CN109901630B - Double-fast-reflector platform light beam stabilizing device based on series structure - Google Patents
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Abstract
The invention provides a double-fast-reflector platform light beam stabilizing device based on a series structure, which is used for stabilizing light beams of an optoelectronic system when disturbance exists on a carrier. The device consists of two stages of quick reflecting mirror platforms which are mechanically in series relation: the primary platform is connected with the carrier, the flexible support of the primary platform has a lower rigidity coefficient, and the primary platform has good passive disturbance suppression capability in a high-frequency section after being closed; the secondary platform is stacked on the primary platform, the flexible support of the secondary platform has higher rigidity, the bandwidth of a control system can be improved, and the secondary platform has stronger active disturbance suppression capability in a low frequency band. The two-stage platform coordination work can have good disturbance suppression capability in both a low frequency band and a high frequency band.
Description
Technical Field
The invention belongs to the field of light beam control, and particularly relates to a double-fast-reflector platform light beam stabilizing device based on a series structure.
Background
Optoelectronic systems mounted on a moving carrier, in order to stabilize the light beam under the disturbance of the carrier, usually a frame is used to suppress the low-frequency large-amplitude disturbance of the carrier, and a fast mirror is used to suppress the high-frequency small-amplitude disturbance of the carrier (D.C.; precision Tracking technology research in satellite laser communication, Phd. Proc. of academy of China optoelectronics, Ann.Y., Stablization Control of Electro-Optical Tracking System with Fiber-Optical microscopy Based on Modified Smith diode Control Scheme, IEEE Sensors Journal, 1558 and 1748(c) 2018; Dungchao et al, Enhanced distributed and Based on acquisition measurement for hardware disturbance systems, IEEE Journal, volume, 9, 893, pp. 1-11,2017). The fast reflector is a device for accurately controlling the direction of a light beam by utilizing the mirror surface of the reflector, the displacement freedom degree of a platform where the mirror surface is located in six freedom degrees is limited through flexible support, and the direction of the platform where the mirror surface is located is adjusted through piezoelectric ceramics or a voice coil motor. Wherein the performance of the flexible support is crucial for the performance of the fast mirror. The flexible support may be equivalent to a damping coefficient ξ and a stiffness coefficient k (as shown in fig. 1) for the control system. When the rigidity of the flexible support is high, the resonant frequency of a controlled object model of the fast reflector is high, a control loop for stabilizing the light beam can obtain high active suppression capability, and the control loop has good active disturbance suppression characteristic in a low frequency band, but the disturbance suppression capability in a high frequency band is insufficient; when the rigidity coefficient of the flexible support is low, the resonant frequency of a controlled object model of the fast reflector is low, a control loop for stabilizing light beams can obtain good passive vibration isolation capability, and the control loop has good passive disturbance rejection characteristic in a high frequency band, but the disturbance rejection capability in a low frequency band is insufficient. In the existing photoelectric system, a first-stage quick reflector platform is usually adopted to combine with an inertia measurement device to stabilize light beams, and the structure is difficult to consider the disturbance of a carrier in a high frequency band and a low frequency band.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem that the single-stage quick reflector platform cannot give consideration to both low-frequency disturbance suppression capability and high-frequency disturbance suppression capability in light beam stabilization work is solved, and the light beam stabilization platform based on the quick reflector has both low-frequency disturbance suppression capability and high-frequency disturbance suppression capability.
The technical scheme adopted by the invention for solving the technical problems is as follows: the structure of the double-fast-reflector platform light beam stabilizing device based on the series structure is shown in FIG. 2; the structure comprises the following structures:
(1) the flexible support of the platform has lower rigidity, the attitude of the platform is measured by inertial devices such as a gyroscope or an accelerometer, and the platform is driven by a voice coil motor or piezoelectric ceramics, and has good passive disturbance suppression capability in a high-frequency section after a closed loop is formed;
(2) the fast reflector connected with the primary stable platform in series is a secondary stable platform, the flexible support of the fast reflector has higher rigidity, the attitude of the platform is measured by inertial devices such as a gyroscope or an accelerometer and the like, and is driven by a voice coil motor or piezoelectric ceramics to form a closed loop, so that higher control system bandwidth can be obtained, and the fast reflector has good active disturbance suppression capability in a low frequency band;
(3) and the two-stage quick reflector light beam stabilizing platform is provided with an inertia closed loop based on platform attitude information in the working process and is used for light beam stabilization.
Compared with the prior art, the invention has the following advantages:
(1) the invention utilizes the two-stage quick reflector beam stabilizing platform with the series structure to respectively inhibit low-frequency and high-frequency disturbance brought by the carrier, thereby improving the beam stabilizing capability of the photoelectric system.
(2) The invention avoids the defect that the single fast reflector light beam stabilizing platform in the prior art can not consider both the active and passive inhibition capability, and reduces the design difficulty of the fast reflector by using a control method.
Drawings
FIG. 1 is a schematic view of a fast reflector structure;
FIG. 2 is a schematic diagram of a mechanical tandem configuration dual stage beam stabilization device;
FIG. 3 is a system structure of the primary platform during independent operation;
FIG. 4 is a disturbance transfer block diagram of the primary platform during independent operation;
FIG. 5 is a diagram illustrating a disturbance transfer function change condition after a primary platform actively stabilizes a closed loop;
FIG. 6 is a diagram illustrating a disturbance transfer function change condition after a secondary platform actively stabilizes a closed loop;
FIG. 7 shows a disturbance transfer function variation situation after two stages of platforms are both opened and actively and stably closed.
Detailed Description
The following describes embodiments of the present invention. The following examples are only for explaining the present invention, the scope of the present invention shall include the full contents of the claims, and the full contents of the claims of the present invention can be realized by those skilled in the art through the following examples.
Two fast reflector platforms are provided, connected according to the mechanical series arrangement mentioned in the technical solution of the present invention. The primary light beam stabilizing platform is directly connected with the base and is called the primary platform for short; and the secondary light beam stabilizing platform is connected with the primary stabilizing platform and is called the secondary platform for short.
(1) And when the first-stage platform works independently, the system structure is as shown in figure 3. A flexible support exists between the platform and the base, and the voice coil motor and the inertial sensor form an inertial stabilization loop, namely an active stabilization closed loop for short. The system disturbance transfer diagram is shown as 4, in which theta0For angular fluctuation of the base, Gb_closeActively stabilizing the closed loop transfer function for the primary platform, G1Is the disturbance transfer function of the primary platform. The known conditions are: the first/second order of self-oscillation frequency is fb110Hz, and a third/fourth order oscillation frequency fb2The first/second order and third/fourth order equivalent damping ratios are respectively as follows: xib1＝0.2，ξb20.1, the active stable loop bandwidth f of the platformb_open70 Hz. According to the known, the base vibrates at an angle θ without active closed loop0Vibration angle theta to primary platformbDisturbance transfer function G of1Comprises the following steps:
in the above formula, omegab1＝2π×10(rad/s)，ωb2＝2π×200(rad/s)。
The bandwidth of the light beam stabilizing loop can be used for deducing the active stabilizing closed loop transfer function G of the primary platformb_closeComprises the following steps:
in the above formula Gb_openOpen loop transfer function, u, for the primary platform active stabilization loopsTo actively stabilize a given signal of the closed loop. As shown in formula (2), the expression is:
base vibration angle theta after active stabilization of closed loop0Vibration angle theta to primary platformbTransfer function G ofb0Comprises the following steps:
the change of the disturbance transfer characteristic after the primary platform actively stabilizes the closed loop is shown in figure 5, and the disturbance transfer gain is reduced to-8.36 dB from 8.75dB near the first/second-order resonance peak, and the amplitude is reduced by about 17 dB.
(2) When the secondary platform works independently, the relevant parameters are as follows: the first/second order frequency characteristic is 50Hz, the third/fourth order is 700Hz, the shearing frequency of the active stable loop is 200Hz, and the damping ratio xia1＝0.2，ξa20.1. The working principle is similar to that of a primary platform, and a transfer function G is used when an active stable loop does not work2：
In the above formula θaFor a second stage of platform vibration angle, omegaa1＝2π×10(rad/s)，ωa2＝2π×200(rad/s)。
Closed loop transfer function G of active stable loop of secondary platforma_close：
Open-loop transfer function G of active stable loop of secondary platforma_open：
After the active stable closed loop exists, the vibration angle theta of the primary platformbTo the secondary platform vibration angle thetaaTransfer function G ofbaComprises the following steps:
the disturbance transfer characteristic change after the secondary platform actively stabilizes the closed loop is shown in figure 6, and the disturbance transfer gain is reduced to-3.66 dB from 8.77dB and the amplitude is reduced by about 12.43dB near the first/second-order resonance peak.
(3) During normal work, the two stages of platforms both open an inertia closed loop based on the attitude information of the platforms, and are used for stabilizing light beams. At this time, the base vibrates at an angle theta0To the secondary platform vibration angle thetaaDisturbance transfer characteristic G ofa0As shown in formula (9):
in the above formula Ja、JbThe moment of inertia of the secondary stable platform and the primary stable platform are respectively.
Simulation experiments verify the disturbance transfer characteristics of the light beam stabilizing device provided by the invention, and compare the first-stage active closing with the second-stage active stable opening; the second-stage active stable closing and the first-stage active stable opening; and a second stage is actively and stably fully opened, and the three conditions are met. The results of the experiment are shown in FIG. 7. In the figure, a solid line is a disturbance transfer characteristic when the two stages of platforms are both opened and actively and stably closed loops; the dashed line is the disturbance transfer characteristic when the primary platform active stabilization function is closed, at the moment, the primary platform only depends on passive vibration reduction, and the secondary platform actively stabilizes; the dotted line is the disturbance transfer characteristic when the active stabilization function of the secondary platform is closed, at the moment, the secondary platform only depends on passive vibration reduction, and the primary platform carries out active stabilization. From fig. 7, it can be found that when the two stages of platforms both open the active stable closed loop, the disturbance rejection performance is greatly improved. Comparing fig. 5 and fig. 6, the disturbance suppression capability of the beam stabilizing device based on the dual fast reflecting mirror platform with the serial structure of the present invention is superior to that of the single-stage fast reflecting mirror beam stabilizing platform.
Claims (1)
1. Double fast speculum platform light beam stabilising arrangement based on tandem structure, its characterized in that adopts following structure:
(1) the fast reflector platform directly connected with the carrier is a primary stable platform, the flexible support of the fast reflector platform has lower rigidity, the attitude of the platform is measured by a gyroscope or an accelerometer inertial device and is driven by a voice coil motor, and the fast reflector platform has good passive disturbance inhibition capability in a high-frequency section after a closed loop is formed;
(2) the fast reflector connected with the primary stable platform in series is a secondary stable platform, the flexible support of the fast reflector has higher rigidity, the attitude of the platform is measured by a gyroscope or an accelerometer inertial device and is driven by a voice coil motor, a higher control system bandwidth can be obtained after a closed loop is formed, and the fast reflector has good active disturbance suppression capability in a low frequency band;
(3) the two-stage quick reflector light beam stabilizing platform is provided with an inertia closed loop based on platform attitude information in the working process and is used for light beam stabilization;
specifically, two fast reflector platforms are arranged, and a primary light beam stabilizing platform, referred to as a primary platform for short, is directly connected with the base; the secondary light beam stabilizing platform is connected with the primary stabilizing platform and is called the secondary platform for short;
(1) when the first-stage platform works independently, a flexible support exists between the platform and the base, and the voice coil motor and the inertial sensor form a closed loop of an inertial stabilization loop, namely an active stabilization closed loop for short, wherein theta0For angular fluctuation of the base, Gb_closeActively stabilizing the closed loop transfer function for the primary platform, G1For the disturbance transfer function of the primary platform, the known conditions are: the first/second order of self-oscillation frequency is fb110Hz, and a third/fourth order oscillation frequency fb2200Hz, one/twoThe order and the third/fourth order equivalent damping ratio are respectively: xib1＝0.2，ξb20.1, the active stable loop bandwidth f of the platformb_open70Hz, and according to the knowledge, without active closed loop, the base vibrates at an angle θ0Vibration angle theta to primary platformbDisturbance transfer function G of1Comprises the following steps:
in the above formula, omegab1＝2π×10(rad/s)，ωb2＝2π×200(rad/s)；
The bandwidth of the light beam stabilizing loop can be used for deducing the active stabilizing closed loop transfer function G of the primary platformb_closeComprises the following steps:
in the above formula Gb_openOpen loop transfer function, u, for the primary platform active stabilization loopsFor actively stabilizing the given signal of the closed loop, as can be seen from equation (2), the expression is:
base vibration angle theta after active stabilization of closed loop0Vibration angle theta to primary platformbTransfer function G ofb0Comprises the following steps:
the disturbance transfer characteristic after the primary platform actively stabilizes the closed loop is changed as follows: near the first/second order resonance peak, the disturbance transfer gain is reduced to-8.36 dB from 8.75dB, and the amplitude is reduced by about 17 dB;
(2) when the secondary platform works independently, the relevant parameters are as follows: the first/second order frequency characteristic is 50Hz, the third/fourth order is 700Hz, the shearing frequency of the active stable loop is 200Hz, and the damping ratio xia1＝0.2，ξa20.1, transfer function G when active stabilization loop is not working2：
In the above formula θaFor a second stage of platform vibration angle, omegaa1＝2π×10(rad/s)，ωa2＝2π×200(rad/s)；
Closed loop transfer function G of active stable loop of secondary platforma_close：
Open-loop transfer function G of active stable loop of secondary platforma_open：
After the active stable closed loop exists, the vibration angle theta of the primary platformbTo the secondary platform vibration angle thetaaTransfer function G ofbaComprises the following steps:
the disturbance transfer characteristic after the secondary platform actively stabilizes the closed loop is changed as follows: near the first/second order resonance peak, the disturbance transfer gain is reduced to-3.66 dB from 8.77dB, and the amplitude is reduced by about 12.43 dB;
(3) during normal work, the two stages of platforms all open an inertia closed loop based on platform attitude information for light beam stabilization, and the base vibration angle theta is adjusted at the moment0To the secondary platform vibration angle thetaaDisturbance transfer characteristic G ofa0As shown in formula (9)：
In the above formula Ja、JbThe moment of inertia of the secondary stable platform and the primary stable platform are respectively.
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