CN106383528B - The total tune control method of coelostat and tilting mirror - Google Patents
The total tune control method of coelostat and tilting mirror Download PDFInfo
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- CN106383528B CN106383528B CN201610954290.2A CN201610954290A CN106383528B CN 106383528 B CN106383528 B CN 106383528B CN 201610954290 A CN201610954290 A CN 201610954290A CN 106383528 B CN106383528 B CN 106383528B
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Abstract
The total tune control method of coelostat and tilting mirror after coelostat reflects target light, is transferred to tilting mirror through optical transmission system；Tilting mirror is transferred to spectroscope after secondary reflection again, target light is divided into two parts, a part enters main optical path, and another part projects on the imaging surface of target light detection camera by convex lens；Detection camera detects the error in actual light beam direction He desired beam direction, so that must go out on missions error vector and is transferred to the master controller of system；The Motion-Joint of coelostat and tilting mirror is modeled as series connection four-degree-of-freedom manipulator model；Master controller calculates the target rotational speed of each joint freedom degrees of motion model, and drives to each moving component of system, is finally reached the purpose in stable output beam direction.Two system motion problem of disharmony when the present invention solves grading control further improves the stability of system and light beam to solve the problems such as producing bigger effect since movement is uncoordinated to beam stability.
Description
Technical field
The present invention relates to the total tune control methods of coelostat and tilting mirror in astronomical observation instrument, especially a kind of
The total tune control method of coelostat and tilting mirror based on the control of multiple degrees of freedom redundant analysis, to guarantee that target light source imports
The stability of light beam.The present invention relates to atmospheric optics, robotics and relevant signal processing, electronic computer, motor controls
Etc. technical fields.
Background technique
Coelostat and tilting mirror have applied many years in astronomical observation field, and wherein coelostat is mainly used for eliminating
Target light source is continued the input terminal for importing astronomical observation instrument, belonged to by the influence of relative motion between the earth and extraterrestrial target
Low frequency movement；And tilting mirror is mainly used for beam jitter and inclination caused by eliminating atmospheric turbulance, improves target beam in day
Stability in literary observation instrument, belongs to high frequency motion.In current universal application control method, coelostat and tilting mirror are
Control respectively, belong to two control systems, in many open source literatures as Chinese patent 200910251477.6,
201210024560.1 corresponding explanation has also been made with books (astronomical optical interferometry, Wang Zhengming etc.).This control method exists
Beam stability can be improved to a certain extent, but there is no the first steps imported in view of coelostat as light beam, to rear
Hold the influence of beam stability.The optical system of rear end is often coupled in beam jitter caused by coelostat movement and inclination
It unites, in especially current control method, tilting mirror may move to extreme position, and be corrected often to coelostat at this time
So that tilting mirror generates the jump of position in a short time, tracking system is produced bigger effect or even caused to beamstability not
Stablize.
Summary of the invention
To overcome the shortcomings of existing technologies, the invention proposes the total tune controlling parties of a kind of coelostat and tilting mirror
Method.The present invention uses multiple degrees of freedom redundant analysis control method, and coelostat and tilting mirror are classified as an entirety and carry out movement association
Regulation system, effectively improves the beam stability in optical system.And using the redundant degree of freedom after whole control, kernel is designed
Controller carries out internal system adjusting, improves the reliability and stability of system itself.
To achieve the above object, the invention adopts the following technical scheme:
A kind of total tune control method of coelostat and tilting mirror, which is characterized in that steps are as follows:
(1) coelostat receives target light, and is reflected into the optical transmission system of rear end；
(2) the target light that coelostat reflects is transferred to tilting mirror by optical transmission system；
(3) for after tilting mirror reflects, target light is transferred to spectroscope；
(4) target light is divided into two parts by spectroscope, and a portion enters main optical path and is used for other optical analysis systems,
Another part is projected after convex lens focuses on the imaging surface of target light detection camera；
(5) the Motion-Joint of coelostat and tilting mirror is modeled as the motion model of a series connection four-degree-of-freedom mechanical arm by,
Its kinematics model and speed kinematics model are calculated, and the deflection that end is directed toward is sweared as the goal task of control
Amount, specific goal task vector are set according to desired beam direction；
(6) detects currently practical beam direction by detection camera and it is expected the error between beam direction, to obtain
Task error vector, and it is transferred to the master controller of system；
(7) master controller receives the task error vector, according to the kinematics model of system and speed kinematics model, and
And under the kernel controller action of design, the target rotational speed of each joint freedom degrees of motion model is calculated；
(8) motion controller drives according to each moving component of the target rotational speed to system, is finally reached stabilization
The purpose in output beam direction.
In other words, present invention setting is made of coelostat, tilting mirror, detection camera, spectroscope and a series of reflecting mirrors
Beam direction correct system.Motion modeling by above-mentioned coelostat and tilting mirror is the movement of series connection four-degree-of-freedom mechanical arm
Model, and the deflection that end is directed toward, as the goal task vector of control, this goal task vector is according to desired light beam
Direction setting.In control process, detected between currently practical beam direction and expectation beam direction by detection camera first
Error, thus the error vector that must go out on missions, the master controller of system receives the task error vector, according to the speed of motion model
Kinematics model is spent, and under the kernel controller action of design, calculates the mesh of each joint freedom degrees of motion model
Velocity of rotation is marked, master controller can drive according to each moving component of the target rotational speed to system, be finally reached stabilization
The purpose in output beam direction.
For the kernel controller, due to resulting motion model, freedom degree is superfluous for goal task
Remaining, so carrying out the redundancy motion control of system using the multiple-objection optimization redundancy analytic method of kernel controller.
The system motion that the controller generates can the internal structure relationship to system have an impact, but it is defeated not interfere with end completely
The final control of target out.It can guarantee that it is same that main target task (i.e. desired beam direction) is reached using the controller
When complete multiple by-end tasks.
Compared to the prior art, the present invention has the advantages that the present invention by coelostat and tilting mirror be classified as an entirety into
Row control, two system motion problem of disharmony being easy to produce when can solve prior art grading control, to solve similar
In tilting mirror position hopping produces bigger effect beam stability the problems such as, the stability of light beam in system is further increased；
The present invention uses the multiple-objection optimization redundant analysis method of kernel controller, carries out the redundancy motion control of system, this
Control method can complete multiple by-ends while guaranteeing that main target task (i.e. desired beam direction) is reached and appoint
Business, can be further improved the stability of system itself.
Detailed description of the invention
Fig. 1 is that beam direction of the invention corrects system structure diagram；
Fig. 2 is kinematics of the invention and coordinate distribution schematic diagram；
Fig. 3 is that kinematic system of the invention controls regular schematic diagram.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the invention will be further described:
Embodiment 1, firstly, being said to beam direction correction system structure involved in control method of the present invention application
It is bright.
As shown in Figure 1, the optical transmission system 2 of rear end is arranged, between coelostat 4 and tilting mirror 5 to connect the two
Optical path；Between tilting mirror 5 and main optical path 7, spectroscope 6 is set, which is divided into two parts for target light 3, wherein one
Divide and enter main optical path 7 for other optical analysis systems, another part projects target light detection phase after convex lens focuses
On the imaging surface of machine 1；The detection camera 1 detects currently practical beam direction and it is expected the error between beam direction, exports
To master controller；After the rotation position information of coelostat 4 and tilting mirror 5 is detected by its own sensor, it is transferred to kernel
The output of controller and master controller, the kernel controller also connects master controller；The master controller calculates target rotational
Speed drives each moving component of coelostat and Tip-Tilt Mirror System.(kernel controller and master control are not drawn in Fig. 1
Device processed).
System is corrected for the beam direction, wherein coelostat is using common altitude azimuth form coelostat；Tilting mirror uses
The common biaxial inclination mirror of Piezoelectric Ceramic；Target light detection camera type is unlimited, can using CCD, COMS camera or
4 quadrant detector etc..
The wherein optical transmission system of the rear end is one or more plane mirror or shrink beam system.It is right
For control method of the invention, coelostat between tilting mirror to adding or reducing conventional plane mirror reflected light path, not
The goal task (i.e. the beam direction angle of tilting mirror output) for influencing final output, even if addition shrink beam is also only moving
Learn model rotation angular dimensions in be multiplied by the corresponding scale parameter of shrink beam, will not to the kinematics model established with
And control method generates substantial influence, so by the optical transmission system in beam direction correction system in schematic diagram of the invention
It is simplified to one piece of reflecting mirror.
Secondly, explaining in control method of the present invention to system motion modeling and the setting of goal task vector.
The first step determines that system motion model and model parameter describe method.As shown in Fig. 2, will only have two in the present invention
The motion mode of a sports equipment (coelostat and tilting mirror) is modeled as a four-degree-of-freedom tandem machinery arm configuration, wherein
The motion modeling of coelostat is 1 and No. 2 cradle head, and the motion modeling of tilting mirror is 3 and No. 4 cradle heads.It is adopted in the present invention
With a kind of model foundation rule most common in Mechanical transmission test, Denavit-Hartenberg rule, hereinafter referred to as DH rule
Then, in this rule each joint homogeneous transform matrixIt is described as being made of four basic coordinates transformation.
System DH parameter of regularity in the present invention is as shown in table 2.
2. coelostat of table and Tip-Tilt Mirror System DH regulation parameter table
Wherein i is the i-th connecting rod, a in four DH parameter of regularityi、diAnd αiIt is constant, qiFor variable, the i-th joint is indicated
Rotational angle.
Second step, system kinematics model calculate.It, can be according to formula according to the system coordinate system of foundation and DH parameter of regularity
1 acquires each homogeneous transform matrixExtremelyAnd it can be obtained according to robot direct kinematics by coelostat basis coordinates system
O0X0Y0Z0To tilting mirror ending coordinates system O4X4Y4Z4Homogeneous transform matrix are as follows:
Wherein, matrixFor coordinate system O0X0Y0Z0To coordinate system O4X4Y4Z4Spin matrix, list
Rank vectorRespectively represent coordinate axial vector X4,Y4,Z4In coordinate system O0X0Y0Z0In direction vector, andThen
For origin O4In coordinate system O0X0Y0Z0In position.
Third step, goal task vector calculate.In control method in the present invention, task vector is the side of output beam
To angle, it can be transformed to the attitude angle of tilting mirror end direction, be used in the present invention and commonly use Eulerian angles expression way to describe
The posture that end is directed toward.According to the definition of Eulerian angles, can obtain:
Control method of the invention needs to be concerned with the target light direction of output, only related with φ therein and θ, calculates
Formula are as follows:
Vector ξ=[φ, θ] is established in the present inventionTGoal task vector as Controlling model.
Finally, explaining in conjunction with Fig. 3 to control rule of the invention.
The first step, system speed kinematics model are established.Essence for control method of the invention is exactly for one
Known goal task vector ξ=[φ, θ]T, need to find out the configuration vector q=[q of motion model1,q2,q3,q4]T, i.e., each
The turned position in joint.And operating speed kinematics analyzes the differential motion of target in practical control process, this is
The speed kinematics model of system are as follows:
WhereinJ (q) is the Jacobian matrix of system, can be derived by formula 2.
Second step, the solution of speed kinematics model.The solution of the speed kinematical equation of formula 5Are as follows:
WhereinFor the right pseudo inverse matrix (Pseudo-inverse Matrix) of Jacobian matrix J,For the null space matrix of matrix J,For any vector.
Third step, kernel controller design.As described in second step,For any vector, which can
Some by-end tasks, for the kinematic system in the present invention, the internal motion speed of kernel are completed by artificially designing
It can indicate are as follows:
Wherein α is matching constant coefficient, according to the appropriate value of the weight of corresponding current task.H (q) is subgoal task
Functional configuration function can be designed artificially according to actual needs.Two common guarantee system stability are mainly considered in the present invention
By-end task respectively avoids movable joint limiting angle, maximization can operational readiness.
4th step, motion control method design.The structure for controlling rule is as shown in Figure 3.Sensing system in figure is main
Motion Position Sensor and detection camera including coelostat and tilting mirror.
The error of four -1. current beam actual directions and desired light beam detected by detection camera is so that it is determined that current system
The error ξ of system goal task vectorerr=ξd- ξ=[φerr,θerr]TMaster controller is inputted, wherein ξdFor desired goal task
Vector, ξ are currently practical goal task vector；
Four -2. current location information q (t) for obtaining the Motion Position Sensor of coelostat and tilting mirror input main control
Device；
Four -3. obtain target desired speed vectorMaster controller is inputted, for control pair of the invention
As when the vector is the relative motion according to target and system, target position desired Eulerian angles in system coordinate system become
Change obtains；
The current location information q (t) that four -4. kernel controllers are obtained according to position sensor, according to formula 7 and the present invention
In two by-end task computation kernel regulated quantity q mainly consideringsInput master controller, q thereinsIt is secondary by two
Target vector superposition；
Four -5. master controllers are kinematic system design movement control of the invention according to the speed kinematics model that formula 6 provides
Method processed calculates control vector qdCoelostat and tilting mirror kinematic system are driven, vector q is controlleddAlgorithm are as follows:
WhereinIt is directed toward desired object velocity vector for end, it, should for control object of the invention
When vector is the relative motion according to target and system, target position desired Eulerian angles in system coordinate system change
Out, ξerr=ξd- ξ=[φerr,θerr]TThe error vector of posture is directed toward for end, a and K are the perfect Gain factor, qsi(i=1,
It 2...c is) kernel velocity vector designed by control by-end task, c is the quantity of by-end task, in the present invention
C=2.
What is do not elaborated in the present invention partly belongs to technology known in the art.
Claims (1)
1. the total tune control method of a kind of coelostat and tilting mirror, which is characterized in that steps are as follows:
(1) coelostat receives target light, and is reflected into the optical transmission system of rear end；
(2) the target light that coelostat reflects is transferred to tilting mirror by optical transmission system；
(3) for after tilting mirror reflects, target light is transferred to spectroscope；
(4) target light is divided into two parts by spectroscope, and a portion enters main optical path and is used for other optical analysis systems, another
Part is projected after convex lens focuses on the imaging surface of target light detection camera；
(5) the Motion-Joint of coelostat and tilting mirror is modeled as the motion model of a series connection four-degree-of-freedom mechanical arm by, is calculated
Its kinematics model and speed kinematics model out, and the deflection that end is directed toward is as the goal task vector of control, tool
The goal task vector of body is set according to desired beam direction；
(6) detects currently practical beam direction by detection camera and it is expected the error between beam direction, to must go out on missions
Error vector, and it is transferred to the master controller of system；
(7) master controller receives the task error vector, according to the kinematics model of system and speed kinematics model, and
Under the kernel controller action of design, the target rotational speed of each joint freedom degrees of motion model is calculated；
(8) master controller drives according to each moving component of the target rotational speed to system, is finally reached stable output light
The purpose of Shu Fangxiang；
Control rule is as follows:
The first step, system speed kinematics model are established: goal task vector ξ=[φ, θ] known for oneT, need to ask
The configuration vector q=[q of motion model out1,q2,q3,q4]T, i.e., the turned position in each joint；And make in practical control process
It is analyzed with differential motion of the speed kinematics model to target, the speed kinematics model of the system is
WhereinJ (q) is the Jacobian matrix of system, can (2) be derived by formula；
Wherein, matrixFor coordinate system O0X0Y0Z0To coordinate system O4X4Y4Z4Spin matrix, unit column
VectorRespectively represent coordinate axial vector X4,Y4,Z4In coordinate system O0X0Y0Z0In direction vector, andIt is then original
Point O4In coordinate system O0X0Y0Z0In position；The calculation formula of goal task vector is
φ=atan2 (k4y,k4x)
θ=atan2 (k4xcosφ+k4ysinφ,k4z) (4)
Second step, the solution of speed kinematics model；The solution of the speed kinematical equation of formula (5)Are as follows:
WhereinFor the right pseudo inverse matrix (Pseudo-inverse Matrix) of Jacobian matrix J,
For the null space matrix of matrix J,For any vector；
Third step, kernel controller design: as described in second step,For any vector, which can be by people
Some by-end tasks are completed for design, the internal motion speed of kernel is expressed as:
Wherein α is matching constant coefficient, according to the appropriate value of the weight of corresponding current task；H (q) is subgoal task function
Constructed fuction, according to actual needs artificial design；Consider two common by-end tasks for guaranteeing system stability, respectively
To avoid, movable joint limiting angle, maximize can operational readiness:
4th step, motion control method design: sensing system include coelostat and tilting mirror Motion Position Sensor and
Detect camera；
The error of four -1. current beam actual directions detected by detection camera and desired light beam is so that it is determined that current system mesh
The error ξ of mark task vectorerr=ξd- ξ=[φerr,θerr]TMaster controller is inputted, wherein ξdFor desired goal task vector,
ξ is currently practical goal task vector；
Four -2. current location information q (t) for obtaining the Motion Position Sensor of coelostat and tilting mirror input master controller；
Four -3. obtain target desired speed vectorMaster controller is inputted, for control object, which is root
According to target and system relative motion when, target position desired Eulerian angles variation in system coordinate system obtains；
The current location information q (t) that four -4. kernel controllers are obtained according to Motion Position Sensor, (7) and mainly according to formula
The two by-end task computation kernel internal motion speed q consideredsInput master controller, q thereinsIt is secondary by two
Target vector superposition；
The solution of (6) speed kinematics model that four -5. master controllers are provided according to formula designs motion control method for kinematic system,
Calculate control vector qdCoelostat and tilting mirror kinematic system are driven；Calculation method is formula (8):
Whereinξerr=ξd- ξ=[φerr, θerr]TThe error vector of posture is directed toward for end, a and K are reason
Think gain factor, qsiFor kernel velocity vector designed by control by-end task, i=1,2...c, wherein c=2.
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