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CN-120196136-B - Automatic drift compensation method for gyro of high-precision optical axis movement control device

CN120196136BCN 120196136 BCN120196136 BCN 120196136BCN-120196136-B

Abstract

The invention discloses a gyro automatic drift compensation method of a high-precision optical axis movement control device, and belongs to the technical field of servo turntable control. The invention uses a triaxial fiber optic gyroscope, which is arranged on a pitching axis system to sense the space angular velocity. The optical fiber gyro has no error caused by friction of a mechanical rotating part, the angular velocity measurement precision is high, the measured angular velocity range is large, the laser gyro speed measurement range used by the invention can reach +/-600 degrees/s, and the minimum sensitive angular velocity is less than +/-0.001 degrees/s. The working temperature range of the fiber-optic gyroscope is wide and is from-50 ℃ to 60 ℃, heating is not needed, the starting time is short, and the system reaction time is quick. The invention provides a gyro automatic drift compensation method of a high-precision optical axis motion control device, which adopts a coarse-fine secondary compensation method to realize rapid compensation of the optical fiber gyro drift, carries out coarse compensation once, carries out fine compensation at most five times (the times can be set), has simple and efficient algorithm and short compensation time, does not consume a large amount of CPU resources to carry out complex calculation, and can improve the optical axis stability.

Inventors

  • LI LUYI
  • Cao Chongzhi
  • MOU XIAOGANG
  • XIE LINLIN
  • Dong Haixing

Assignees

  • 扬州曙光光电自控有限责任公司

Dates

Publication Date
20260505
Application Date
20250401

Claims (5)

  1. 1. A gyro automatic drift compensation method of a high-precision optical axis motion control device is characterized by comprising the following steps: (1) After the system is electrified, receiving an upper computer instruction to trigger an automatic drift compensation mode, recording the initial positions of encoders of a current azimuth axis and a pitching axis, and initializing compensation parameters; (2) The coarse compensation stage is entered, namely azimuth and pitch angle speed data output by the fiber optic gyroscope are collected in a preset first duration, the average drift speed of two axes is calculated, initial compensation parameters are generated, and the initial compensation parameters are input into a control system; (3) The fine compensation stage is entered, namely, gyro angular velocity data are collected in real time in a preset second time period, if the azimuth and pitching drift velocity are smaller than or equal to a threshold value, final compensation parameters are recorded and compensation is exited, otherwise, the compensation parameters are adjusted according to the step length and fine compensation is executed in an iterative mode until the threshold value condition is met or the maximum iterative times are reached; (4) The position information of the encoder is updated in real time in the compensation process, and closed-loop control is formed by combining compensation parameters, a stabilizing ring and a current ring; The compensation parameter adjustment adopts a multi-axis synchronous compensation mechanism, and independent iterative updating of the dual-axis compensation parameter is realized by resolving the coupling drift component of the azimuth and the pitching axis.
  2. 2. The method for gyro automatic drift compensation of high-precision optical axis motion control device according to claim 1, wherein the preset first time length of the rough compensation stage in the step (2) is 1.5 seconds, and the average drift velocity calculation is completed after the steps of accumulating the first time length to 1500 times of sampling by a counter.
  3. 3. The method for gyro automatic drift compensation of high-precision optical axis motion control apparatus according to claim 1, wherein the preset second duration of the fine compensation stage in the step (3) is 4 seconds, the maximum number of iterations is 5, and the single compensation step is 0.0001 °/s.
  4. 4. The method for automatically compensating the drift of the gyro of a high-precision optical axis motion control device according to claim 1, wherein the optical fiber gyro is a three-axis digital optical fiber gyro, a digital angular velocity signal is output in a period of 1ms through an RS422 interface, the dynamic measurement range is +/-600 degrees/s, and the minimum sensitive angular velocity is +/-0.001 degrees/s.
  5. 5. A method for gyro automatic drift compensation of a high-precision optical axis motion control apparatus as set forth in claim 1, wherein said threshold value is set to 0.001/s.

Description

Automatic drift compensation method for gyro of high-precision optical axis movement control device Technical Field The invention relates to the technical field of servo turntable control, in particular to a gyro automatic drift compensation method of a high-precision optical axis movement control device. Background The servo stabilizing turntable is a photoelectric device arranged on a weapon platform such as an unmanned plane or a war vehicle, and has the main functions of observing, identifying, aiming and tracking a target, and a gyroscope is often used as a speed measuring feedback element because of the speed of acquiring an inertial space, and the stability of an optical axis in the inertial space is ensured through control of a stabilizing ring. The existing gyroscopes mainly comprise mechanical gyroscopes, optical fiber gyroscopes, MEMS gyroscopes and other types of gyroscopes, the gyroscopes are various, each type of gyroscopes has specific application scenes and characteristics, but the gyroscopes have common characteristics that drift occurs along with temperature, geographic coordinates and time, if the drift is not restrained, the stability and accuracy of optical axis aiming are affected, and therefore, the drift of the gyroscopes needs to be compensated before each task is executed. At present, the gyro manual compensation is common, a manual compensation key is arranged on a control handle, the left key and the right key compensate the drift of azimuth, the upper key and the lower key compensate the drift of pitching, the compensation effect is determined by observing the movement of an optical axis, time and labor are wasted, only unidirectional compensation is performed at the same time, azimuth and pitching cannot be simultaneously compensated, the compensation precision is low, and the efficiency is lower. There are also some realization methods of gyro automatic compensation at present, and patent with publication number of CN106441366A filed by the institute of Luoyang electro-optical equipment of China aviation industry group company discloses a realization method of two-axis four-frame photoelectric pod automatic gyro drift compensation. The method is characterized in that the nacelle is kept stationary after being started and self-inspected, the angular speed of the inner frame and the outer frame of the nacelle relative to the nacelle is calculated through differentiation, the angular speed of the optical axis is calculated, the compensation parameter is calculated finally, and when the azimuth and the pitching static stability of the optical axis are smaller than the set threshold value, the compensation parameter is stored, and the automatic compensation is stopped. In addition, the method uses a gyroscope with analog input, analog-to-digital conversion and digital-to-analog conversion are needed, the compensation precision is not high, and if the optical axis stability is always not smaller than a threshold value, the gyroscope is always in a compensation state and cannot be rapidly withdrawn from the compensation state. Disclosure of Invention In order to solve the problems, the invention provides a gyro automatic drift compensation method of a high-precision optical axis movement control device. The invention is realized by the following technical scheme: A gyro automatic drift compensation method of a high-precision optical axis motion control device comprises the following steps: (1) After the system is electrified, receiving an upper computer instruction to trigger an automatic drift compensation mode, recording the initial positions of encoders of a current azimuth axis and a pitching axis, and initializing compensation parameters; (2) The coarse compensation stage is entered, namely azimuth and pitch angle speed data output by the fiber optic gyroscope are collected in a preset first duration, the average drift speed of two axes is calculated, initial compensation parameters are generated, and the initial compensation parameters are input into a control system; (3) The fine compensation stage is entered, namely, gyro angular velocity data are collected in real time in a preset second time period, if the azimuth and pitching drift velocity are smaller than or equal to a threshold value, final compensation parameters are recorded and compensation is exited, otherwise, the compensation parameters are adjusted according to the step length and fine compensation is executed in an iterative mode until the threshold value condition is met or the maximum iterative times are reached; (4) And in the compensation process, the position information of the encoder is updated in real time, and closed-loop control is formed by combining compensation parameters, a stabilizing ring and a current ring. Preferably, the preset first time length of the coarse compensation stage in the step (2) is 1.5 seconds, and the average drift velocity calculation is completed after the counter is accumula