CN104516086A - Control system and method of fast-steering mirror - Google Patents
Control system and method of fast-steering mirror Download PDFInfo
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- CN104516086A CN104516086A CN201410788335.4A CN201410788335A CN104516086A CN 104516086 A CN104516086 A CN 104516086A CN 201410788335 A CN201410788335 A CN 201410788335A CN 104516086 A CN104516086 A CN 104516086A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/032—Reciprocating, oscillating or vibrating motors
- H02P25/034—Voice coil motors
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Abstract
The invention relates to a control system and method of a fast-steering mirror and solves the problems such that the existing control method of the fast-steering mirror requires a high drive power during motor serial connection and has non-uniform machining and motor parameters, thus two motors on a same shaft cannot output forces equal in magnitude and opposite in direction and limitedness occurs. According to the control method for the fast-steering mirror under dual-axis four-motor driving, dual closed-loop control is adopted, and each deflecting shaft comprises a position ring and two current rings arranged within the position ring. Two axes of the fast-steering mirror are orthogonal, no coupling relation occurs theoretically, and thus each defecting shaft engages in independent control. The control system allows proportionality coefficients of input ends of two current controllers to be flexibly adjusted, motion of the two motors on the same shaft are synchronized, a mechanical system of the fast-steering mirror is evenly stressed, and operational stability and environmental adaptability are improved.
Description
Technical field
The present invention relates to precision tracking and precise hard_drawn tuhes field, be specifically related to the control method of the fast mirror that a kind of voice coil motor drives.
Background technology
Fast mirror, as a kind of light beam manipulation device, has that resonance frequency is high, a feature such as fast response time, control are flexible, is widely applied in fields such as astronomical telescope, laser communication, adaptive optics, precision tracking controls.
The driving element of current fast mirror mainly contains piezoelectric ceramics and the large class of voice coil motor two.Control method described in this patent is mainly for the fast mirror adopting voice coil motor to drive.Biaxial type fast mirror often adopts four drive units to realize the deflection of two orthogonal axes, wherein, each axle controls the deflection of catoptron by the push-and-pull campaign of two drivers, this driving method can improve the response speed of fast mirror, make the mechanical system uniform force of fast mirror, stability and the environmental suitability of work are better simultaneously.This type of drive proposes high requirement to machining and assembly precision on the one hand, it is also proposed high requirement on the other hand to control system, requires that two motors on an axle exert oneself equal and opposite in direction, direction on the contrary, realizes being synchronized with the movement.In the instructions of Chinese invention patent CN01113669.3, propose a kind of drived control method of beat mirror, what the method adopted is by the mode of the anti-phase series connection of the voice coil motor of two on same axle, access a power of motor amplifier to control, the method can ensure that two motors flow through equal and opposite in direction, the electric current that direction is contrary, but there is the deficiency of two aspects: one, after motor series connection, the back EMF coefficient of system doubles, so the supply voltage of driver certainly will double, the impact of back electromotive force could be offset, this just requires the driving power of high voltage, its two, consider the inconsistency of machining and the parameter of electric machine itself, the method can not ensure that two motors export the contrary power in equal and opposite in directions, direction, has certain limitation.
Summary of the invention
The present invention is that the control method solving existing catoptron requires higher driving power when there is motor series connection and machining and the parameter of electric machine exist inconsistency, to cause on same axle two motors can not export the contrary power in equal and opposite in direction, direction, there is the problems such as limitation, a kind of control method of fast mirror is provided.
The control system of fast mirror, is included in the X-axis of fast mirror and Y-axis and arranges a position ring and two electric current loops respectively, and the position ring in described X-axis and Y-axis comprises positioner, position information process unit and two position transducers respectively; Two electric current loops in described X-axis are made up of current controller, power amplifier, current sensor, voice coil motor and proportional amplifier respectively, and two electric current loops in Y-axis are made up of current controller, power amplifier, current sensor, voice coil motor and two proportional amplifiers respectively;
The yaw displacement information of fast mirror two axles measured by position transducer in described X-axis and Y-axis simultaneously, institute's displacement information carries out difference processing respectively through the position information process unit of correspondence, obtain the position feedback quantity of X-axis and Y-axis, by the position specified rate of X-axis and Y-axis and described position feedback quantity poor, obtain the site error of corresponding X-axis and Y-axis, the positioner in X-axis and Y-axis is adopted to correct site error, obtain the current-order of X-axis and Y-axis, the current-order of described X-axis and Y-axis is respectively through after the proportional amplifier of correspondence, as the given value of current amount of current controller corresponding in X-axis and Y-axis,
Current sensor corresponding in described X-axis and Y-axis gathers the armature supply of corresponding voice coil motor, by armature supply feedback quantity and described given value of current amount poor, obtain the current error of corresponding X-axis and Y-axis, described current error corrects respectively through X-axis and current controller corresponding to Y-axis, correct the electric current of result through the power amplifier drived control voice coil motor of correspondence, realize the power output controlling voice coil motor.
The output quantity of the positioner in described X-axis is divided into two-way by the proportional amplifier that two symbols are contrary, goes to control two current controllers in X-axis, realizes controlling two voice coil motors in X-axis; The output quantity of the positioner in described Y-axis is divided into two-way by the proportional amplifier that two symbols are contrary, goes to control two current controllers in Y-axis, realizes controlling two voice coil motors in Y-axis.
Described X-axis and position transducer corresponding to Y-axis are the one in LVDT type sensor, linear grating displacement transducer or eddy current displacement sensor.
The control method of fast mirror, the method is realized by following steps:
Step one, control system obtain the position specified rate of X-axis and Y-axis; The X-axis positional information that two position transducers in X-axis export is carried out calculus of differences by position information process unit corresponding to X-axis, obtains the position feedback quantity of X-axis; The Y-axis positional information that two position transducers in Y-axis export is carried out calculus of differences by position information process unit corresponding to Y-axis, obtains the position feedback quantity of Y-axis;
Step 2, control system are by poor with the position feedback quantity of corresponding X-axis and Y-axis for the position specified rate of X-axis and Y-axis, obtain corresponding X-axis and Y-axis site error, and adopt X-axis and positioner corresponding to Y-axis site error to be corrected, correct the current-order of result respectively as X-axis and Y-axis;
The current-order of the X-axis obtained in step 3, described step 2 is respectively through contrary two proportional amplifiers of symbol in X-axis, the current-order of Y-axis is respectively through after contrary two proportional amplifiers of symbol in Y-axis, obtain the given value of current amount of corresponding X-axis and Y-axis, the current feedback amount that corresponding with X-axis and the Y-axis respectively current sensor of described given value of current amount obtains is poor, obtains the current error of corresponding X-axis and Y-axis;
Step 4, the current error of the corresponding X-axis obtained in step 3 and Y-axis sent into X-axis and current controller corresponding to Y-axis corrects, amplified by the power amplifier of corresponding X-axis and Y-axis, control the motion of the voice coil motor of corresponding X-axis and Y-axis.
Beneficial effect of the present invention: control system of the present invention can adjust the scale-up factor of two current controller input ends flexibly, realize two motor in synchrony motions on same axle, make the mechanical system uniform force of fast mirror, the stability of raising work and environmental suitability, in addition, a corresponding power of motor amplifier of motor, does not need to propose excessive demand to the driving voltage of power of motor amplifier.The present invention realizes two motor in synchrony push-and-pull campaigns on the same axle of fast mirror, and has very high stability.
Accompanying drawing explanation
Fig. 1 is control method schematic diagram of the present invention.
Positioner 1 in figure, proportional amplifier 1, proportional amplifier 2, current controller 1, power amplifier 1, current sensor 1, current controller 2, power amplifier 2, current sensor 2, position information process unit 1, positioner 2, proportional amplifier 3, proportional amplifier 4, current controller 3, power amplifier 3, current sensor 3, current controller 4, power amplifier 4, current sensor 4, position information process unit 2, and fast mirror platform, and comprise below four voice coil motors and four position transducers, the voice coil motor 1 in X-axis respectively, voice coil motor 2, position transducer 1 and position transducer 2, voice coil motor 3 in Y-axis, voice coil motor 4, position transducer 3 and position transducer 4.
Embodiment
Embodiment one, composition graphs 1 illustrate present embodiment, the control system of fast mirror, comprise four voice coil motors, four power of motor amplifiers, four current sensors, four position transducers, four current controllers, two positioners, in addition, four proportional amplifiers are also had.
The armature supply of four voice coil motors is respectively by four current sensor collections, the electric current of four current sensor collections is as current feedback amount, four current feedback amounts are poor with four given value of current amounts respectively, its current error corrects respectively through the computing of four current controllers, its result of calculation gives four power of motor amplifiers respectively, four power of motor amplifiers drived control four voice coil motors respectively, common formation four current close-loop control systems, control the electric current of four voice coil motors respectively, and then reach the object controlling voice coil motor power output.
Four position transducers on two axles are used for measuring the yaw displacement information of fast mirror two axles, wherein, two displacement transducers on each axle are measured simultaneously, its displacement measured is through calculus of differences process, obtain the position feedback quantity of each axle, the position specified rate of two axles is poor with corresponding position feedback quantity, the positioner that its site error enters two axles respectively carries out computing correction, obtain the current-order of two axles, the current-order of two axles is respectively through after four proportional amplifiers, as the given value of current amount of four current controllers, wherein, four proportional amplifiers are divided into two groups, corresponding one group of each axle, wherein, the symbol of two proportional amplifiers in same group is contrary, the given electric current of two voice coil motors on the same axle of such guarantee is contrary, thus realize the working method of two voice coil motor push-and-pull campaigns on same axle.
In control system described in present embodiment, two yawing axis use four position transducers altogether, wherein, two position transducers on same axle are with fast mirror rotation center for reference, and symmetry is placed, its measurement result, through calculus of differences process, can improve measuring accuracy.Voice coil motor corresponding current controller, a power of motor amplifier and a current sensor, four voice coil motors corresponding four current controllers, four power of motor amplifiers and four current sensors.The corresponding positioner of axle, the output quantity of a positioner is divided into two-way by the proportional amplifier that two symbols are contrary, removes two current controllers on control axle, and then realizes controlling two voice coil motors on same axle.
Present embodiment is by the proportional amplifier coefficient of two current controller input ends on the same axle of adjustment, the size of two voice coil motor armature supplys can be controlled, its meaning is: if the parameter of two motors is inconsistent, or system architecture rigidity has deviation, can by the coefficient of adjustment two amplifiers, make up the inconsistent of torsion, wherein, the symbol of two proportional amplifier coefficients on same axle is contrary, the electric current ensureing two voice coil motors on same axle is contrary, thus realizes the working method of two voice coil motor push-and-pull campaigns.
Present embodiment comprises position control and Current Control, the two is all completed automatically by the mode of closed-loop control, and wherein, positioner, current controller can realize Digital Control by the mode of software, in addition, current controller also can be realized by hardware circuit.
Embodiment two, composition graphs 1 illustrate present embodiment, the control method of fast mirror, mainly for the motor-driven fast mirror of twin shaft four, this control method adopts double-closed-loop control, each yawing axis comprises a position ring, two electric current loops, wherein inner ring is electric current loop, and outer shroud is position ring.Due to two axle omnidirectional distribution of fast mirror, there is not coupled relation in theory, therefore each yawing axis can control separately.
Two electric current loops in X-axis form primarily of current controller 1, power amplifier 1, current sensor 1, voice coil motor 1, current controller 2, power amplifier 2, current sensor 2, voice coil motor 2 and proportional amplifier 1 and proportional amplifier 2, outer shroud is position control ring, forms primarily of positioner 1, position transducer 1, position transducer 2 and position information process unit 1.The control procedure of X-axis is as follows:
1. control system obtains the position specified rate Prx of X-axis;
2. the X-axis positional information P1 that position transducer 1 and position transducer 2 exported of position information process unit 1 and P2, carries out calculus of differences process, calculates to obtain the position feedback quantity Pbx of X-axis;
3. position specified rate Prx and position feedback quantity Pbx subtracts each other by control system, and send positioner 1 to correct site error value Epx, corrects the current-order Irx of result as X-axis;
4. current-order Irx is respectively through the contrary proportional amplifier 1 of symbol and proportional amplifier 2, obtains two given value of current amount Ir1 and Ir2;
5. the current feedback amount Ib1 that obtains with current sensor 1, current sensor 2 respectively of given value of current amount Ir1 and Ir2 and Ib2 subtracts each other, its current error Ei1 and Ei2 respectively power transmission stream controller 1 and current controller 2 corrects, eventually through the amplification of analog line driver 1 and power amplifier 2, control the motion of voice coil motor 1 and voice coil motor 2, because the symbol of two given value of current amounts is contrary, voice coil motor 1 and voice coil motor 2 direction of motion also contrary, thus realize the push-and-pull campaign required for X-axis.
Two electric current loops in Y-axis form primarily of current controller 3, power amplifier 3, current sensor 3, voice coil motor 3, current controller 4, power amplifier 4, current sensor 4, voice coil motor 4 and proportional amplifier 3 and proportional amplifier 4, outer shroud is position control ring, forms primarily of positioner 2, position transducer 3, position transducer 4 and position information process unit 2.The control procedure of Y-axis is as follows:
1. control system obtains the position specified rate Pry of Y-axis;
2. the Y-axis positional information P3 that position transducer 3 and position transducer 4 exported of position information process unit 2 and P4, carries out calculus of differences process, calculates to obtain the position feedback quantity Pby of Y-axis;
3. position specified rate Pry and position feedback quantity Pby subtracts each other by control system, and is sent by site error Epy positioner 2 to correct, and corrects the current-order Iry of result as Y-axis;
4. current-order Iry is respectively through the contrary proportional amplifier 3 of symbol and proportional amplifier 4, obtains two given value of current amount Ir3 and Ir4;
5. the current feedback amount Ib3 that obtains with current sensor 3, current sensor 4 respectively of given value of current amount Ir3 and Ir4 and Ib4 subtracts each other, its current error Ei3 and Ei4 respectively power transmission stream controller 3 and current controller 4 corrects, eventually through the amplification of analog line driver 3 and power amplifier 4, control the motion of voice coil motor 3 and voice coil motor 4, because the symbol of two current setting values is contrary, voice coil motor 3 and voice coil motor 4 direction of motion also contrary, thus realize the push-and-pull campaign required for Y-axis.
In control method described in present embodiment, four position transducers can be LVDT type sensor, linear grating displacement transducer, also can be eddy current displacement sensor, sensor can have varied, but the Processing Algorithm after acquisition displacement information is all the same, what native system adopted is eddy current displacement sensor; Current sensor is high-precision current sampling resistor; Four power amplifiers are H bridge type MOSFET amplifiers; Because electric current loop bandwidth is high, mimic channel is adopted to realize, and positioner, proportional amplifier, and position information process unit, be all processed in DSP, four given value of current amounts that DSP calculates are converted to analog quantity by DA, give four current controllers.
In control method described in present embodiment, require that the design of electric current loop has higher bandwidth, object is voice coil motor output torque is responded fast, normal employing PI control algolithm on algorithm realization; The design of position ring is fast mirror is pointed to or scanning motion fast according to the requirement of specifying, and position ring controller often adopts pid control algorithm.
In control method described in present embodiment, carry out parameter tuning according to the order of first electric current loop, rear position ring.Wherein, current controller, according to design bandwidth, selects suitable scale-up factor and integral coefficient, specifically will match with the armature resistance of voice coil motor, inductance value.
The calculus of differences that described position information process unit adopts is shown below, if positional information will be converted to corner information, and also will by position feedback quantity divided by the distance of position transducer to rotation center.The principle of position information process ensures that the dimension of position specified rate will be consistent with the dimension of position feedback quantity.
In present embodiment, described is as follows with the selection gist of X-axis relevant control coefficient:
The first step, the controling parameters of two current controllers in X-axis of having adjusted, both guarantees have identical control bandwidth;
Second step, enable voice coil motor 1, by inputting different given value of current value Ir1, measures the inflection point information of fast mirror, by above-mentioned information, calibrates the stiffness coefficient that voice coil motor 1 acts on lower system, after demarcation, by voice coil motor 1 power-off;
3rd step, enable voice coil motor 2, by inputting different given value of current value Ir2, and measurement obtains fast mirror inflection point information, calibrates the stiffness coefficient that voice coil motor 2 acts on lower system;
4th step, according to measurement result, makes following process: if the stiffness coefficient measured is consistent, the value K1 that can get proportional amplifier 1 is 1, and the COEFFICIENT K 2 of proportional amplifier 2 is-1; If the stiffness coefficient measured is inconsistent, the coefficient of resize ratio amplifier 1 and proportional amplifier 2 can be passed through, the difference of both counteractings rigidity.
5th step, the coefficient of proportional amplifier 1 and proportional amplifier 2 is adjusted complete, enable voice coil motor 1 and voice coil motor 2 simultaneously, by given different current-order Irx value, record position feedback quantity Pbx value simultaneously, can pick out the transport function between input current Irx and outgoing position Pbx, the form of concrete input Irx can have multiple choices, comprises sine sweep signal, random signal etc.;
6th step, according to measuring the X-axis transport function obtained, selects suitable pid control parameter, ensures that the position ring response of X-axis reaches designing requirement.
In present embodiment, and the tuning process of Y-axis relevant control coefficient and the substantially identical, specific as follows of X-axis:
The first step, the controling parameters of two current controllers in Y-axis of having adjusted, both guarantees have identical control bandwidth;
Second step, enable voice coil motor 3, by inputting different given value of current value Ir3, measures the inflection point information of fast mirror, by above-mentioned information, calibrates the stiffness coefficient that voice coil motor 3 acts on lower system, after demarcation, by voice coil motor 3 power-off;
3rd step, enable voice coil motor 4, by inputting different given value of current value Ir4, and measurement obtains fast mirror inflection point information, calibrates the stiffness coefficient that voice coil motor 4 acts on lower system;
4th step, according to measurement result, makes following process: if the stiffness coefficient measured is consistent, the value K3 that can get proportional amplifier 3 is 1, and the COEFFICIENT K 4 of proportional amplifier 4 is-1; If the stiffness coefficient measured is inconsistent, the coefficient of resize ratio amplifier 3 and proportional amplifier 4 can be passed through, the difference of both counteractings rigidity.
5th step, the coefficient of proportional amplifier 3 and proportional amplifier 4 is adjusted complete, enable voice coil motor 3 and voice coil motor 4 simultaneously, by given different current-order Iry value, record position feedback quantity Pby value simultaneously, can pick out the transport function between input current Iry and outgoing position Pby, the form of concrete input Iry can have multiple choices, comprises sine sweep signal, random signal etc.;
6th step, according to measuring the Y-axis transport function obtained, selects suitable pid control parameter, ensures that the response of Y-axis position ring reaches designing requirement.
Claims (3)
1. the control system of fast mirror, it is characterized in that, be included in the X-axis of fast mirror and Y-axis and arrange a position ring and two electric current loops respectively, the position ring in described X-axis and Y-axis comprises positioner, position information process unit and two position transducers respectively; Two electric current loops in described X-axis are made up of current controller, power amplifier, current sensor, voice coil motor and proportional amplifier respectively, and two electric current loops in Y-axis are made up of current controller, power amplifier, current sensor, voice coil motor and two proportional amplifiers respectively;
The yaw displacement information of fast mirror two axles measured by position transducer in described X-axis and Y-axis simultaneously, institute's displacement information carries out difference processing respectively through the position information process unit of correspondence, obtain the position feedback quantity of X-axis and Y-axis, by the position specified rate of X-axis and Y-axis and described position feedback quantity poor, obtain the site error of corresponding X-axis and Y-axis, the positioner in X-axis and Y-axis is adopted to correct site error, obtain the current-order of X-axis and Y-axis, the current-order of described X-axis and Y-axis is respectively through after the proportional amplifier of correspondence, as the given value of current amount of current controller corresponding in X-axis and Y-axis,
Current sensor corresponding in described X-axis and Y-axis gathers the armature supply of corresponding voice coil motor, by armature supply feedback quantity and described given value of current amount poor, obtain the current error of corresponding X-axis and Y-axis, described current error corrects respectively through X-axis and current controller corresponding to Y-axis, correct the electric current of result through the power amplifier drived control voice coil motor of correspondence, realize the power output controlling voice coil motor.
The output quantity of the positioner in described X-axis is divided into two-way by the proportional amplifier that two symbols are contrary, goes to control two current controllers in X-axis, realizes controlling two voice coil motors in X-axis; The output quantity of the positioner in described Y-axis is divided into two-way by the proportional amplifier that two symbols are contrary, goes to control two current controllers in Y-axis, realizes controlling two voice coil motors in Y-axis.
2. the control system of fast mirror according to claim 1, is characterized in that, described X-axis and position transducer corresponding to Y-axis are the one in LVDT type sensor, linear grating displacement transducer or eddy current displacement sensor.
3. the control method of the control system of fast mirror according to claim 1, is characterized in that, the method is realized by following steps:
Step one, control system obtain the position specified rate of X-axis and Y-axis; The X-axis positional information that two position transducers in X-axis export is carried out calculus of differences by position information process unit corresponding to X-axis, obtains the position feedback quantity of X-axis; The Y-axis positional information that two position transducers in Y-axis export is carried out calculus of differences by position information process unit corresponding to Y-axis, obtains the position feedback quantity of Y-axis;
Step 2, control system are by poor with the position feedback quantity of corresponding X-axis and Y-axis for the position specified rate of X-axis and Y-axis, obtain corresponding X-axis and Y-axis site error, and adopt X-axis and positioner corresponding to Y-axis site error to be corrected, correct the current-order of result respectively as X-axis and Y-axis;
The current-order of the X-axis obtained in step 3, described step 2 is respectively through contrary two proportional amplifiers of symbol in X-axis, the current-order of Y-axis is respectively through after contrary two proportional amplifiers of symbol in Y-axis, obtain the given value of current amount of corresponding X-axis and Y-axis, the current feedback amount that corresponding with X-axis and the Y-axis respectively current sensor of described given value of current amount obtains is poor, obtains the current error of corresponding X-axis and Y-axis;
Step 4, the current error of the corresponding X-axis obtained in step 3 and Y-axis sent into X-axis and current controller corresponding to Y-axis corrects, amplified by the power amplifier of corresponding X-axis and Y-axis, control the motion of the voice coil motor of corresponding X-axis and Y-axis.
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| CN112217423A (en) * | 2020-09-11 | 2021-01-12 | 深圳数联天下智能科技有限公司 | Body stress adjusting method and device |
| CN112445134A (en) * | 2020-11-19 | 2021-03-05 | 北京航空航天大学 | Fast reflector online approximation self-adaptive control method considering incomplete modeling |
| CN112987800A (en) * | 2021-04-20 | 2021-06-18 | 中国科学院西安光学精密机械研究所 | Digital type swing mirror control system |
| CN114895431A (en) * | 2022-07-14 | 2022-08-12 | 中国科学院长春光学精密机械与物理研究所 | Universal large-aperture photoelectric equipment rapid capture control system and control method |
| CN114895431B (en) * | 2022-07-14 | 2022-09-27 | 中国科学院长春光学精密机械与物理研究所 | Universal large-aperture photoelectric equipment rapid capture control system and control method |
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