CN-121984386-A - Distributed voice coil motor driving force optimizing and decoupling method for photoelectric stabilized platform

CN121984386ACN 121984386 ACN121984386 ACN 121984386ACN-121984386-A

Abstract

The invention discloses a distributed voice coil motor driving force optimizing decoupling method of a photoelectric stabilized platform, which synthesizes acting forces in three translational directions along a X, Y, Z axis and acting moments in three rotational directions around a X, Y, Z axis of a load centroid coordinate system by deducing projection transformation relations of driving forces of voice coil motors on six degrees of freedom of movement. Otherwise, if the known photoelectric stabilized platform overcomes the acting force required by the translational direction and the acting moment required by the rotational direction caused by carrier vibration, the output direction and the output size of the driving force of each voice coil motor can be reversely solved according to the driving force projection conversion relation. Aiming at the difficult problem of complex selection of the distribution coefficient of the voice coil motor, the particle swarm algorithm is adopted to autonomously optimize the distribution coefficient, thereby achieving the effect of greatly simplifying the coefficient selection process. By the technical means, the function of stabilizing the optical axis of the stabilized platform under the dynamic condition is realized, and technical support is provided for the control system design of the photoelectric stabilized platform.

Inventors

OuYang Hupo
FANG FANG
XU SHENG
TU BIAO

Assignees

华中光电技术研究所(中国船舶集团有限公司第七一七研究所)

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (5)

1. The distributed voice coil motor driving force optimizing and decoupling method for the photoelectric stabilized platform comprises a double-shaft voice coil motor array formed by four uniformly distributed double-shaft voice coil motor assemblies, and is characterized in that, 、、 And , Four uniformly distributed double-shaft voice coil motors respectively, wherein 、、 And The output of the motor is vertical to the paper surface direction, and the positive direction is defined as being vertical to the paper surface and inward; 、、 And The force of the motor is tangential to the circumference of the figure, the positive direction is defined as clockwise along the paper surface, the distance between the four double-shaft voice coil motors and the geometric center coordinate system is r, and the included angle between the four double-shaft voice coil motors and the geometric center coordinate system is 45 DEG A second group of ; The distributed voice coil motor driving force optimizing and decoupling method of the photoelectric stabilized platform comprises the following steps: step1, synthesizing moment projections in a rotating direction; Step 2, the driving force in the straight line direction is projected and synthesized; Step 3, the output of the voice coil motor is reversely solved; and 4, autonomous optimizing of the distribution coefficient.
2. The method for optimizing and decoupling the driving force of a distributed voice coil motor of an optoelectronic stabilization platform according to claim 1, wherein, in step 1, The motor sets supply the acting force along the Y axis and the driving force is relative to a coordinate system The origin point takes moment to obtain the electromagnetic moment of the motor, The driving moment of each motor of the motor group is in a load mass center coordinate system And (3) decomposing: ; ; ; ; 、、、 Representation of 、、、 I, j and k represent unit vectors along the X axis, the Y axis and the Z axis respectively; The motor group supplies the acting force along the Y axis, The driving moment of each motor of the motor group is in a load mass center coordinate system And (3) decomposing: ; ; ; ; 、、、 Representation of 、、、 The electromagnetic moment of the motor is set, 、、、 Representation of 、、、 A driving force of the motor; the total moment of the obtained distributed motor in the rotating direction of the load centroid coordinate system is as follows: ; m represents the total moment of the rotation direction of the distributed motor in the load centroid coordinate system.
3. The method for optimizing and decoupling the driving force of the distributed voice coil motor of the optoelectronic stabilization platform according to claim 1, wherein in step 2, The motor of the motor group meets the following conditions: ; 、、、 Representation of 、、、 A driving force of the motor; Will be The motor driving force of the motor unit is decomposed in a load mass center coordinate system to obtain: ; The total electromagnetic force of the distributed motor in the optical axis coordinate system is as follows: ; F represents the total electromagnetic force of the distributed motor in the optical axis coordinate system.
4. The method for optimizing and decoupling the driving force of a distributed voice coil motor of an optoelectronic stabilization platform according to claim 1, wherein in step 3, the output of each voice coil motor under the condition of both angular motion and linear motion is considered: ; indicating the control moment required for the direction of rotation about the X axis, Indicating the control moment required for the direction of rotation about the Z axis, Indicating the required control moment in the direction of rotation about the Y-axis Representing the control force required for the X-axis, Representing the control force required for the Y-axis, Indicating the control force required for the Z-axis, Representing the distribution coefficients to be optimized.
5. The method for optimizing and decoupling the driving force of the distributed voice coil motor of the photoelectric stabilized platform according to claim 1, wherein in the step 4, a reasonable fitness function is established under the constraint condition of motor output saturation, and the distribution coefficient is autonomously optimized by adopting an optimization method based on a particle swarm algorithm: step 41, defining that the number of particle population is 50, the dimension is 24, the inertia weight is fixed value 0.6, the learning factor is fixed value 2, the range of particle speed is limited to [ -1,1], and the distribution coefficient is obtained The value range of (1, 0) is set, the maximum iteration number in the algorithm ending condition is set as 100, and the population is randomly initialized in the range; Step 42, selecting the least squares sum criterion of the output values of the voice coil motor as the fitness function of the algorithm, namely . Constraint is set as , , ; Step 43, returning pBest and gBest the fitness value of the initialized population obtained in step 42 through a min function to obtain values and assigning the values to variables specially used for storing pBest and gBest for subsequent comparison; Step 44, calculating the speed and the position according to the evolutionary iterative formula so as to obtain a new generation particle swarm; Step 45, calculating the fitness function value of the new generation population, calculating pBest and gBest of the new generation population through the min function, assigning the values to a preset variable E, , wherein, For the sum of squares of the output values of the voice coil motor corresponding to the historic optimal positions of the ith particles obtained in the kth iteration step, For the square sum of the output force values of the voice coil motor corresponding to the historical optimal position of the whole particle swarm obtained in the kth iteration step, comparing the variable with the variable in the step 43, and storing the smaller value into the variable set in the step 44; step 46, judging according to the initialization algorithm ending condition, if the algorithm ending condition is reached, entering step 47, and if the algorithm ending condition is not reached, entering step 44; step 47, end, get global optimum.

Description

Distributed voice coil motor driving force optimizing and decoupling method for photoelectric stabilized platform Technical Field The invention belongs to the technical field of servo control of photoelectric reconnaissance equipment, and particularly relates to a distributed voice coil motor driving force optimizing and decoupling method of a photoelectric stabilized platform. Background A novel photoelectric stabilized platform adopts a structure of a spring and a double-shaft voice coil motor array, and simultaneously realizes servo stabilized control of three rotation directions and active and passive vibration damping control of three linear directions of the stabilized platform, and ensures the function of stabilizing an optical axis of the stabilized platform under a dynamic condition in a more compact mode. As shown in fig. 1, the photoelectric stabilization platform comprises a frame base (1), a load (2), four double-shaft voice coil motors (3), eight springs (4), an inertia measurement assembly (5) and two groups of eddy current sensors (6). The photoelectric stabilized platform can push the load (2) to overcome the elastic force of eight springs (4) through four distributed double-shaft voice coil motors (3), and achieves six-degree-of-freedom movement of the load (2) relative to the frame base (1) along three translational directions of X, Y, Z shafts of a load centroid coordinate system and three rotational directions around X, Y, Z shafts. In view of the fact that the layout mode of the distributed double-shaft voice coil motor brings complex output coupling in the rotation direction and the translation direction, the traditional motor output analysis method based on single-shaft rotation or unidirectional translation is not applicable any more, and development of a distributed motor driving force decoupling method for the novel photoelectric stable platform is needed. Furthermore, aiming at the difficult problem of complicated selection of the distribution coefficient of the voice coil motor generated in the decoupling process, the particle swarm optimization is adopted to autonomously optimize the distribution coefficient, so that the traditional parameter trial-and-error mode is avoided, and the effect of greatly simplifying the coefficient selection process is achieved. Disclosure of Invention Aiming at the photoelectric stabilized platform, the invention provides a distributed voice coil motor driving force optimizing decoupling method for six-degree-of-freedom motion control. By deducing the projection transformation relation of the driving force of each voice coil motor on six degrees of freedom of movement, the acting forces in three translational directions along the X, Y, Z axis of the load centroid coordinate system and the acting moments in three rotational directions around the X, Y, Z axis are synthesized. Otherwise, if the known photoelectric stabilized platform overcomes the acting force required by the translational direction and the acting moment required by the rotational direction caused by carrier vibration, the output direction and the output size of the driving force of each voice coil motor can be reversely solved according to the driving force projection conversion relation. The invention discloses a distributed voice coil motor driving force optimizing and decoupling method of a photoelectric stabilized platform, which comprises a double-shaft voice coil motor array formed by four uniformly distributed double-shaft voice coil motor assemblies,、、And,Four uniformly distributed double-shaft voice coil motors respectively, wherein、、AndThe output of the motor is vertical to the paper surface direction, and the positive direction is defined as being vertical to the paper surface and inward;、、 And The force of the motor is tangential to the circumference of the figure, the positive direction is defined as clockwise along the paper surface, the distance between the four double-shaft voice coil motors and the geometric center coordinate system is r, and the included angle between the four double-shaft voice coil motors and the geometric center coordinate system is 45 DEGA second group of; The distributed voice coil motor driving force optimizing and decoupling method of the photoelectric stabilized platform comprises the following steps: step1, synthesizing moment projections in a rotating direction; Step 2, the driving force in the straight line direction is projected and synthesized; Step 3, the output of the voice coil motor is reversely solved; and 4, autonomous optimizing of the distribution coefficient. Further, in step 1,The motor sets supply the acting force along the Y axis and the driving force is relative to a coordinate systemThe origin point takes moment to obtain the electromagnetic moment of the motor,The driving moment of each motor of the motor group is in a load mass center coordinate systemAnd (3) decomposing: ; ; ; ; 、、、 Representation of 、、、I, j and k repr