CN109901630A - Double quick speed reflector platform light beam stabilizing device based on cascaded structure - Google Patents
Double quick speed reflector platform light beam stabilizing device based on cascaded structure Download PDFInfo
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- CN109901630A CN109901630A CN201910154796.9A CN201910154796A CN109901630A CN 109901630 A CN109901630 A CN 109901630A CN 201910154796 A CN201910154796 A CN 201910154796A CN 109901630 A CN109901630 A CN 109901630A
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Abstract
There is beamstability when disturbing in carrier for electro-optical system in the invention proposes a kind of double quick speed reflector platform light beam stabilizing device based on cascaded structure.The device is made of the two-stage fast mirror platform for being mechanically in series relationship: level-one platform is connected with carrier, and flexible support possesses good passive Disturbance Rejection ability in high band after closed loop with lower stiffness coefficient；Second level platform overlays on level-one platform, flexible support rigidity with higher, the bandwidth of control system can be improved, and has stronger active Disturbance Rejection ability in low-frequency range.The co-ordination of two-stage platform can all have good Disturbance Rejection ability in low-frequency range and high band.
Description
Technical field
The invention belongs to Beam Control fields, and in particular to a kind of double quick speed reflector platform light beam based on cascaded structure
Stabilising arrangement.
Background technique
The electro-optical system being mounted on motion carrier, in carrier turbulence stable light-beam, usually using rack come
Inhibit the low frequency of carrier significantly to disturb, the high frequency of carrier is inhibited to disturb (Ding Ke, " satellite by a small margin using fast mirror
Laser communication precision tracking technical research ", Photoelectric Technology Inst., Chinese Academy of Sciences's doctoral thesis；Appoint dimension etc.,
《Stabilization Control of Electro-Optical Tracking System with Fiber-Optic
Gyroscope Based on Modified Smith Predictor Control Scheme ", IEEE Sensors
Journal, 1558-1748 (c) 2018；Deng is superfine, " Enhanced disturbance observer based on
Acceleration measurement for fast steering mirror systems ", IEEE Photonics
Journal,vol.9,no.3,pp.1–11,2017.).Fast mirror is accurately to control beam direction using mirror mirror
A kind of device, the displacement freedom where mirror surface in platform six-freedom degree is limited by flexible support, passes through piezoelectric ceramics
Or the direction of platform where voice coil motor adjustment mirror surface.Wherein, the performance of flexible support on the performance of fast mirror influence to
It closes important.Flexible support can be equivalent to a damped coefficient ξ and a stiffness coefficient k (such as Fig. 1 institute for control system
Show).When the rigidity of flexible support is higher, the plant model resonance frequency of fast mirror is higher, the control of stable light-beam
Circuit processed can obtain higher active suppression ability, have good active Disturbance Rejection characteristic, but high frequency in low-frequency range
The Disturbance Rejection scarce capacity of section；When the stiffness coefficient of flexible support is lower, the plant model resonance of fast mirror
Frequency is lower, and the control loop of stable light-beam can obtain preferable passive vibration isolation ability, and it is good passive to have in high band
Disturbance Rejection characteristic, but the Disturbance Rejection scarce capacity of low-frequency range.In current electro-optical system, it is quickly anti-to generally use level-one
It penetrates mirror platform combination inertia measurement device and carries out beamstability, this structure is difficult to take into account carrier disturbing in high band and low-frequency range
It is dynamic.
Summary of the invention
It can not be simultaneous in beamstability work the technical problem to be solved by the present invention is solving single-stage fast mirror platform
The problem of caring for low frequency and high frequency components rejection ability, makes the beamstability platform based on fast mirror while having low frequency and height
Frequency Disturbance Rejection ability.
The present invention solve above-mentioned technical problem the technical solution adopted is that: the double quick speed reflector platform based on cascaded structure
Light beam stabilizing device, structure are as shown in Figure 2；It comprises the following structure:
(1) there are the fast mirror platforms that two are mechanically in series relationship, are directly connected to carrier quick anti-
Penetrating mirror platform is level-one stabilized platform, and flexible support has lower rigidity, and the posture of platform is by gyro or accelerometer etc.
Inertia device measurement, by voice coil motor or Piezoelectric Ceramic, being formed after closed loop has good passive disturbance suppression in high band
Ability processed；
It (2) is two-stage stabilising platform with the concatenated fast mirror of level-one stabilized platform, flexible support is with higher
The posture of rigidity, platform is measured by inertia devices such as gyro or accelerometers, and by voice coil motor or Piezoelectric Ceramic, formation is closed
Higher control system bandwidth can be obtained after ring, and there is good active Disturbance Rejection ability in low-frequency range；
(3) two-stage fast mirror beamstability platform opens the inertia based on platform stance information during the work time
Closed loop is used for beamstability.
The invention has the following advantages over the prior art:
(1) present invention inhibits carrier bring low respectively using the two-stage fast mirror beamstability platform of cascaded structure
Frequency and high frequency components, improve the beamstability ability of electro-optical system.
(2) the invention avoids single fast mirror beamstability platform in the prior art cannot take into account it is active and passive
The defect of rejection ability reduces the design difficulty of fast mirror using the method for control.
Detailed description of the invention
Fig. 1 is fast mirror structural schematic diagram；
Fig. 2 is mechanical series structure Double tabletop light beam stabilizing device schematic diagram；
Fig. 3 is system structure when level-one platform works independently；
Fig. 4 is disturbance propagation block diagram when level-one platform works independently；
Fig. 5 is disturbance transfer function situation of change after level-one platform active stabilization closed loop；
Fig. 6 is disturbance transfer function situation of change after second level platform active stabilization closed loop；
Fig. 7 is that two-stage platform opens disturbance transfer function situation of change after active stabilization closed loop.
Specific embodiment
Illustrate the embodiment of the present invention below.But embodiment below is only limitted to explain the present invention, protection model of the invention
Enclosing should include the full content of claim, and this hair can be thus achieved to person skilled in art by following embodiment
The full content of bright claim.
If there are two fast mirror platforms, connected according to the mechanical series structure mentioned in technical solution of the present invention
It connects.Being connected directly with pedestal is level-one beamstability platform, abbreviation level-one platform；Connecting with level-one stabilized platform is second level
Beamstability platform, abbreviation second level platform.
(1), when level-one platform works independently, system structure is as shown in Figure 3.There are flexible support, sounds between platform and pedestal
Motor and inertial sensor closed loop are enclosed, stable inertia circuit, abbreviation active stabilization closed loop are constituted.Block diagram is transmitted in system disturbance at this time
As indicated at 4, θ in figure0For the angle fluctuation of pedestal, Gb_closeFor level-one platform active stabilization closed loop transfer function, G1It is flat for level-one
The disturbance transfer function of platform.Known conditions: it is f that one/second order, which has frequency of oscillation by oneself,b1=10Hz, three/quadravalence have frequency of oscillation by oneself and are
fb2=200Hz, one/second order and three/quadravalence equivalent damping ratio are respectively as follows: ξb1=0.2, ξb2=0.1, the active stabilization of the platform
Loop bandwidth fb_open=70Hz.According to it is known that when there is no active closed-loop, seat vibration angle, θ0To level-one Platform Vibration angle, θb
Disturbance transfer function G1Are as follows:
ω in above formulab1=2 π × 10 (rad/s), ωb2=2 π × 200 (rad/s).
Beamstability loop bandwidth can release level-one platform active stabilization closed loop transfer function, Gb_closeAre as follows:
G in above formulab_openFor the open-loop transfer function in level-one platform active stabilization circuit, usFor giving for active stabilization closed loop
Determine signal.By formula (2) it is found that its expression formula are as follows:
There are after active stabilization closed loop, seat vibration angle, θ0To level-one Platform Vibration angle, θbTransmission function Gb0Are as follows:
Disturbance propagation characteristic variations are as shown in Fig. 5 after level-one platform active stabilization closed loop, attached in one/second order resonance peak
Closely, disturbance propagation gain drops to -8.36dB, the range of decrease about 17dB by 8.75dB.
(2), when second level platform works independently, related parameter is as follows: one/second order frequency characteristic is 50Hz, and three/quadravalence is
700Hz, active stabilization circuit shearing frequency 200Hz, damping ratio ξa1=0.2, ξa2=0.1.Its working principle and level-one platform class
Seemingly, transmission function G when active stabilization circuit does not work2:
θ in above formulaaFor second level Platform Vibration angle, ωa1=2 π × 10 (rad/s), ωa2=2 π × 200 (rad/s).
Second level platform active stabilization circuit closed loop transfer function, Ga_close:
Second level platform active stabilization circuit open-loop transfer function Ga_open:
There are after active stabilization closed loop, level-one Platform Vibration angle, θbTo second level Platform Vibration angle, θaTransmission function Gba
Are as follows:
Disturbance propagation characteristic variations are as shown in Fig. 6 after second level platform active stabilization closed loop, attached in one/second order resonance peak
Closely, disturbance propagation gain drops to -3.66dB, the range of decrease about 12.43dB by 8.77dB.
(3) when working normally, two-stage platform opens the inertia closed loop based on platform stance information, is used for beamstability.
Seat vibration angle, θ at this time0To second level Platform Vibration angle, θaDisturbance propagation characteristic Ga0As shown in formula (9):
J in above formulaa、JbThe respectively rotary inertia of two-stage stabilising platform and level-one stabilized platform.
Emulation experiment demonstrates the disturbance propagation characteristic of light beam stabilizing device proposed by the present invention, compared level-one and actively closes
It closes, second level active stabilization is opened；Second level active stabilization is closed, and level-one active stabilization is opened；One second level active stabilization standard-sized sheet, this three
Kind situation.Experimental result is as shown in Fig. 7.In figure, solid line is disturbance propagation when two-stage platform opens active stabilization closed loop
Characteristic；Dash line is disturbance propagation characteristic when level-one platform active stabilization function is closed, and level-one platform, which relies only on, at this time passively subtracts
Vibration, second level platform carry out active stabilization；Dotted line is disturbance propagation characteristic when second level platform active stabilization function is closed, at this time second level
Platform relies only on passive vibration damping, and level-one platform carries out active stabilization.By Fig. 7 it can be found that two-stage platform opens active stabilization
When closed loop, Disturbance Rejection performance is greatly improved.Comparison diagram 5 and Fig. 6, the double quick speed proposed by the present invention based on cascaded structure are anti-
The Disturbance Rejection ability of mirror platform light beam stabilizing device is penetrated better than single-stage fast mirror beamstability platform.
Claims (1)
1. the double quick speed reflector platform light beam stabilizing device based on cascaded structure, which is characterized in that using such as flowering structure:
(1) there are two fast mirror platforms, the fast mirror platform being directly connected to carrier is level-one stabilized platform,
Flexible support has lower rigidity, and the posture of platform is measured by inertia devices such as gyro or accelerometers, by voice coil motor or
Piezoelectric Ceramic, being formed after closed loop has good passive Disturbance Rejection ability in high band；
(2) with the concatenated fast mirror of level-one stabilized platform be two-stage stabilising platform, flexible support rigidity with higher,
The posture of platform is measured by inertia devices such as gyro or accelerometers, by voice coil motor or Piezoelectric Ceramic, after forming closed loop
Higher control system bandwidth can be obtained, there is good active Disturbance Rejection ability in low-frequency range；
(3) two-stage fast mirror beamstability platform is opened the inertia based on platform stance information during the work time and is closed
Ring is used for beamstability.
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