CN-122018290-A - Omnibearing continuous automatic orientation system based on attitude sensor and control method thereof

CN122018290ACN 122018290 ACN122018290 ACN 122018290ACN-122018290-A

Abstract

The invention belongs to the technical field of automatic control and electromechanical integration, and particularly relates to an omnibearing continuous automatic orientation system based on an attitude sensor and a control method thereof. The system comprises a target direction setting module, a gesture sensing unit, a main control unit, a closed-loop control unit, a motor driving unit, an executing mechanism unit and a power supply and signal transmission unit, wherein the main control unit is electrically connected with the target direction setting module, the gesture sensing unit, the closed-loop control unit and the motor driving unit, the executing mechanism unit comprises a stepping motor, a transmission structure and a rotating platform, and the power supply and signal transmission unit comprises a rotating electrical connection structure. The invention can realize continuous orientation of the rotary platform while avoiding the traditional winding problem, has the characteristics of clear structure, complete control closed loop and strong expandability, and is suitable for scenes such as security monitoring cloud platforms, communication antenna orientations, automatic observation equipment, mobile robot platforms, intelligent agricultural machinery orientation devices and the like.

Inventors

SUI YUANYUAN
ZHANG LEI
LI DAWEI
DONG FAN
YU HAIYE
Qi Bingda
Zhang Tiexuan
SUN YAOWEI
MA YUXIN
LIU XINGBANG
SUN XINGYU

Assignees

吉林大学

Dates

Publication Date: 20260512
Application Date: 20260414

Claims (10)

1. The omnibearing continuous automatic orientation system based on the attitude sensor is characterized by comprising a target direction setting module, an attitude sensing unit, a main control unit, a closed-loop control unit, a motor driving unit, an executing mechanism unit and a power supply and signal transmission unit, wherein the target direction setting module is used for inputting a target course angle or a target direction parameter, the attitude sensing unit is used for collecting attitude original data of a rotary platform in real time, the main control unit is electrically connected with the target direction setting module, the attitude sensing unit, the closed-loop control unit and the motor driving unit and is used for completing sensor data preprocessing, attitude resolving, logic scheduling and control instruction output, the closed-loop control unit is used for calculating the shortest path error between a current course angle and the target course angle and generating a control quantity of an executing mechanism according to a control algorithm, the motor driving unit is used for receiving a direction signal and a pulse signal output by the main control unit and driving the executing mechanism to rotate, the executing mechanism unit comprises a stepping motor, a transmission structure and a rotary platform and is used for driving a load to conduct continuous direction adjustment, and the power supply and the signal transmission unit comprises a rotary electric connection structure and is used for realizing continuous transmission between a fixed part and a rotary part and a signal.
2. The omnibearing continuous automatic orientation system based on an attitude sensor according to claim 1, wherein the attitude sensing unit adopts a nine-axis inertial/geomagnetic combined sensor which integrates a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer and can communicate with a main control unit through a digital interface.
3. The omnibearing continuous automatic orientation system based on an attitude sensor according to claim 1, wherein the main control unit adopts a microcontroller with floating point operation capability for executing filtering, attitude fusion, error calculation and closed loop control, and is an STM32F407 microcontroller based on an ARMCortex-M4 kernel and provided with a hardware FPU.
4. The omnibearing continuous automatic orientation system based on attitude sensor according to claim 1, wherein the closed-loop control unit comprises a course error normalization module for mapping the difference between the target course angle and the current course angle to a range of-180 ° to ensure that the actuator completes orientation adjustment according to the shortest path, wherein the error calculation relation is expressed as: Wherein, θtarget is the target course angle, θcurrent is the current course angle, e is the normalized control error, after the processing, the error is always constrained in the interval of more than-180 DEG and less than or equal to 180 DEG, thereby avoiding the unnecessary long-path rotation of the actuating mechanism.
5. The omnibearing continuous automatic orientation system based on attitude sensor according to claim 1, wherein the closed-loop control unit adopts a discrete PID control algorithm and comprises integral amplitude limiting, integral saturation resistance and error dead zone processing, and the control output satisfies: wherein Kp, ki and Kd are respectively proportional, integral and differential coefficients, ts is a sampling period, and when an integral limiting or anti-integral saturation strategy is adopted, the integral state is satisfied: Wherein sat (·) represents the saturation function, imin and Imax are the lower and upper integral limits, respectively.
6. The omnibearing continuous automatic orientation system based on an attitude sensor according to claim 1, wherein the motor driving unit adopts a subdivision type stepping motor driver, can receive STEP, DIR and EN control signals output by a main control unit and drive a stepping motor to rotate according to the direction and the pulse frequency, and adopts a DRV8825 or functionally equivalent stepping driving chip.
7. The omnibearing continuous automatic orientation system based on an attitude sensor according to claim 1, wherein the power supply and signal transmission unit is a through hole type or cap type conductive slip ring, and the number of channels, rated current, rated rotation speed, contact resistance and insulation resistance of the conductive slip ring are determined in a mode of selecting according to power supply and communication requirements of a load borne by a rotary platform so as to realize stable transmission of the power supply and signals in the continuous rotation process of the rotary platform.
8. The omnibearing continuous automatic orientation system based on an attitude sensor according to claim 1, wherein the actuator unit comprises a two-phase stepping motor, a coupler, a rotation center shaft and a rotation platform, wherein the stepping angle, the holding torque, the thin fraction and whether a speed reducing mechanism is configured or not of the stepping motor are determined according to load inertia, target positioning resolution and dynamic response requirements, and the stepping motor is a 42-series 1.8-degree full-stepping angle two-phase four-wire stepping motor.
9. An omnibearing continuous automatic orientation control method based on an attitude sensor for realizing the omnibearing continuous automatic orientation system based on an attitude sensor as set forth in any one of claims 1 to 7, characterized by comprising the steps of: S1, initializing a system, namely finishing the initialization of a clock, an interface, a register and a sensor of a main control unit; S2, receiving a target course angle theta target; S3, acquiring attitude original data, and performing filtering, zero offset correction and magnetic field compensation; S5, carrying out shortest path error normalization processing on the target course angle and the current course angle to obtain a control error e; s6, performing discrete PID operation according to the control error e to obtain a control output u (k); S7, generating a direction control signal and a pulse control signal according to the control output, and controlling the stepping motor to drive the rotary platform to move; and S8, continuously collecting attitude data in the motion process and repeating the steps S3-S7 until the error enters a preset dead zone, and stopping outputting or entering a holding state.
10. The omnibearing continuous automatic orientation control method based on the attitude sensor according to claim 9 is characterized in that the method comprises the steps of calibrating an accelerometer and a gyroscope in a zero offset mode and calibrating a magnetometer in the step S3, converting a control quantity into a pulse number by a main control unit according to a single pulse equivalent rotation angle, a thin fraction and a transmission ratio in the step S7, and reducing start-stop impact and overshoot of a motor in a step acceleration or S-shaped acceleration and deceleration mode.

Description

Omnibearing continuous automatic orientation system based on attitude sensor and control method thereof Technical Field The invention relates to the technical field of automatic control and electromechanical integration, in particular to an omnibearing continuous automatic orientation system based on an attitude sensor and a control method thereof. Background With the development of intelligent equipment and automation systems, directional platforms are widely adopted in the fields of communication, security, mapping, agricultural equipment, robots and the like. Typical applications include continuous inspection and target tracking by pan-tilt drive cameras, pointing adjustments by rotating mechanism drive communication antennas, azimuth retention and realignment by automatic observation platforms, etc. In the existing orientation device, a considerable part of the orientation device still adopts a mechanical limit matching open-loop control mode. The scheme is visual in structure, but is easy to expose the problems that firstly, the mechanical limit enables the rotation angle range to be limited and cannot be conveniently adapted to a scene requiring continuous rotation, secondly, if the limit is simply canceled, the power line and the signal line are easy to wind to influence the reliability of equipment, thirdly, the open loop control is mainly based on the pulse number estimation position, the deviation caused by step loss, return difference, load disturbance and friction change is difficult to correct in real time, and fourthly, when only a single-direction detection means is relied, the vibration resistance, the anti-magnetic interference and the environment adaptation capability are often insufficient. In recent years, MEMS inertial devices and magnetic sensors are widely used for attitude estimation, but in a specific system design, if factors such as attitude fusion, error normalization, driving subdivision, acceleration and deceleration curves, slip ring arrangement, magnetic environment installation and the like are not fully considered, problems such as positioning jitter, overshoot when approaching a target, unstable dynamic tracking, complex structural wiring and the like may still be caused. Therefore, it is necessary to provide an automatic orientation system that combines continuous rotation, closed loop control, attitude feedback and engineering feasibility. Disclosure of Invention This section is intended to outline some aspects of embodiments of the application and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description of the application and in the title of the application, which may not be used to limit the scope of the application. In order to solve the technical problems, according to one aspect of the present invention, the following technical solutions are provided: The omnibearing continuous automatic orientation system based on the attitude sensor comprises a target direction setting module, an attitude sensing unit, a main control unit, a closed-loop control unit, a motor driving unit, an executing mechanism unit and a power supply and signal transmission unit, wherein the target direction setting module is used for inputting a target course angle or a target direction parameter, the attitude sensing unit is used for collecting attitude original data of a rotary platform in real time, the main control unit is electrically connected with the target direction setting module, the attitude sensing unit, the closed-loop control unit and the motor driving unit and used for completing sensor data preprocessing, attitude resolving, logic scheduling and control instruction output, the closed-loop control unit is used for calculating the shortest path error between a current course angle and the target course angle and generating a control quantity of the executing mechanism according to a control algorithm, the motor driving unit is used for receiving a direction signal and a pulse signal output by the main control unit and driving the executing mechanism to rotate, the executing mechanism unit comprises a stepping motor, a transmission structure and a rotary platform and is used for driving a load to conduct continuous direction adjustment, and the power supply and the signal transmission unit comprises a rotary electric connection structure and is used for realizing continuous transmission of the power supply and the signal between a fixed part and a rotary part. As a preferable scheme of the omnibearing continuous automatic orientation system based on the attitude sensor, the attitude sensing unit adopts a nine-axis inertial/geomagnetic combined sensor, and the sensor integrates a triaxial accelerometer, a triaxial gyroscope and a triaxial magnetometer and can be communicated with a main control unit through a digital interface. As a preferable scheme of the omnibearing continuous automatic orientatio