CN106644938B - A kind of interference-type Fourier transform spectrometer swing arm motion control system - Google Patents
A kind of interference-type Fourier transform spectrometer swing arm motion control system Download PDFInfo
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- CN106644938B CN106644938B CN201611089053.0A CN201611089053A CN106644938B CN 106644938 B CN106644938 B CN 106644938B CN 201611089053 A CN201611089053 A CN 201611089053A CN 106644938 B CN106644938 B CN 106644938B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
Abstract
The invention proposes a kind of interference-type Fourier transform spectrometer swing arm motion control systems.Laser beam is issued using semiconductor laser, optical path difference is formed with swing arm motion after into Fourier transform spectrometer optical system, to generate P light and the orthogonal interference fringe of S light two-way, Weak Sinusoidal Signal is generated through photoelectric conversion after being perceived by laser detector, being amplified to Fu Jihou, zero passage detection generates orthogonal A/B pulse again, the position feedback as the control of interferometer swing arm motion；Then digitial controller programming movement curve is designed, calculates control amount with high precision closed loop control algolithm, drives voice coil motor that swing arm is driven to do the movement of aplanatism difference after power amplification.The present invention can be used for interference-type Fourier transform spectrometer swing arm control, and velocity-stabilization degree is better than 0.4%, can also be according to serial command switched scan speed, amendment zero offset, and provides for imaging circuit and wait the sampling pulse of location intervals for trigger exposure.
Description
Technical field
The invention belongs to space remote sensing spectrographic detection fields, are related to a kind of interference-type Fourier transform spectrometer swing arm motion
Control system.
Background technique
Spectrum detection instrument is distributed for in-orbit remote sensing greenhouse gases, is a key areas in current atmospheric remote sensing
And developing direction.On TES, AQUA upper AIRS, Terra on SCIAMACHY, MIPAS on ENVISAT-1 at present, AURA
MOPPIT and METOP-A on IASI etc. all there is certain greenhouse gases detectivity.It but is completely to visit with greenhouse gases
Up to the present the load for surveying target has: the TANSO on the OCO and Japan GOSAT in the U.S..Wherein OCO is due to abortive launch, not
It can enter A-Train queue and carry out in-orbit observation.The in-orbit normal operation of TANSO on current only Japan GOSAT.In 2009
In the AGU meeting in December, Japanese GOSAT team has issued the in-orbit observation of TANSO and back analysis data, and in 2010 Nian Chunkai
Begin to provide data product to global corresponding research institution.
Interference-type Fourier transform spectrometer has signal-to-noise ratio height, spectral resolution not by spectral coverage scope limitation, spectrum position
Setting advantages, the core such as stable is to need to solve the problems, such as the non-linear reciprocally swinging of swing arm, is realized on focal plane projecting direction stringent
Aplanatism difference movement, be just able to achieve to input light beam carry out dynamic interference modulation, export interference light signal and aplanatism difference
The signals such as sampling pulse；After interferogram signal is collected and digitizes, quilt out can be restored by inverse Fourier transform calculating
Survey spectral information.
The country there is no scientific research institutions to research and develop successful intervention type Fourier transform spectrometer swing arm motion control system, state at present
The ACE satellite of outer only Canadian ABB AB has a similar control system successful operation, but its precision be not able to satisfy still it is current higher
Mission requirements.
Summary of the invention:
Technical problem solved by the present invention is the present invention constructs a set of interference-type Fourier transform spectrometer swing arm motion
Control system can drive the swing arm of interference type spectral instrument to realize stringent aplanatism difference movement on focal plane projecting direction, thus
It realizes the dynamic interference modulation of spectrum detection instrument incident beam, while also being provided for IR signal processor and waiting positions interval sampling
Pulse.
The technical scheme is that a kind of interference-type Fourier transform spectrometer swing arm motion control system, including half
Conductor laser, laser detector 1, laser detector 2, weak signal amplification circuit, phase-shift circuit, zero cross detection circuit, can
Inverse counter circuit, angular speed computing module, programming movement curve module, digitial controller, motor-drive circuit, ground detection
Equipment；
Semiconductor laser issue laser beam, into Fourier transform spectrometer optical system after be divided into two-way, respectively
For P light and S light.
Laser detector 1, laser detector 2 receive P light and S light, carry out photoelectric conversion to P light and S light respectively, generate two
The orthogonal interference signal in road, respectively sinusoidal electric signals and cosine electric signal are sent to weak signal amplification circuit, sinusoidal electric signals
It is millivolt level with cosine electric signal；
Weak signal amplification circuit amplifies sinusoidal electric signals and cosine electric signal, and millivolt level signal is amplified to volt
Grade is sent to phase-shift circuit；
After amplified sinusoidal electric signals and cosine electrical signal phase are adjusted to 90 ° of difference by phase-shift circuit, as phase shift
The output of circuit is sent to zero cross detection circuit；
The sinusoidal electric signals of phase-shift circuit output and cosine electric signal are become A pulse and B arteries and veins by zero cross detection circuit
Punching, A pulse and B impulse phase differ 90 °, and A pulse and B pulse are sent to forward-backward counter circuit；
Forward-backward counter circuit is capable of detecting when the phase relation of A pulse and B pulse and the rising edge of A pulse, in swing arm
When reciprocating motion, plus-minus counting is carried out to the rising edge quantity of A pulse；It send count results as swing arm real time position to angle speed
Spend computing module and digitial controller；
Angular speed computing module differentiates to the swing arm real time position of input, obtain swing arm angular speed send to
Digitial controller；
Ground checkout equipment can send swing arm motion mode instruction, comprising: and speed switching command is instructed with zero bias are repaired,
Swing arm motion mode instruction is sent to programming movement curve module；Speed switching command can change swing arm motion speed；Repair zero
Instruction can change the mechanical zero position of swing arm motion partially；
Programming movement curve module determines the curve that swing arm position changes over time according to swing arm motion mode instruction, will
The curve is sent to digitial controller；
Digitial controller is exported according to the swing arm real time position of forward-backward counter circuit output, angular speed computing module
Swing arm angular speed and programming movement curve, determine the control amount of voice coil motor, which is pwm signal, send to motor driven
Circuit；
Motor-drive circuit is sent after the pwm signal of digitial controller output is carried out power amplification to voice coil motor, control
Voice coil motor drives swing arm rotation.
The invention has the following advantages over the prior art:
The present invention using semiconductor laser issue laser beam, into Fourier transform spectrometer optical system after with pendulum
Arm moves to form optical path difference, to generate P light and the orthogonal interference fringe of S light two-way, interference fringe is perceived by laser detector
Weak Sinusoidal Signal is generated by photoelectric conversion, being amplified to Fu Jihou, zero passage detection generates orthogonal A/B pulse again；By A/B
Pulse quadruplex simultaneously carries out reversible counting, the position feedback as the control of interferometer swing arm motion；Then design digitial controller rule
It rows moving curve, acquires real time position, calculate control amount with high precision closed loop control algolithm, drive voice coil motor after power amplification
Swing arm is driven to do the movement of aplanatism difference.
The high precision closed loop control algolithm that the present invention uses includes position closed loop, speed closed loop, robustness with higher,
All kinds of bursty interferences can be resisted；Swing arm motion speed instability is better than 4 percentage points of same kind of products at abroad less than 0.4%.
Meanwhile this control system is also equipped with serial command receiving interface, according to instruction switched scan speed, can be used for becoming long-pending
Detection system between timesharing；Zero bias can also be corrected according to instruction, will be repaired at swing arm motion mechanical zero and interference pattern zero optical path difference
It is just being consistent；In addition, this control system can also provide the sampling pulse of equal location intervals for imaging circuit, exposed for triggering
Light.
Detailed description of the invention
Fig. 1 is interference-type Fourier transform spectrometer swing arm motion control system schematic diagram；
Fig. 2 is weak signal amplification circuit；
Fig. 3 is phase-shift circuit；
Fig. 4 is zero cross detection circuit；
Fig. 5 is that the threshold value that sinusoidal signal becomes square-wave signal is arranged zero cross detection circuit；
Fig. 6 is the swing arm motion curve of planning；
Fig. 7 is that u-turn signal and sampling pulse generate timing；
Fig. 8 is swing arm speed instability test result of the invention.
Specific embodiment:
Basic ideas of the invention are as follows: propose a kind of interference-type Fourier transform spectrometer swing arm motion control system.
Using semiconductor laser issue laser beam, into Fourier transform spectrometer optical system after with swing arm motion formed light path
Difference, to generate P light and the orthogonal interference fringe of S light two-way, after being perceived by laser detector through photoelectric conversion generate it is faint just
String signal, being amplified to Fu Jihou, zero passage detection generates orthogonal A/B pulse again, the position as the control of interferometer swing arm motion
Feedback；Then digitial controller programming movement curve is designed, control amount is calculated with high precision closed loop control algolithm, after power amplification
Driving voice coil motor drives swing arm to do the movement of aplanatism difference.The present invention can be used for interference-type Fourier transform spectrometer swing arm control
System, velocity-stabilization degree are better than 0.4%, can also be according to serial command switched scan speed, amendment zero offset, and are imaging circuit
The sampling pulse of the location intervals such as offer is used for trigger exposure.
A kind of interference-type Fourier transform spectrometer swing arm motion control system proposed by the present invention is right with reference to the accompanying drawing
The present invention is described further.
Interference-type Fourier transform spectrometer, including swing arm, angle mirror 1, angle mirror 2, beam splitter, voice coil motor, flexible support,
Pedestal, incident reflecting mirror, outgoing reflecting mirror, Amici prism；
Swing arm is L-type, and two angle mirrors are separately fixed at swing arm both ends, and flexible support is X-type, and flexible support is located at swing arm
On the inside of corner, pedestal is connect by flexible support with swing arm, and flexible support is able to drive swing arm and rotates around pedestal；Beam splitter with
Pedestal is fixed, and beam splitter is between angle mirror 1 and angle mirror 2, and the laser that semiconductor laser issues is through incident reflecting mirror, beam splitting
Light beam, angle mirror 2, outgoing reflecting mirror, after Amici prism, is divided into the orthogonal polarised light of two-way at angle mirror 1 by device, be denoted as respectively P light and
S light is sent respectively to external laser detector 1 and laser detector 2 (laser detector 1 and laser detector 2 in the present invention),
Voice coil motor is located on the outside of the corner of swing arm, is able to drive swing arm and rotates around pedestal.
As shown in Figure 1, interference-type Fourier transform spectrometer swing arm motion control system of the invention is by semiconductor laser
Device, laser detector 1, laser detector 2, weak signal amplification circuit, phase-shift circuit, zero cross detection circuit, forward-backward counter
Circuit, angular speed computing module, programming movement curve module, digitial controller, motor-drive circuit, ground checkout equipment group
At.
Semiconductor laser is responsible for generating laser beam, into Fourier transform spectrometer optical system, by incident anti-
Enter laser detector after penetrating mirror, angle mirror 1, angle mirror 2, beam splitter, outgoing reflecting mirror, Amici prism；When swing arm motion, drive
Angle mirror reciprocally swinging can make two-way generate optical path difference when reaching laser detector focal plane with source laser；
Laser beam is divided into the orthogonal polarised light of two-way by Amici prism, is denoted as P light and S light respectively, is respectively fed to laser
Detector 1, laser detector 2.
Laser detector selects PV type InGaAs detector, and laser detector 1 carries out photoelectricity to the interference fringe that P light is formed
Conversion, laser detector 2 carry out photoelectric conversion to the interference fringe that S light is formed, and generate the interference letter of the orthogonal millivolt level of two-way
Number, it is denoted as sinusoidal electric signals and cosine electric signal respectively, send to weak signal amplification circuit；
As shown in Fig. 2, weak signal amplification circuit amplifies sinusoidal electric signals and cosine electric signal, millivolt level is believed
Number it is amplified to volt grade, circuit includes operational amplifier, resistance R1, resistance R2, capacitor C1.Operational amplifier uses LF156.It will swash
Optical detector negativing ending grounding, anode give input terminal of the negative terminal as weak signal amplification circuit of operational amplifier LF156, fortune
Calculate one end of the anode connection resistance R1 of amplifier LF156.The other end of resistance R1 is grounded；Resistance R2 and capacitor C1 are in parallel, and one
Terminate the negative terminal of operational amplifier LF156, the output end of another termination operational amplifier；The output end of operational amplifier is as micro-
Phase-shift circuit is given in the output of small signals amplification circuit.
The calculation formula of weak signal amplification circuit output voltage are as follows:
Vout=Iin* R2 formula (7)
In formula, IinElectric current is exported for laser detector；
As shown in figure 3, amplified sinusoidal electric signals and cosine electrical signal phase can be adjusted to stringent by phase-shift circuit
90 ° of difference, circuit include including operational amplifier, adjustable resistance R4, resistance R3, resistance R5, capacitor C2；Operational amplifier uses
Input of the one end of OP 27, adjustable resistance R4 as phase-shift circuit, adjustable resistance R4 the other end connection capacitor C2 one end and
The input anode of operational amplifier OP27；The input of one end connection phase-shift circuit of resistance R3, the other end of resistance R3 connect fortune
Calculate the input negative terminal of amplifier OP27 and one end of resistance R5, the output end of the other end connection operational amplifier OP27 of R5, fortune
Calculate output end of the output end of amplifier OP27 as phase-shift circuit；The other end of capacitor C2 connects ground, operational amplifier OP27
Power supply termination power VCC, operational amplifier OP27 ground terminal ground connection.By adjusting the resistance value of adjustable resistance R4, Ji Kegai
Sin signal and cos signal are observed with oscillograph while being observed to the phase for becoming input signal, adjusts the resistance value of adjustable resistance R4, will
Sin signal and cos signal phase difference are adjusted to 90 degree.Then the sin signal of strict orthogonal and cos signal are sent into zero passage detection
Circuit.
As shown in Figure 4, Figure 5, the sinusoidal electric signals and cosine electric signal that phase-shift circuit exports are become A by zero cross detection circuit
Pulse and B pulse, circuit include comparator, resistance R6, adjustable resistance R7, resistance R8；Comparator selects LM139, and anode is made
For the input of zero cross detection circuit, negative terminal connects one end of resistance R6 and one end of adjustable resistance R7, the other end of resistance R6
Power supply VCC is connected, the other end of adjustable resistance R7 connects ground；The one end resistance R8 connects the anode of comparator LM139, resistance R8's
The other end connects the output end of comparator LM139, and the output end of LM139 is exported as zero cross detection circuit；Comparator LM139's
The ground terminal of power supply termination power VCC, comparator LM139 are grounded.By research in detail of the invention, by adjusting adjustable resistance R7
Resistance value, make comparator LM139 negative terminal input DC level anode input sinusoidal magnitude value 1/10th, as zero passage inspection
Survey threshold value, it is possible to prevente effectively from burr interfere, obtain ideal square wave electric signal, in Fig. 5 Uth+, Uth- be respectively rising edge and under
The threshold value on edge drops.Square wave electrical signal is sent into forward-backward counter circuit.
Forward-backward counter circuit is made of a piece of anti-fuse type FPGA A54SX72A-1CQ208B, can according to A pulse and
The phase relation of B pulse and the rising edge of A pulse carry out plus-minus counting to the rising edge quantity of A pulse.
0, counter is determined first, if swing arm first motion position is central axes and and the swing arm that beam splitter is located at swing arm
Axis parallel, which corresponds to the optical null of interferometer, this Count of Status result is 0；Then, A arteries and veins is detected with FPGA
The rising edge of the phase relation and A pulse of punching and B pulse, if 90 degree of pulse advance of A impulse phase ratio B, direction signs are " just
Turn ", if 90 degree of pulse advance of B impulse phase ratio A, direction signs are " reversion ".When direction signs are " rotating forward ", every detection
To the rising edge of an A pulse, count results add 1；When direction signs are " reversion ", the rising of an A pulse is often detected
Edge, count results subtract 1；Finally using the result of plus-minus counting as swing arm real time position, give to angular speed computing module and
Digitial controller.
Angular speed computing module is preferably completed by DSP SMJ320F240, can be carried out to the swing arm real time position of input micro-
Partite transport is calculated, and obtains the angular speed of swing arm, formula is as follows
Speed [1]=0.5218*speed [0]+478.2* (angle [1]-angle [0]) formula (8)
In formula: speed [0] is previous speed, and angle [0] is previous angle, and angle [1] is current angle
Degree, speed [1] are current speed.
Speed [1] is given to digitial controller as the angular speed of swing arm；
Ground checkout equipment is made of host computer computer, and swing arm motion mode instruction, packet can be sent by serial line interface
It includes speed switching command and repairs zero bias instruction；Speed switching command include instruction head, desired speed, verification and, repair zero bias instruct
Including instruction head, zero offset data, verification and.Director data packet is to fix 4 bytes, byte transmission sequence be byte 1~
Byte 4, transmission sequence big-endian in byte.Wherein the 1st byte is instruction head, and the 2nd byte and the 3rd byte are remote control ginseng
Number data, the 4th byte are check byte.Using it is cumulative and by the way of (not-carry) carry out data check, i.e. the 4th byte is preceding 3
A byte data cumulative and.Serial line interface instruction is sent to programming movement curve module.
Programming movement curve module is completed by DSP SMJ320F240, and programming movement curve module can be according to swing arm motion
Mode instruction cooks up the curve that swing arm position changes over time.Interferometer oscillatory scanning movement be it is a kind of repeatability it is reciprocal
Movement, swing arm have optical path difference uniform motion section during the scanning process, accelerate and retarded motion section.Optical path difference uniform motion section is corresponding
Sampling time section accelerates u-turn section corresponding with retarded motion section.By the form of position tracking curve, from respectively itself and its derivative
Flatness and easy implementation, we select sine curve fitting switch area curve.
If the swing arm of 0 moment is just being swept since first motion position, the curve equation in a scan period is as follows:
In formula: fsFor the laser beam frequency that semiconductor laser issues, T is that section sinusoidal periodic is reversed end for end in swing arm, is led to
It is often 2 times of the commutation section time, A is that section sine curve amplitude, t are reversed end for end in swing arm1Linearity range time, t are just being swept to be later half1~t2For
Just sweep commutation section time, t2~t3Linearity range time, t are swept to be counter3~t4Commutation section time, t are swept to be counter4~t5For the positive pipeline purging of first half
Property section time, unit ms.
P (t) is the theoretical position that t moment swing arm should reach in above formula.The programming movement curve is given digital control
Device.
Such as: the laser beam frequency of semiconductor laser sending is set as 36088Hz, just sweeps linearity range time and anti-pipeline purging
Property the section time be 1.1s, just sweeping commutation the section time and it is counter sweep commutation the section time be 0.35s, then T be 0.7s, A 3906, then
Programming movement curve is as shown in fig. 6, horizontal axis is the time, and the longitudinal axis is the theoretical position that any moment swing arm should reach, and unit is sharp
Light wave number.
Digitial controller is completed by DSP SMJ320F240, can be according to swing arm real time position, swing arm angular speed and planning
Curve movement determines the control amount of voice coil motor, and driving motor movement keeps optical path difference speed instability < 1% method as follows:
(1) error calculation link
Error=kp* (comg-fbk) formula (10)
In formula: error is the difference of programming movement curve and swing arm real time position, as the output of error calculation link,
Comg is the corresponding position of point on this control period planning curve movement, and fbk is swing arm real time position, and kp is position ring increasing
Benefit.
(2) single order controls compensation tache
The formula of the link is punit [1]=y0p*error+u0p*punit [2]+u1p*punit [3] formula (11)
In formula: error is the output of error calculation link, and punit [1] is that the single order in this control period controls compensation tache
Output, punit [2] are that the single order in previous control period controls compensation tache input, and punit [3] is the single order in this control period
Compensation tache input is controlled, y0p is that the single order in previous control period controls compensation tache output factor, and u0p is previous control week
The single order of phase controls compensation tache input coefficient, and u1p is that the single order in this control period controls compensation tache input coefficient；Y0p is 0
~10；U0p is 0~10；U1p is 0~10.
(3) velocity feedback link
The formula of the link are as follows:
TRCom=punit [1]-ks*speed；Formula (12)
In formula, punit [1] is that single order controls compensation tache output, and TRCom is that the control in this control period exports, speed
For the angular speed of swing arm, ks is velocity feedback coefficient, and ks is 0~1；
Finally, using TRCom as the control amount of voice coil motor, the global function comparator carried by DSP is converted into PWM wave,
Give motor-drive circuit.
Such as: it is 18044 in 0.5s moment corresponding position for the programming movement curve shown in Fig. 6, swing arm at this time
Real time position is 18000, if kp is 0.00122, then error is 0.05368；
If single order control compensation tache is that phase angle shifts to an earlier date 50 degree at 9Hz, y0p, u1p, u0p are obtained after discretization is respectively
0.8559,7.074,6.93, if the single order control compensation tache input in previous control period is 0.04, the single order in this control period
Compensation tache input 0.03 is controlled, then the single order control compensation tache output in this control period is 0.53532.
If ks is 0.000021507, the angular speed of swing arm is 10941, then finally obtaining TRCom can make for 0.3,0.3
For the control voltage of voice coil motor, it is converted into PWM wave and gives motor-drive circuit.
Motor-drive circuit is made of dual H-bridge driving chip LMD18200, the pwm signal that can export digitial controller
It send after carrying out power amplification to voice coil motor, controls voice coil motor and drive swing arm rotation.The LMD18200-2D of NS company is used as " H
Bridge " power amplification circuit carries dead zone protection function, and 50% duty ratio pwm signal corresponds to zero start, and average load current is
0；Correspond to forward current greater than 50% duty ratio pwm signal；Correspond to negative current less than 50% duty ratio pwm signal.
This Control System Design serial command receiving interface, the interference pattern zero bias that can be provided according to three line serial commands
Data correct swing arm motion mechanical zero, swing swing arm around zero optical path difference positional symmetry；
This control system can also generate u-turn signal and sampling pulse, make for being supplied to signal processor as exposure
Can and synchronization signal, it is empty in figure as shown in fig. 7, A pulse and B pulse are the two-way orthogonal pulses generated after zero passage detection in figure
Line indicates A pulse and B pulse along the opportunity of jump, and the method for generating u-turn signal and sampling pulse is as follows.
Count value is initialized as 0 as zero-bit by the count value resetted using FPGA；Counted number of pulses -79396 with+
Height is set to corresponding I/O port when between 79396, when being greater than+79396 or being less than -79396, corresponding I/O port is set low, is believed as u-turn
Number；
Using A/B pulses as source, 2 double frequency pulses are generated using xor operation, can be used as the sampling pulse of signal processor,
The half of optical maser wavelength is divided between its pulse position.
Interference-type Fourier transform spectrometer swing arm motion control system of the invention can drive swing arm stable operation, will
The sampling pulse that the present invention gives video processor is sent to oscillograph, since sampling pulse is by orthogonal A/B pulse frequency multiplication
It generates, the interval between each of which rising edge represents half of optical maser wavelength, i.e., is to wait location intervals between rising edge.With showing
Wave device measures the time interval between two rising edges, by the fluctuation at analysis time interval, that is, can be considered swing arm motion speed
Fluctuation, swing arm motion velocity perturbation is divided by datum speed value, as speed instability.Do the speed instability test of invention
Shown in result figure 8, horizontal axis represents pendulous frequency in Fig. 8, and the longitudinal axis represents the speed instability of certain measurement, can be seen by Fig. 8
Out, the speed instability index that the present invention reaches is 3/1000ths or so.
Unspecified part of the present invention belongs to common sense well known to those skilled in the art.
Claims (8)
1. a kind of interference-type Fourier transform spectrometer swing arm motion control system, characterized by comprising: semiconductor laser,
Laser detector 1, laser detector 2, weak signal amplification circuit, phase-shift circuit, zero cross detection circuit, forward-backward counter electricity
Road, angular speed computing module, programming movement curve module, digitial controller, motor-drive circuit, ground checkout equipment；
Semiconductor laser issue laser beam, into Fourier transform spectrometer optical system after be divided into two-way, respectively P light
With S light；
Laser detector 1, laser detector 2 receive P light and S light, carry out photoelectric conversion to P light and S light respectively, are generating two-way just
The interference signal of friendship, respectively sinusoidal electric signals and cosine electric signal are sent to weak signal amplification circuit, sinusoidal electric signals and remaining
String electric signal is millivolt level；
Weak signal amplification circuit amplifies sinusoidal electric signals and cosine electric signal, and millivolt level signal is amplified to volt grade and is sent
To phase-shift circuit；
After amplified sinusoidal electric signals and cosine electrical signal phase are adjusted to 90 ° of difference by phase-shift circuit, as phase-shift circuit
Output send to zero cross detection circuit；
The sinusoidal electric signals of phase-shift circuit output and cosine electric signal are become A pulse and B pulse, A arteries and veins by zero cross detection circuit
Punching and B impulse phase differ 90 °；
Forward-backward counter circuit is capable of detecting when the phase relation of A pulse and B pulse and the rising edge of A pulse, reciprocal in swing arm
When movement, plus-minus counting is carried out to the rising edge quantity of A pulse；It send count results as swing arm real time position to angular speed meter
Calculate module and digitial controller；
Angular speed computing module differentiates to the swing arm real time position of input, and the angular speed for obtaining swing arm is sent to number
Controller；
Ground checkout equipment can send swing arm motion mode instruction, comprising: speed switching command is instructed with zero bias are repaired, and will be put
The instruction of arm motor pattern is sent to programming movement curve module；Speed switching command can change swing arm motion speed；Zero bias are repaired to refer to
Enable the mechanical zero position that can change swing arm motion；
Programming movement curve module determines the curve that swing arm position changes over time according to swing arm motion mode instruction, by the song
Line is sent to digitial controller；
Digitial controller, the swing arm exported according to the swing arm real time position of forward-backward counter circuit output, angular speed computing module
Angular speed and programming movement curve, determine the control amount of voice coil motor, which is pwm signal, send to motor-drive circuit；
Motor-drive circuit send to voice coil motor after the pwm signal of digitial controller output is carried out power amplification, controls voice coil
Motor drives swing arm rotation.
2. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 1, feature exist
In: weak signal amplification circuit includes operational amplifier, resistance R1, resistance R2, capacitor C1；
External laser detector negativing ending grounding, the input negative terminal that anode gives operational amplifier LF156 are amplified as small-signal
The input terminal of circuit, one end of the input anode connection resistance R1 of operational amplifier LF156；The other end of resistance R1 is grounded；Electricity
The input negative terminal of a termination operational amplifier LF156 of R2 and capacitor C1 parallel network is hindered, it is another to terminate the defeated of operational amplifier
Outlet；Output end of the output end of operational amplifier as weak signal amplification circuit, the power supply termination of operational amplifier LF156
The ground terminal of power supply VCC, operational amplifier LF156 are grounded；
Weak signal amplification circuit calculation formula are as follows:
The output end V of weak signal amplification circuitout=Iin* R2 formula (1)
In formula, IinElectric current is exported for laser detector.
3. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 1, feature exist
In: phase-shift circuit, including operational amplifier, adjustable resistance R4, resistance R3, resistance R5, capacitor C2；
Input of the one end of adjustable resistance R4 as phase-shift circuit, one end of the other end connection capacitor C2 of adjustable resistance R4 and fortune
Calculate the input anode of amplifier OP27；The input of one end connection phase-shift circuit of resistance R3, the other end of resistance R3 connect operation
The input negative terminal of amplifier OP27 and one end of resistance R5, the output end of the other end connection operational amplifier OP27 of R5, operation
Output end of the output end of amplifier OP27 as phase-shift circuit；The other end of capacitor C2 connects ground, operational amplifier OP27's
The ground terminal of power supply termination power VCC, operational amplifier OP27 are grounded；
By adjusting the resistance value of adjustable resistance R4, change the phase of input signal, by sinusoidal electric signals and cosine electric signal, i.e.,
Sin signal and cos signal phase difference are adjusted to 90 degree, and the resistance value regulated quantity of R4 is determines according to actual conditions.
4. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 1, feature exist
In: zero cross detection circuit, including comparator, resistance R6, adjustable resistance R7, resistance R8；
Input of the anode of comparator LM139 as zero cross detection circuit, one end of the negative terminal connection resistance R6 of comparator LM139
With one end of adjustable resistance R7, the other end of resistance R6 connects power supply VCC, and the other end of adjustable resistance R7 connects ground；Resistance R8
One end connects the anode of comparator LM139, the output end of the other end connection comparator LM139 of resistance R8, the output end of LM139
It is exported as zero cross detection circuit；The ground terminal of power supply the termination power VCC, comparator LM139 of comparator LM139 are grounded；
By adjusting the resistance value of adjustable resistance R7, the amplitude for the DC voltage sinusoidal signal for inputting comparator LM139 negative terminal
1/10th, as zero passage detection threshold value, ideal square wave can be obtained.
5. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 1, feature exist
In: according to the rising edge of the phase relation and A pulse of A pulse and B pulse, plus-minus counting is carried out to the rising edge quantity of A pulse,
Method is as follows:
If swing arm first motion position is that beam splitter is located at the central axes of swing arm and the axis parallel with swing arm, the state is corresponding
The optical null of interferometer, this Count of Status result are 0；
If 90 degree of pulse advance of A impulse phase ratio B, direction signs are " rotating forward ", if 90 degree of pulse advance of B impulse phase ratio A,
Then direction signs are " reversion "；
When direction signs are " rotating forward ", the rising edge of an A pulse is often detected, count results add 1；
When direction signs are " reversion ", the rising edge of an A pulse is often detected, count results subtract 1；
Finally using the result of plus-minus counting as swing arm real time position, i.e. plus-minus counting result.
6. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 5, feature exist
In: it is differentiated using swing arm real time position of the iterative manner to input, obtains the angular speed of swing arm, formula is as follows
Speed [1]=0.5218f*speed [0]+478.2f* (angle [1]-angle [0])；Formula (2)
In formula: speed [0] is the angular speed of the swing arm rotation in previous control period, and angle [0] is previous control period swing arm
Real time position, angle [1] are this control period swing arm real-time angular, and speed [1] is the angle speed of this control period swing arm rotation
Degree, f indicate the number of Float type；
When first time iteration, speed [0], angle [0], angle [1] are all initialized as 0.
7. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 1, feature exist
In: programming movement curvilinear mold root tuber cooks up the curve that swing arm position changes over time according to swing arm motion mode instruction；If when 0
It carves, swing arm is just being swept since first motion position, and the curve equation in a scan period is as follows:
In formula: fsFor the laser beam frequency that semiconductor laser issues, T is that section sinusoidal periodic is reversed end for end in swing arm, for the section that commutates
2 times of time, A are that section sine curve amplitude, t are reversed end for end in swing arm1Linearity range time, t are just being swept to be later half1~t2It is positive and sweeps commutation section
Time, t2~t3Linearity range time, t are swept to be counter3~t4Commutation section time, t are swept to be counter4~t5The linearity range time is just being swept for first half,
Unit is ms；
P (t) is the theoretical position that t moment swing arm should reach in above formula, i.e. programming movement curve, which is sent
To digitial controller.
8. a kind of interference-type Fourier transform spectrometer swing arm motion control system according to claim 7, feature exist
In: the swing arm angle that digitial controller is exported according to swing arm real time position, the angular speed computing module of forward-backward counter circuit output
Speed and programming movement curve, determine the control amount of voice coil motor, the method is as follows:
(1) error calculation link
Error=kp* (comg-fbk) formula (4)
In formula: error is the difference of programming movement curve and swing arm real time position, and as the output of error calculation link, comg is
The corresponding position of point on this control period planning curve movement, fbk are swing arm real time position, and kp is position loop gain；
(2) single order controls compensation tache
The formula of the link is
Punit [1]=y0p*error+u0p*punit [2]+u1p*punit [3] formula (5)
In formula: error is the output of error calculation link, and punit [1] is that the single order control compensation tache in this control period is defeated
Out, punit [2] is that the single order in previous control period controls compensation tache input, and punit [3] is the single order control in this control period
Compensation tache input processed, y0p are that the single order in previous control period controls compensation tache output factor, and u0p is the previous control period
Single order control compensation tache input coefficient, u1p be this control period single order control compensation tache input coefficient；Y0p be 0~
10；U0p is 0~10；U1p is 0~10；
(3) velocity feedback link
The formula of the link are as follows:
TRCom=punit [1]-ks*speed；Formula (6)
In formula, punit [1] is that single order controls compensation tache output, and TRCom is that the control in this control period exports, and speed is pendulum
The angular speed of arm, ks are velocity feedback coefficient, and ks is 0~1；
Finally, using TRCom as the control amount of voice coil motor.
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| CN107860474A (en) * | 2017-10-30 | 2018-03-30 | 中国科学院合肥物质科学研究院 | Phase self compensation interferometer |
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