CN103033923A - Tilt correction system based on beacon light detection - Google Patents

Abstract

The invention discloses a tilt correction system based on beacon light detection for eliminating a tracking error of a telescope and improving image stabilization precision, and in particular relates to the telescope, a quick tilting mirror, a beacon light source, a CCD (Charge-Coupled Device) image sensor, a PSD (Phase-Sensitive Detector) and a light splitter. The beacon light source is guided in from a lens cone of the telescope; and through a Kurdish light path in the telescope, beacon light is reflected and projected to a PSD sensor. The position information of an observed object provided by the CCD image sensor is input as a closed loop of the quick tilting mirror; the PSD sensor provides the position information of the beacon light as feedforward control quantity; and the position information is guided in the quick tilting mirror so as to realize the correction system. The system facilitates engineering implementation, and has excellent practicability.

Description

Slant correction system based on the beacon beam detection

Technical field

The present invention relates to the telescope control field, be specifically related to the slant correction system that a kind of beacon beam detects, be mainly used in eliminating the tracking telescope tracking error, improve the image stabilization precision.

Background technology

Telescope has adopted the complex axes control system based on quick slant correction usually, further eliminates the telescope tracking error, improves the observation sharpness of image.The frame frequency that affects the topmost reason of slant correction system performance and be the CCD detection system is low, so that the control bandwidth of slant correction is inadequate, can't eliminate the disturbance (rock such as wind moment, axle system etc.) of upper frequency.Although adopt the CCD detection system of high frame frequency to increase the control bandwidth, reduced image detection, recognition capability; Secondly, in order to make slant correction system stability reliably working, generally can adopt a plurality of CCD detection systems to be placed in the same light path, this meeting is so that corrective system is complicated.

Summary of the invention

The technical problem to be solved in the present invention is: overcome the deficiencies in the prior art, propose a kind of tilting mirror corrective system that detects based on beacon beam.

The present invention is based on the technical scheme that slant correction system that beacon beam detects solves the problems of the technologies described above is: described slant correction system has comprised beacon light source, PSD sensor, ccd image sensor, spectroscope, tilting mirror, telescope storehouse moral light path and slant correction and control module, wherein

The reflecting surface of spectroscope, tilting mirror relatively and the placement that is parallel to each other; The PSD sensor is positioned at after the spectroscope; Ccd image sensor is placed on after the tilting mirror; The beacon light source is installed on the lens cone for telescope in the moral light path of telescope storehouse, and the beacon light source is along with the telescope in the moral light path of telescope storehouse rotates; The beacon light source sees through spectroscope after sending beacon beam process telescope storehouse moral light path, arrives the PSD sensor; After the moral light path of target light process telescope storehouse, by spectroscope, tilting mirror, reflection arrives ccd image sensor;

Slant correction and control module have comprised positioner and feedforward controller, utilize the positional information of the observed object that ccd image sensor provides as the control information of positioner, and provide the control information of the positional information of beacon beam as feedforward controller with the PSD sensor; The output sum of the output of positioner and feedforward controller is delivered to tilting mirror, just realizes tilting mirror closed loop real time correction.

Preferred embodiment: the PSD sensor is ccd image sensor, or quadrant sensors.

Preferred embodiment: the beacon beam that sends of beacon light source is without tilting mirror, so the motion of tilting mirror can not affect the PSD sensor to the detection of beacon beam.

Preferred embodiment: tilting mirror is controlled, wherein:

Follow the tracks of input signal as the input of ccd image sensor, generate position error signal, and as the input of positioner;

Follow the tracks of input signal through the PSD sensor, generate the positional information of beacon beam, and as the input of feedforward controller;

Totalizer is used for the positional information summation to the target of feedforward controller and positioner output, controlled signal; The control signal that utilization obtains realizes tilting mirror closed loop real time correction.

The present invention has with respect to the advantage of prior art:

The sloped correcting method that employing detects based on beacon beam realizes that to telescopical wind moment, axle be the elimination of rocking, and has improved detection accuracy and image quality.

The invention solves the ccd image sensor that prior art adopts high frame frequency has increased the control bandwidth, but has reduced image detection, recognition capability; Secondly, adopt a plurality of CCD detection systems to be placed in the same light path in order to make slant correction system stability reliably working, so that the problem of corrective system complexity.The present invention is simple, and is reliable and stable, and Project Realization is easy.

Description of drawings

Fig. 1 is light path schematic diagram of the present invention;

Fig. 2 is slant correction and control module structural drawing;

The parts label declaration

Primary mirror P, secondary mirror M,

The first relay lens M1, the second relay lens M2,

The 3rd relay lens M3, spectroscope M4,

PSD sensor, tilting mirror M5.

Tracking signal input R, tracking signal output Y.

Embodiment

Below in conjunction with the drawings and specific embodiments explanation the present invention, those skilled in the art can understand effect of the present invention and advantage according to the content that this instructions discloses.

As shown in Figure 1, the slant correction system has comprised described slant correction system and has comprised beacon light source L, target light l2, PSD sensor, ccd image sensor, spectroscope M4, tilting mirror M5, telescope storehouse moral light path and slant correction and control module, wherein

The reflecting surface of spectroscope M4, tilting mirror M5 relatively and the placement that is parallel to each other; The PSD sensor is positioned at after the spectroscope M4; Ccd image sensor is placed on after the tilting mirror M5; Beacon light source L is installed on the telescope M lens barrel in the moral light path of telescope storehouse, and beacon light source L is along with the telescope M in the moral light path of telescope storehouse rotates; Beacon light source L sees through spectroscope M4 after sending beacon beam l1 process telescope storehouse moral light path, arrives the PSD sensor; After the moral light path of target light l2 process telescope storehouse, by spectroscope M, tilting mirror M5, reflection arrives ccd image sensor;

Slant correction and control module have comprised positioner and feedforward controller, utilize the positional information of the observed object that ccd image sensor provides as the control information of positioner, and provide the control information of the positional information of beacon beam as feedforward controller with the PSD sensor; The output sum of the output of positioner and feedforward controller is delivered to tilting mirror, just realizes tilting mirror closed loop real time correction.

Embodiment 1: telescope storehouse moral light path comprises primary mirror P, secondary mirror M, the first relay lens M1, the second relay lens M2, the 3rd relay lens M3, wherein,

The reflecting surface of spectroscope M4, tilting mirror M5 relatively and the placement that is parallel to each other; The PSD sensor is positioned at after the spectroscope M4; Ccd image sensor is placed on after the tilting mirror M5; Beacon light source L is installed on the telescopical lens barrel, and beacon light source L is along with lens cone for telescope rotates; Beacon light source L sends beacon beam l1 through primary mirror P, secondary mirror M, relay lens M1, M2 in the moral light path of telescope storehouse and after seeing through spectroscope M3, sees through spectroscope M4, arrives the PSD sensor; Target light l2 road through telescope storehouse moral light path after in primary mirror P, secondary mirror M, relay lens M1, M2 and see through spectroscope M3, by spectroscope M4, tilting mirror M5, reflection arrives ccd image sensor.

Further, beacon light source L is fixed on the lens cone for telescope, along with lens cone for telescope rotates together.Beacon beam l1 directly enters into the PSD sensor by telescope storehouse moral light path through spectroscope M4, and tilting mirror M5, ccd image sensor are successively placed in the spectroscope M4 subsequent optical path.Beacon beam is without tilting mirror M5, so the motion of tilting mirror M5 can not affect the PSD sensor to the detection of beacon beam.

Further, feedforward controller is that feed-forward control signals is at first passed through low-pass filter, multiply by then that constant realizes.

Beacon light source L is fixed on the telescopical lens barrel, and beacon light source L is along with telescopical lens barrel rotates together.

Tilting mirror is controlled, wherein:

Follow the tracks of input signal R as the input of ccd image sensor, generate position error signal, and as the input of positioner C (s);

Follow the tracks of input signal R through the PSD sensor, generate the positional information of beacon beam l1, and as the transport function G of feedforward controller _Ff(s) input;

Totalizer is used for the transport function G to feedforward controller _Ff(s) and the summation of the positional information of the target of the transport function C of positioner (s) output, controlled signal; The control signal that utilization obtains realizes tilting mirror M5 closed loop real time correction.

The reflecting surface of primary mirror P and secondary mirror M is staggered relatively, and the first relay lens M1 is between primary mirror P and secondary mirror M, and the reflecting surface of the first relay lens M1 and secondary mirror M is staggered relatively, and primary mirror P receives the beacon beam l1 that beacon light source L sends.

Relative and the placement that is parallel to each other of the reflecting surface of the second relay lens M2 and the first relay lens M1,

Spectroscope M4 and the 3rd relay lens M3 reflecting surface are 45 angles with incident beam respectively and place.Tilting mirror M5 and be parallel to each other placement relative with spectroscope M4 reflecting surface.

After PSD sensor receiving end is positioned at spectroscope M4 transmission plane, receives beacon beam l1 and convert the positional information of beacon beam to as feed-forward control signals;

Spectroscope M4 and be parallel to each other placement relative with tilting mirror M5 reflecting surface, the target surface of ccd image sensor is positioned on the reflecting surface of tilting mirror M5, and ccd image sensor receives and converts echo signal l2 the positional information of observed object to as position control signal;

Fig. 2 is the control structure figure of the described slant correction of Fig. 1 system, it has comprised position closed loop and feedforward, concrete is embodied as: the positional information of the observed object R that ccd image sensor provides is as the input of positioner, and the PSD sensor provides the input of the positional information of beacon beam as feedforward controller; Totalizer is delivered to tilting mirror M5 to the output of positioner and the output phase adduction generation controller of feedforward controller, realizes tilting mirror M5 closed loop real time correction.Present problem is exactly the transport function C (s) of design attitude controller how, and the transport function G of feedforward controller _Ff(s), specific as follows:

The design of backfeed loop has been very ripe method.The transport function of positioner C (s) can adopt the positioner of ratio+integration (PI) type, and the transport function G of feedforward controller _Ff(s) be a proportionality constant.It should be noted that and through after the low-pass filtering treatment, to take advantage of a constant K to the disturbance feedforward signal ₀Be incorporated into the input point of position feedback.

The G of the transport function of tilting mirror M5 (s) characteristic can be regarded simple delay link as, and the delay of system is mainly from processing and computing relay, so the transport function G (s) of tilting mirror is arranged:

G(s)＝e ^-τs (1)

S is that Laplace operator, τ are the system delay time, general 2～3 times to the sampling time of ccd image sensor.

The transport function C of positioner (s) is as follows:

$C\left(s\right)=\frac{K_p(T_{i}s+1)}{s}---\left(2\right)$

Wherein, K _p, T _iRespectively positioner gain, integration time constant P, i is-symbol footnote

Can be known by control structure Fig. 2, the present invention to the inhibition ability of disturbance is:

$\frac{R}{Y}=\frac{G_{\mathrm{ff}}\left(s\right)G\left(s\right)+1}{C\left(s\right)G\left(s\right)+1}---\left(3\right)$

Formula (1) R is that tracking input signal, Y are tracking output signals, and ff is-symbol footnote can be known the transmission letter G that works as the feedforward controller by formula (1) _Ff=G ^-1(s).Namely comprise angle position information in the feedforward controller, just can eliminate the impact of disturbance fully.Usually feed-forward signal generally can be multiplied by a rate constant K when reality is used ₀, the signal scaling that is used for elimination PSD sensor is uncertain.In general, the non-constant width of the bandwidth of tilting mirror M5 that is to say transport function G (s) ≈ 1 of tilting mirror M5, the transport function G of feedforward controller _Ff(s) ≈-K ₀In the bandwidth of tilting mirror M5, set up fully.

If only have FEEDBACK CONTROL (control mode in the past), to the inhibition ability of disturbance be:

$\frac{R}{Y}=\frac{1}{C\left(s\right)G\left(s\right)+1}---\left(4\right)$

Relatively formula (3), (4) can be known validity of the present invention obviously.

The part that the present invention does not elaborate belongs to techniques well known.

Although the above is described the illustrative embodiment of the present invention; so that the technician of present technique neck understands the present invention; but should be clear; the invention is not restricted to the scope of embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present invention determined in, these variations are apparent, all utilize innovation and creation that the present invention conceives all at the row of protection.

Claims (4)

1. the slant correction system that detects based on beacon beam is characterized in that: described slant correction system has comprised beacon light source, PSD sensor, ccd image sensor, spectroscope, tilting mirror, telescope storehouse moral light path and slant correction and control module, wherein

The reflecting surface of spectroscope, tilting mirror relatively and the placement that is parallel to each other; The PSD sensor is positioned at after the spectroscope; Ccd image sensor is placed on after the tilting mirror; The beacon light source is installed on the lens cone for telescope in the moral light path of telescope storehouse, and the beacon light source is along with the telescope in the moral light path of telescope storehouse rotates; The beacon light source sees through spectroscope after sending beacon beam process telescope storehouse moral light path, arrives the PSD sensor; After the moral light path of target light process telescope storehouse, by spectroscope, tilting mirror, reflection arrives ccd image sensor;

Slant correction and control module have comprised positioner and feedforward controller, utilize the positional information of the observed object that ccd image sensor provides as the control information of positioner, and provide the control information of the positional information of beacon beam as feedforward controller with the PSD sensor; The output sum of the output of positioner and feedforward controller is delivered to tilting mirror, just realizes tilting mirror closed loop real time correction.

2. slant correction as claimed in claim 1 system, it is characterized in that: the PSD sensor is ccd image sensor, or quadrant sensors.

3. slant correction as claimed in claim 1 system, it is characterized in that: the beacon beam that sends of beacon light source L is without tilting mirror, so the motion of tilting mirror can not affect the PSD sensor to the detection of beacon beam.

4. slant correction as claimed in claim 1 system is characterized in that: also comprises tilting mirror controlled, wherein:

Follow the tracks of input signal as the input of ccd image sensor, generate position error signal, and as the input of positioner;

Follow the tracks of input signal through the PSD sensor, generate the positional information of beacon beam, and as the input of feedforward controller;

Totalizer is used for the positional information summation to the target of feedforward controller and positioner output, controlled signal; The control signal that utilization obtains realizes tilting mirror closed loop real time correction.

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