CN108873682A - A kind of tilting mirror vibration suppressing method based on improved repetitive controller - Google Patents
A kind of tilting mirror vibration suppressing method based on improved repetitive controller Download PDFInfo
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- CN108873682A CN108873682A CN201810729032.3A CN201810729032A CN108873682A CN 108873682 A CN108873682 A CN 108873682A CN 201810729032 A CN201810729032 A CN 201810729032A CN 108873682 A CN108873682 A CN 108873682A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
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Abstract
The invention discloses a kind of tilting mirror vibration suppressing method based on improved repetitive controller, which is inserted into Tip-Tilt Mirror System to inhibit to vibrate.For Repetitive controller as a kind of learning-oriented strategy, it so that error attenuated is enhanced, and can realize most preferably calibration to system interference in the situation known to system disturbance frequency.Disturbance can be amplified this problem under aperiodicity frequency for traditional repetitive control by the present invention, it proposes that a kind of improved repetitive controller is optimized from control algolithm, the disturbance of other frequencies will not be caused to amplify on the basis of improving system disturbance rejection ability.Furthermore this method only needs an imaging sensor, at low cost.Meanwhile structure is simple, and it is easy to operate and realize independent of model, it not will lead to the compromise between vibration suppression and noise transmission.
Description
Technical field
The invention belongs to photoelectric trackings and control field, and in particular to a kind of tilting mirror based on improved repetitive controller
Vibration suppressing method is mainly used for improving the Disturbance Rejection ability of such as astronomical telescope system photoelectric follow-up, improves system
System closed-loop characteristic.
Background technique
One of the important technology difficult point for needing to overcome in astronomical telescope system at present is exactly to inhibit vibration, to obtain height
Blur-free imaging.For Repetitive controller as a kind of learning-oriented strategy, it can be on the basis for not increasing number of sensors, independent of model
On, when known to system disturbance frequency, realizes most preferably calibration, effectively improve the Disturbance Rejection ability of system.Even so,
Traditional Repetitive controller can amplify disturbance under aperiodicity frequency.This research is intended to invent a kind of improved Repetitive controller
Device alleviates disturbance amplification of the Repetitive controller under aperiodicity frequency, to further increase this method in terms of Disturbance Rejection
Advantage.
Summary of the invention
System performance is influenced for large telescope mechanical oscillatory structure, and this vibration can not be by the adaptive of classics
The problem of optical control is compensated further increases the disturbance suppression of system set forth herein a kind of improved repetitive controller
Ability processed.
To achieve the purpose of the present invention, the present invention provides a kind of tilting mirror vibration suppression based on improved repetitive controller
Method, specific implementation step are as follows：
Step (1)：The experiment porch under a classical feedback control loop is built, is detected with PSD (position sensor)
The deviation of target is simultaneously fed back into control loop；
Step (2)：Utilize PSD design position controller C (z-1), basic position closed loop is completed, composition feedback control is returned
Road；
Step (3)：Improved repetitive controller structure is constructed, is realized a kind of based on the outstanding improved repetition control for drawing parametrization
Device structure processed, and will be in the feedback control loop of improved repetitive controller inserting step (2)；
Step (4)：Aiming at the problem that repetitive control can amplify disturbance under aperiodicity frequency, a conjunction is designed
Suitable Q filter, to improve the Disturbance Rejection ability and closed-loop characteristic of system.
Wherein, in step (4), in order to alleviate the amplification of the disturbance under aperiodicity frequency, the present invention devises one newly
Additional sensitivity function EIRC(z-1), it can be expressed as：
Wherein, EIRC(z-1) be additional sensitivity function abbreviation, be embodied as EIRC(z-1)=1-QIRC(z-1)；α
It is an adjustable parameter, α ∈ [0,1], z-NIt is a delay link；q(z-1, l) and it is a low-pass filter, l is one just whole
Number；
As a result, in the Q filter Q of discrete domainIRC(z-1) following form can be expressed as：
Wherein, the q (z in the improved repetitive controller in the present invention-1, l) and it is MA (moving average) filter
The form of wave device, the MA filter is as follows：
Wherein, z-lIt is a delay link；q(z-1, l) and it is a low-pass filter, and q (z-1, l) and it can be expressed as
q(z-1, l) and=alzl+al-1zl-1+…+a0+…+al-1z-l+1+alz-l, wherein l is a positive integer, and q (z-1, l) and expression formula
In coefficient meet al=al-1=...=a0=1/ (2l+1).
The present invention has the following advantages that compared with prior art：
(1) Repetitive controller is as a kind of learning-oriented strategy, it can in the situation known to system disturbance frequency so that
Error attenuated is enhanced, and realizes most preferably calibration, effectively improves the Disturbance Rejection ability of system.
(2) even if in PI controller frequency range in the case where no vibration, the method for this research invention also keeps light
Micro- advantage.
(3) this method can not cause the disturbance of other frequencies to be amplified while improving system disturbance rejection ability.
(4) this method is low to model degree of dependence, not will lead to the folding between the AF panel and noise transmission in loop
Inner feelings.
(5) this method optimizes system from control algolithm, it is only necessary to which a position sensor controls at low cost.
(6) this method is easy to operate and realize, and the scope of application is wider.
Detailed description of the invention
Fig. 1 is classical feedback control experiment porch schematic diagram, and 1 is laser, and 2 be tilting mirror, and 3 be voice coil motor, and 4 are
Driving, 5 be controller, and 6 be position sensor PSD.
Fig. 2 is classical feedback structure block diagram.
Fig. 3 is a kind of control of the tilting mirror vibration suppressing method based on improved repetitive controller proposed in the present invention
Figure.
Fig. 4 is the additional sensitivity function E of traditional repetitive controllerCRC(z-1) amplitude-frequency response figure.
Fig. 5 is the additional sensitivity function E of improved repetitive controllerIRC(z-1) amplitude-frequency response figure.
Fig. 6 is disturbed condition comparison diagram of a certain tilting mirror platform under opened loop control and integration control.
Fig. 7 is a certain tilting mirror platform in the case where being inserted into traditional repetitive controller and the improved repetitive controller of the present invention
Vibration comparison diagram.
Specific embodiment
Below in conjunction with attached drawing, specific embodiments of the present invention will be described in detail.
As shown in Fig. 1, Fig. 1 is classical feedback control experiment porch schematic diagram, including laser 1, tilting mirror 2, sound
Enclose motor 3, driving 4, controller 5, position sensor PSD 6.
It is a kind of control block diagram of tilting mirror vibration suppressing method based on improved repetitive controller as shown in Fig. 3,
CCD position loop and repetitive controller are wherein wrapped, improving system performance using described device, the specific implementation steps are as follows：
Step (1)：The experiment porch under a classical feedback control loop is built, is detected with PSD (position sensor)
The deviation of target is simultaneously fed back into control loop；
Step (2)：Utilize PSD design position controller C (z-1), basic position closed loop is completed, composition feedback control is returned
Road；
Step (3)：Improved repetitive controller structure is constructed, is realized a kind of based on the outstanding improved repetition control for drawing parametrization
Device structure processed, and will be in the feedback control loop of improved repetitive controller inserting step (2), wherein improved Repetitive controller
Device Ceq(z-1) form below can be expressed as：
Wherein, C (z-1) that indicate is positioner, Q (z-1) that indicate is a low-pass filter, z-nIndicate be
One delay link,That indicate is control module G (z-1) it is inverse.
Step (4)：Aiming at the problem that repetitive control can amplify disturbance under aperiodicity frequency, a conjunction is designed
Suitable Q filter solves the problems, such as this, to improve the Disturbance Rejection ability and closed-loop characteristic of system.
The Q filter Q of traditional repetitive controller (CRC)CRC(z-1) it is a simple low-pass filter, it can indicate
For：
QCRC(z-1)=z-Nq(z-1,l)
Wherein, z-NIt is a delay link；q(z-1, l) and it is a low-pass filter, and q (z-1, l) and q can be expressed as
(z-1, l) and=alzl+al-1zl-1+…+a0+…+al-1z-l+1+alz-l, wherein l is a positive integer, q (z-1, l) and in expression formula
Coefficient meets 2 (al+al-1+…+a1)+a0=1.We define the additional sensitivity function E of traditional repetitive controllerCRC(z-1) be
Following form：
ECRC(z-1)=1-z-Nq(z-1,l)
The additional sensitivity function E of traditional repetitive controllerCRC(z-1) amplitude-frequency response it is as shown in Fig. 4, it can be seen that pass
The repetitive controller of system produces a high gain under period frequency to eliminate interference, but the controller is also at other
It is exaggerated gain in aperiodicity frequency, the gain amplification of 6dB can be generated in the worst case, this is our AF panel controls
The undesirable situation of system processed.In order to alleviate this disturbance amplification under aperiodicity frequency, the present invention devises one
A new additional sensitivity function EIRC(z-1), it can be expressed as：
EIRC(z-1)=1-QIRC(z-1)
Wherein, α is an adjustable parameter, α ∈ [0,1].With the additional sensitivity of the improved repetitive controller of variation of α
Function EIRC(z-1) amplitude-frequency response it is as shown in Fig. 5.It is equal to traditional repetitive controller when α is 0, with the increase of α
Gradually weaken in the amplification that aperiodic frequency goes out, solves the problems, such as initially proposition of the invention.The present invention designs as a result,
In the Q filter Q of discrete domainIRC(z-1) following form can be expressed as：
Wherein, the q (z in improved repetitive controller in the present invention-1, l) and it is a MA (moving average)
The form of filter, the MA filter is as follows：
Wherein, q (z-1, l) and the coefficient in expression formula meets al=al-1=...=a0=1/ (2l+1).
Effectiveness of the invention is verified by taking a certain tilting mirror plateform system as an example below.
The tilting mirror platform can be measured on the basis of completing step (1), step (2) in opened loop control, simple product
Vibration interference situation in the case of sub-controller control, as shown in Fig. 6.It, can be with while carrying out step (3), step (4)
Traditional repetitive controller and improved repetitive controller proposed by the present invention are inserted respectively into existing feedback control respectively
Disturbed condition in the case of measuring two kinds in circuit in system, as shown in Fig. 7, it can be clearly seen that, it is improved in the present invention
Repetitive controller sufficiently demonstrates the validity and superiority of this method stronger to the rejection ability of vibration.
Claims (3)
1. a kind of tilting mirror vibration suppressing method based on improved repetitive controller, it is characterised in that：Its step are as follows：
Step (1)：The experiment porch under a classical feedback control loop is built, detects target with PSD (position sensor)
Deviation and feed back into control loop；
Step (2)：Utilize PSD design position controller C (z-1), basic position closed loop is completed, feedback control loop is formed；
Step (3)：Improved repetitive controller structure is constructed, is realized a kind of based on the outstanding improved repetitive controller for drawing parametrization
Structure, and will be in the feedback control loop of improved repetitive controller inserting step (2)；
Step (4)：Aiming at the problem that repetitive control can amplify disturbance under aperiodicity frequency, one is designed suitably
Q filter, to improve the Disturbance Rejection ability and closed-loop characteristic of system.
2. a kind of tilting mirror vibration suppressing method based on improved repetitive controller according to claim 1, feature
It is：In order to alleviate the amplification of the disturbance under aperiodicity frequency, a new additional sensitivity function E is devisedIRC(z-1),
It can be expressed as：
Wherein, EIRC(z-1) be additional sensitivity function abbreviation, be embodied as EIRC(z-1)=1-QIRC(z-1)；α is one
A adjustable parameter, α ∈ [0,1], z-NIt is a delay link；q(z-1, l) and it is a low-pass filter, l is a positive integer；
As a result, in the Q filter Q of discrete domainIRC(z-1) following form can be expressed as：
3. a kind of tilting mirror vibration suppressing method based on improved repetitive controller according to claim 1, feature
It is：Q (z in improved repetitive controller-1, l) and it is MA (moving average) filter, the shape of the MA filter
Formula is as follows：
Wherein, z-lIt is a delay link；q(z-1, l) and it is a low-pass filter, and q (z-1, l) and q (z can be expressed as-1,
L)=alzl+al-1zl-1+…+a0+…+al-1z-l+1+alz-l, wherein l is a positive integer, and q (z-1, l) and in expression formula
Coefficient meets al=al-1=...=a0=1/ (2l+1).
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Cited By (1)
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| CN112612208A (en) * | 2020-12-09 | 2021-04-06 | 中国科学院光电技术研究所 | Plug-in type improved repetitive control method |
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