 2002: 106-120, 170-172
[20]沈官秋.直流电机[M].西安:陕西科学技术出版社, 1979: 32-151
[21]王彤.机电领域中伺服电机的选择原则[J].应用科技. 2001, 2s(l):6-8
[22]金钰,胡祐德,李向春.伺服系统设计与指导[M].北京:北京理工大学出版社, 2000
[23]刘胜,彭侠夫.现代伺服系统设计[M].哈尔滨:哈尔滨工程大学出版社, 2001
[24]陈隆吕,阎治安,刘新正.控制电机[M].第3版.西安:西安电子科技大学出版社,2004:30-31, 53-55, 124-125
[25] MAXON MOTOR. RE-Max 29φ29mm, Graphite Brushes, 22 Watt[EB/OL]. www.maxonmotor.com
[26] www.maxonmotor.com
[27] WuXi YouDa Electronics Co., Ltd. YOUDA INTEGRATED CIRCUIT YD4558[EB/OL]. www.e-youda.com, 2004-9-20
[28] TRACO ELECTRONIC AG. TRACO POWER DC/DC Converters TSM Series,1 Watt[EB/OL]. www.tracopower.com
[29] ANALOG DEVICES. 5V Precision Voltage Reference /Temperature Transducer REF02[EB/OL]. www.analog.com
[30]姬伟.光纤陀螺信号误差分析与滤波算法的研究[J].传感技术学报. 2007, 20(4): 847-852
[31]付强文,张英敏.光纤陀螺信号处理的使用方法[J].传感技术学报. 2005, 18(1): 101 -104 ?[32]童诗白,华成英.模拟电子技术基础(第三版)[M].北京:高等教育出版社, 2003
[33]线性集成电路的应用[EB/OL]. http://wenku.baidu.com/view/24982a60ddccda38376bafbe.html
[34]颜重光.便携产品电源芯片的应用技术[EB/OL]. http://www.21ic.com/app/power/200602/11742.htm, 2006-02-13
[35] Elmo Motion Control. SimpleIQ Command Reference Manual[EB/OL]. www.elmomc.cm, April 2009
[36] Elmo Motion Control. SimpleIQ Software Manual[EB/OL]. www.elmomc.cm, April 2009
[37]万俊,潘鸿飞,杨柏军.陀螺仪随机漂移的测取和数学模型的确立[J].微计算机信息, 2003, 19(2): 23-25.
[38]谭浩强. C程序设计(第二版)[M].北京:清华大学出版社, 2002
[39] Elmo Motion Control. Evaluation Board for the Whistle, Bell & Guitar User Guide[EB/OL]. www.elmomc.com, July 2009(Ver.1.3)
[40] Elmo Motion Control. Composer User Manual for simpleIQ Servo Drives[EB/OL]. www.elmomc.cm, March 2007
[41]鲍齐克S.M.数字滤波和卡尔曼滤波.凌云旦译.何永保校[M].北京:科学出版社出版, 1984
[42]付梦印,邓志红,张继伟. Kalman滤波理论及其在导航系统中的应用[M].北京:科学出版社,2003
[43]阎石.数字电子技术基础[M].第4版.北京:高等教育出版社, 2003: 351-352
[44]刘晓军.稳定跟踪平台移动载体姿态测试技术与建模[D].长沙:国防科学技术大学, 2005.