CN107272411A - Plug-in acceleration feedback fast reflecting mirror light beam stability control method - Google Patents
Plug-in acceleration feedback fast reflecting mirror light beam stability control method Download PDFInfo
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Abstract
The invention relates to a plug-in acceleration feedback fast-reflection mirror light beam stability control method, which has the core idea that after a gyroscope and a CCD (charge coupled device) double closed loop are realized, an acceleration sensor is used for observing and compensating disturbance, and then the influence on the disturbance acceleration of a base is directly eliminated. The method is independent from the outer ring in design, namely the realization of the inner acceleration ring and the outer gyro position ring are not influenced mutually, and the method can be used as a plug-in to be directly connected into a system when necessary without damaging the characteristics of the system, so that the method is called as a plug-in type acceleration feedback control method. On a control frame, the method only needs the acceleration object characteristics and an acceleration controller with a nearly constant value, simplifies the control flow and the controller design, avoids the accurate zero-pole compensation of the traditional acceleration feedback method, and is easier to realize in engineering. Compared with the traditional three-closed-loop control method, the method can effectively improve the disturbance suppression capability of the system at the intermediate frequency and improve the system performance.
Description
Technical field
The invention belongs to electro-optical system tracing control field, a kind of fast anti-mirror of plug-in type accelerator feedback is specifically related to
Beamstability control method, for simplifying system acceleration control design case, lifting system Disturbance Rejection ability.
Background technology
Fast anti-mirror as the core component of optical precision tracking control system have been widely used for long range laser communication,
In the forward position optical systems such as adaptive optics, space telescope system.With the continuous expansion of application field, it is gradually mounted
On the motion platforms such as spacecraft, aircraft, automobile.The disturbance of motion platform top base can be directly delivered on fast anti-mirror minute surface,
So as to reduce the tenacious tracking precision of deflection light beam, great brokenization systematic function.Disturbance on motion carrier is wide-band, is passed
The control method of system mainly carries out fast anti-mirror stable inertia by gyro and ccd sensor, but its interference rejection ability is limited, it is impossible to
Meet the stability contorting requirement of requirements at the higher level.With the development of accelerometer, it has small volume, lightweight, small power consumption excellent
Gesture, makes it possible application of the accelerometer on fast anti-mirror.Document《Inertial sensor-based multi-loop
control of fast steering mirror for line of sight stabilization》(Optical
Engineering, Vol (55), 2016) realize that three rings are stable using accelerometer, gyro and CCD, improve fast anti-mirror stable
Ability.But, here due to there are two subdifferentials in the acceleration plant characteristic of fast anti-mirror, for the controller in acceleration ring
For, to carry out full compensation can not realize, so as to cause its acceleration controller to have certain difficulty in design, in engineering
It is larger using limiting to.
The content of the invention
The deficiency existed for current fast anti-mirror Disturbance Rejection control method, it is an object of the invention to provide a kind of plug-in type
The fast anti-mirror beamstability control method of accelerator feedback, simplify control framework and controller design, further lifting system
Energy.The core concept of this method is that after gyro and CCD two close cycles are realized, the observation that acceleration transducer is used as to disturbance is mended
Repay, then directly eliminate the influence to pedestal disturbance acceleration.Because accelerometer has high natural excellent of small volume, bandwidth
Gesture, and the disturbance observation way of thinking is higher to the identification bandwidth requirement of object in itself, therefore this realizes sensor and controlling party
The advantage superposition of method, effect is preferable.Because the method is independent with outer shroud in design, that is, the realization of interior acceleration ring and outer
Gyro position ring is independent of each other, therefore the method can be when being necessary directly accessed to the system without to system as plug-in unit
Characteristic causes damage, so that referred to as plug-in type acceleration feedback control method.On control framework, this method needs only
It is the acceleration controller of acceleration plant characteristic and an intimate constant, simplifies control flow and controller design, avoid
The accurate zero pole point compensation of conventional acceleration feedback method, makes this method more advantageous in Project Realization.This method according to
The old thought that make use of feedback, the robustness of system enhanced in theory.
To realize the purpose of the present invention, the present invention provides a kind of fast anti-mirror beamstability control of plug-in type accelerator feedback
Method, its specific implementation step is as follows：
Step (1)：Accelerometer, gyroscopic inertia sensor and CCD positions are installed in fast anti-mirror tracking control system to pass
Sensor, deflection angular acceleration, angular speed and Angle Position amount to measure fast anti-mirror.The sample frequency of inertial sensor it is general compared with
Height, mainly to realize a linear inner ring of high bandwidth, a linear controlled device is provided for outer shroud；
Step (2)：Acceleration, the speed in frequency plant characteristic of platform are tested by frequency response tester, it is defeated
Enter for controller output valve, be output as sensor sample value, it is final to obtain object mould by being recognized to measured object
Type GaAnd G (s)v(s)；
Step (3)：Getting plant model Gv(s) on the basis of, inner loop velocity controller C is designedv(s) speed is realized
Feedback closed loop is spent, then again by the object model after frequency response tester test speed inner ring closed loop, it is given to input
Position, is output as CCD amounts, and this object model is outer shroud plant model, referred to as Gp(s) CCD ring controllers can, then be designed
Cp(s) traditional double-closed-loop control, is thus constituted；
Step (4)：Plug-in type acceleration feedback control is added, first speed control Cv(s) output driving amount is removed
It is directly fed to outside hardware driving, is also sent out to a virtual objects simultaneouslyAdd so as to obtain a preferable output
Speed amount；Then this preferable output quantity is subtracted with the acceleration magnitude measured by actual acceleration meter, it is so true using one
The output quantity containing disturbance and a preferable undisturbed output quantity ask poor Observable to go out outside disturbance quantity；
Step (5)：The estimation external disturbance amount is input in acceleration feedback control device then output truly to be feedovered
Amount, finally the feedforward amount be directly added into speed control it is given in, so just realize overall plug-in type acceleration anti-
Feedback control.
Wherein, inner loop velocity controller C in step (3)v(s) with outer shroud CCD positioners Cp(s) PI controls are designed to
Device processed, its model reference is as follows：
Wherein, KPFor proportional gain, KIFor storage gain.
Wherein, because accelerometer is sensitive to medium-high frequency in step (4), so the object precision measured by it is higher, can
To think that virtual objects and real object are suitable.In addition, the external disturbance amount observed is by being then based on obtained by accelerometer, institute
It is disturbing moment amount to observe obtained disturbance quantity.
Wherein, feedforward controller C ' in step (5)a(s) a constant equivalent is theoretically, but is due to observed number
According to including certain noise, therefore, C 'a(s) it is designed as such as the controller model of lower band first-order filtering link：
Wherein, TfFor filter filtering bandwidth factor.After the design of Compensator that feedovers is as above model, whole backfeed loop
Disturbance Rejection ability high-pass filtering characteristic is presented so that the low frequency aberration rejection ability of strong raising system, that is, in
Low frequency tracking performance.
The present invention has the following advantages that compared with prior art：
(1) relatively conventional direct acceleration feedback control method, the invention uses the thought based on disturbance observer, keeps away
The controller design directly compensated using zero pole point is opened, can effectively reduce acceleration ring realizes difficulty, optimizes control
Structure processed, lifts its practicality in Practical Project；
(2) realization of accelerator feedback is on outside velocity location ring without influence in this method, and independence, is used as one during design
Plug-in unit is optionally added in control loop, improves the adaptability of system in varied situations；
(3) this method can effectively improve the intermediate frequency error rejection of system, and lifting system robustness meets Practical Project
To the demand of lasting accuracy.
Brief description of the drawings
Fig. 1 is a kind of control block diagram of the fast anti-mirror beamstability control method of plug-in type accelerator feedback of the present invention；
Fig. 2 is a kind of error suppression pair of the fast anti-mirror beamstability control method of plug-in type accelerator feedback of the present invention
Than figure.
Embodiment
The embodiment of the present invention is elaborated below in conjunction with accompanying drawing.
The control block diagram of the fast anti-mirror beamstability control method of a kind of plug-in type accelerator feedback as shown in figure 1,
Including internal accelerator feedback closed loop, gyro speed closed loop and CCD positions outer shroud.The core concept of this method is to accelerate
Disturbance observer is introduced in degree ring, disturbing moment is estimated using model, then carries out feedback compensation.Due to control block diagram
Optimization, accelerometer may be designed as a constant controller in theory.The specific implementation of closed-loop control is realized using methods described
Step is as follows：
Step (1)：Accelerometer, gyroscopic inertia sensor and CCD positions are installed in fast anti-mirror tracking control system to pass
Sensor, deflection angular acceleration, angular speed and Angle Position amount to measure fast anti-mirror.The sample frequency of inertial sensor it is general compared with
Height, mainly to realize a linear inner ring of high bandwidth, a linear controlled device is provided for outer shroud；
Step (2)：Acceleration, the speed in frequency plant characteristic of platform are tested by frequency response tester, it is defeated
Enter for controller output valve, be output as sensor sample value, it is final to obtain object mould by being recognized to measured object
Type GaAnd G (s)v(s)；
Step (3)：Getting plant model Gv(s) on the basis of, inner loop velocity controller C is designedv(s) speed is realized
Feedback closed loop is spent, then again by the object model after frequency response tester test speed inner ring closed loop, it is given to input
Position, is output as CCD amounts, and this object model is outer shroud plant model, referred to as Gp(s) CCD ring controllers can, then be designed
Cp(s) traditional double-closed-loop control, is thus constituted；
Step (4)：Plug-in type acceleration feedback control is added, first speed control Cv(s) output driving amount is removed
It is directly fed to outside hardware driving, is also sent out to a virtual objects simultaneouslyAdd so as to obtain a preferable output
Speed amount；Then this preferable output quantity is subtracted with the acceleration magnitude measured by actual acceleration meter, it is so true using one
The output quantity containing disturbance and a preferable undisturbed output quantity ask poor Observable to go out outside disturbance quantity；
Step (5)：The estimation external disturbance amount is input in acceleration feedback control device then output truly to be feedovered
Amount, finally the feedforward amount be directly added into speed control it is given in, so just realize overall plug-in type acceleration anti-
Feedback control.
Wherein, inner loop velocity controller C in step (3)v(s) with outer shroud CCD positioners Cp(s) PI controls are designed to
Device processed, its model reference is as follows：
Wherein, KPFor proportional gain, KIFor storage gain.
Wherein, because accelerometer is sensitive to medium-high frequency in step (4), so the object precision measured by it is higher, can
To think that virtual objects and real object are suitable.In addition, the external disturbance amount observed is by being then based on obtained by accelerometer, institute
It is disturbing moment amount to observe obtained disturbance quantity.
Wherein, feedforward controller C ' in step (5)a(s) a constant equivalent is theoretically, but is due to observed number
According to including certain noise, therefore, C 'a(s) it is designed as such as the controller model of lower band first-order filtering link：
Wherein, TfFor filter filtering bandwidth factor.After the design of Compensator that feedovers is as above model, whole backfeed loop
Disturbance Rejection ability high-pass filtering characteristic is presented so that the low frequency aberration rejection ability of strong raising system, that is, in
Low frequency tracking performance.
The design process and effect to the present invention by taking a fast anti-mirror tracking platform experimental system as an example are carried out specifically below
It is bright：
(1) it is respectively as follows to measure the acceleration and speed plant model of system by frequency response tester
(2) and then inner loop velocity controller can be designed for Cv(s) with outer shroud CCD controllers Cp(s) realize that tradition is bicyclic to close
Ring, wherein CCD frequencies are 50Hz, are delayed as 3 frames (60ms)；
(3) on the basis of traditional two close cycles are completed, plug-in type acceleration feedback control device is designed, can be calculated by theory
It is 0.65 to go out acceleration controller gain, and filtering bandwidth can be designed into 100Hz or so, therefore real acceleration controller can be set
It is calculated as follows；
(4) if Fig. 2 is the Disturbance Rejection ability comparison diagram of the present invention.In the same circumstances, it can clearly find out and use
After accelerator feedback closed-loop control based on disturbance observer, the error rejection ability and three traditional closed loops in low frequency of system
Method quite, but is greatly improved in the error rejection ability of intermediate frequency, while ensureing system stability characteristic (quality), has continued the mistake of high frequency
Poor rejection ability.
Claims (4)
1. a kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback, it is characterised in that：Its specific implementation step
It is as follows：
Step (1)：Accelerometer, gyroscopic inertia sensor and CCD position sensors are installed in fast anti-mirror tracking control system,
Deflection angular acceleration, angular speed and Angle Position amount to measure fast anti-mirror；Inertial sensor is to realize a high band the wide line
Property inner ring, a linear controlled device is provided for outer shroud；
Step (2)：Acceleration, the speed in frequency plant characteristic of platform are tested by frequency response tester, inputs and is
Controller output valve, is output as sensor sample value, by being recognized to measured object, final to obtain object model Ga
And G (s)v(s)；
Step (3)：Getting plant model Gv(s) on the basis of, inner loop velocity controller C is designedv(s) realize that speed is anti-
Closed loop is presented, then again by the object model after frequency response tester test speed inner ring closed loop, is inputted as given position,
CCD amounts are output as, this object model is outer shroud plant model, referred to as Gp(s) CCD ring controllers C can, then be designedp(s),
Thus constitute traditional double-closed-loop control；
Step (4)：Plug-in type acceleration feedback control is added, first speed control Cv(s) output driving amount is removed and directly sent
Outside to hardware driving, also a virtual objects are sent out to simultaneouslySo as to obtain a preferable output acceleration
Amount；Then this preferable output quantity is subtracted with the acceleration magnitude measured by actual acceleration meter, is so truly contained using one and disturbed
Dynamic output quantity and a preferable undisturbed output quantity ask poor Observable to go out outside disturbance quantity；
Step (5)：The estimation external disturbance amount is input in acceleration feedback control device then output and obtains true feedforward amount, most
Afterwards the feedforward amount be directly added into speed control it is given in, so just realize overall plug-in type accelerator feedback control
System.
2. a kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback according to claim 1, its feature
It is：Wherein, inner loop velocity controller C in step (3)v(s) with outer shroud CCD positioners Cp(s) PI controls are designed to
Device, its model reference is as follows：
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<mo>)</mo>
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<mo>=</mo>
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</mrow>
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</mfrac>
</mrow>
Wherein, KPFor proportional gain, KIFor storage gain.
3. a kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback according to claim 1, its feature
It is：Wherein, so the object precision measured by it is higher, it can recognize because accelerometer is sensitive to medium-high frequency in step (4)
It is that virtual objects and real object are suitable；In addition, the external disturbance amount observed is by being then based on obtained by accelerometer, so seeing
The disturbance quantity measured is disturbing moment amount.
4. a kind of fast anti-mirror beamstability control method of plug-in type accelerator feedback according to claim 1, its feature
It is：Wherein, feedforward controller C in step (5)a' (s) is theoretically a constant equivalent, but is due to observed data
Include certain noise, therefore, Ca' (s) is designed as such as the controller model of lower band first-order filtering link：
<mrow>
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<mi>C</mi>
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Wherein, TfFor filter filtering bandwidth factor, when the design of Compensator that feedovers is as above model after, whole backfeed loop is disturbed
High-pass filtering characteristic is presented in dynamic rejection ability, so that the low frequency aberration rejection ability of strong raising system, that is, middle low frequency
Tracking performance.
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Cited By (5)
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| CN108646568A (en) * | 2018-07-05 | 2018-10-12 | 中国科学院光电技术研究所 | Tilting mirror vibration suppression method based on improved disturbance observer |
| CN108931916A (en) * | 2018-07-17 | 2018-12-04 | 西安交通大学 | The tracking control system of anti-mirror and bandwidth improve and phase-lag compensation method electromagnetic type fastly |
| CN109541945A (en) * | 2019-01-10 | 2019-03-29 | 中国科学院光电技术研究所 | Disturbance suppression method based on composite disturbance observer |
| CN110031652A (en) * | 2019-04-23 | 2019-07-19 | 中国科学院光电技术研究所 | A kind of suppressing method of accelerometer drift and noise |
| CN111443738A (en) * | 2020-04-16 | 2020-07-24 | 中国科学院光电技术研究所 | Disturbance suppression method based on combination of MEMS accelerometer and acceleration disturbance observer |
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| CN111443738A (en) * | 2020-04-16 | 2020-07-24 | 中国科学院光电技术研究所 | Disturbance suppression method based on combination of MEMS accelerometer and acceleration disturbance observer |
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Application publication date: 20171020 |