CN110426960A - Laser Control System and its Design of Internal Model Controller method with interference observer - Google Patents
Laser Control System and its Design of Internal Model Controller method with interference observer Download PDFInfo
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- CN110426960A CN110426960A CN201910805343.8A CN201910805343A CN110426960A CN 110426960 A CN110426960 A CN 110426960A CN 201910805343 A CN201910805343 A CN 201910805343A CN 110426960 A CN110426960 A CN 110426960A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
- G05B13/045—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance using a perturbation signal
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/1917—Control of temperature characterised by the use of electric means using digital means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D23/00—Control of temperature
- G05D23/19—Control of temperature characterised by the use of electric means
- G05D23/20—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature
- G05D23/24—Control of temperature characterised by the use of electric means with sensing elements having variation of electric or magnetic properties with change of temperature the sensing element having a resistance varying with temperature, e.g. a thermistor
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
- H01S5/00—Semiconductor lasers
- H01S5/04—Processes or apparatus for excitation, e.g. pumping, e.g. by electron beams
- H01S5/042—Electrical excitation ; Circuits therefor
Abstract
The present invention proposes that a kind of Laser Control System and its Design of Internal Model Controller method with interference observer, the control system include: message processing module, laser current drive module, heated current drive module and temperature demodulation module；Message processing module includes controller, and controller includes the internal mode controller with interference observer.The characteristics of estimation that the internal mode controller is interfered based on ambient temperature, model perturbation when to environmental change are compensated with interference, solve laser control temperature instability problem caused by environmental disturbances, and have non-overshoot, and response is fast, strong robustness.
Description
Technical field
The present invention relates to laser temperature control technology fields, and in particular to a kind of Laser Control System and its with interference
The design method of the internal mode controller IMC of observer.
Background technique
In recent years, magnetic field measurement technology because its application field broad development it is very rapid.At magneticencephalogram, magnetocardiogram, deep-sea
It visits the fields magnetometer such as latent, mineral prospecting and identification orientation and has become indispensable core equipment.Magnetometer core component
For laser, unstable, magnetic detection accuracy decline, therefore laser are exported since ambient temperature variation will lead to laser
Temperature control control be Laser Control System design pith.
Summary of the invention
The technical problem to be solved by the present invention is to propose that one kind can make laser in the case where variation of ambient temperature
Stablize the temperature control system of output.
In order to solve the above technical problems, present invention firstly provides a kind of Laser Control System, the control system includes:
Message processing module, laser current drive module, heated current drive module and temperature demodulation module；
The message processing module includes communication module and controller；The communication module is used for and host computer is led to
Letter；The controller resolves for temperature and to the laser current drive module, heated current drive module and temperature demodulation
Module is controlled；The controller further includes dedicated for the internal model with interference observer of control laser heating filament voltage
Controller；
The laser current drive module is used to generate stable, low noise driving current for laser；The laser electricity
Stream drive module includes D/A module, low-pass filtering module, current source hardware closed-loop module, current value detection sampling module and laser
Device hardware protection module；The controller controls the D/A module and generates output voltage, by the low-pass filtering module to height
Frequency noise and electric current power on overshoot and are inhibited；The output voltage of the low-pass filtering module is input to the current source hardware and closes
Ring moulds block；The current source hardware closed-loop module is fed back by amplifier generates constant-current source, can be hard by changing the current source
The output size of current of current source hardware closed-loop module described in the big minor adjustment of the input voltage of part closed loop module, by adjusting institute
The amount of the laser current drive module output electric current can be changed in the size for stating sampling resistor in current source hardware closed-loop module
Journey, driving current of the output electric current as the laser；The current value detection sampling module is hard to the current source
The output electric current of part closed loop module samples resistance is sampled, and is detected to the laser current levels；The laser is hard
Part protective module is in parallel with the laser, using the current sampling data in current value detection sampling module as input, from
The dynamic Injection Current for judging the laser, when the Injection Current is less than given threshold, the laser hardware protection module
In relay closure, and then realize the protection of the laser；
The heated current drive module is used to provide input voltage for the heater strip of the laser；The heated current
Drive module, including heating signal generation circuit, heating signal modulation circuit and power amplification circuit；The controller controls institute
It states heating signal generation circuit and generates the fixed sine wave exciting signal of amplitude as heating reference signal；The band disturbance-observer
The internal mode controller of device controls the heating signal modulation circuit and carries out amplitude control to the heating reference signal；The power
Amplifying circuit exports after carrying out power amplification to the output of the heating signal modulation circuit, is loaded into the laser
On heater strip, heated current is generated；
The temperature demodulation module is used to demodulate the laser with the high frequency voltage brain wash of temperature information, obtains
The DC output voltage directly proportional to the input voltage amplitude of Huygens's electric bridge and output voltage amplitude product to amplitude, warp
The controller is input to after AD transformation；The temperature demodulation module includes excitation source generating circuit, filter circuit and Huygens
Electric bridge, temperature demodulation circuit and A/D module；The controller control excitation source generating circuit generates the sine wave letter of fixed frequency
Number as detection pumping signal；The filter circuit is filtered the detection pumping signal, filters out out-of-band noise, mentions
High s/n ratio, the filtered detection pumping signal are input to Huygens's electric bridge；Huygens's electric bridge includes heat
Quick resistance, the input voltage and output voltage of Huygens's electric bridge are input to the temperature demodulation circuit, obtain amplitude and institute
The input voltage amplitude of Huygens's electric bridge and the DC output voltage that output voltage amplitude product is directly proportional are stated, the voltage is through institute
After stating A/D module processing, it is input to the controller.
Preferably, the low-pass filtering module is low-pass first order filter.
Preferably, when electric current is less than 0.2mA, the relay of the laser hardware protection module is closed automatically.
Preferably, the heating reference signal is constant amplitude fixed frequency sine wave exciting signal.
Preferably, the detection pumping signal that the excitation source generating circuit generates is constant amplitude fixed frequency sinusoidal signal.
Another aspect of the present invention proposes a kind of internal mode controller with interference observer for Laser Control System
Design method, this method comprise the following specific steps that:
Step 1, the equivalent inpnt interference of the laser is calculated:
Laser model is Gn(s), the inverse of model is Gn -1(s), the filter of interference observer is Q (s), then extraneous ring
The equivalent inpnt of laser is interfered in border are as follows:
In formula, u (s) is the extraneous input of laser；
Step 2, Design of Internal Model Controller:
The forward transfer function G of the internal mode controllerIMC(s) are as follows:
In formula,For nominal plant model, f (s) is the filter transfer function for realizing internal mode controller,
In formula, TfFor filter time constant；
Internal mode controller model Gc(s) it is expressed from the next:
Step 3, the general output U (n) of the internal mode controller with interference observer is calculated；
In formula, uIMCIt (n) is the output quantity of the internal mode controller with interference observer；For interference observer
Compensation rate.
The beneficial effects of the present invention are:
The system is based on interference observer and internal model control principle, is designed to Laser Control System, realizes pair
The compensation of model perturbation and interference when environmental change, solves the problems, such as in laser application caused by temperature overshoot and environmental disturbances
Laser control temperature instability problem.Wherein interference observer DOB is a kind of System design based on model method, can be to equivalent
Input nonlinearities are estimated, can effectively inhibit to interfere by interference compensation；Internal model control principle is the control of Kernel-based methods mathematics
Device design method processed, only one parameter of this method need to adjust, and have good robustness and anti-interference ability, and export
Overshoot very little, the problem of can solve laser overshoot big and interference observer low-response.
Detailed description of the invention
Fig. 1 is the Laser Control System schematic diagram of the embodiment of the present invention；
Fig. 2 is the laser current drive module circuit diagram in Fig. 1；
Fig. 3 is the heated current drive module circuit diagram in Fig. 1；
Fig. 4 is temperature demodulation modular circuit schematic diagram of the invention；
Fig. 5 is temperature demodulation circuit diagram of the invention；
Fig. 6 is the structure of controlling temperature figure of the embodiment of the present invention；
Fig. 7 is the diagram of the laser interference observer of the embodiment of the present invention；
Fig. 8 is the schematic diagram of the internal mode controller of the embodiment of the present invention；
Fig. 9 is the overshoot effect picture of the embodiment of the present invention under room temperature；And
Figure 10 is the interference suppressioning effect figure of the embodiment of the present invention in the case where variation of ambient temperature.
Specific embodiment
The present invention is further described in detail with reference to the accompanying drawings and embodiments, but proposed by the present invention based on interference
The Laser Control System of observation and internal model control is not limited to the embodiment.
Laser in the present embodiment is VCSEL laser, and VCSEL laser has body for other lasers
Small, the round output facula of product, single longitudinal mode output, threshold current are small, cheap, easy of integration the advantages that being large area array, closely
Greatly paying close attention to for domestic scholars is caused over year.
As shown in Figure 1, the VCSEL Laser Control System based on interference observer and internal model control includes information processing mould
Block, laser current drive module, heated current drive module and temperature demodulation module；Message processing module includes controller and leads to
Believe module；Controller is for carrying out coordination control to laser current drive module, heated current drive module and temperature demodulation module
Make trip temperature resolving of going forward side by side；Communication module is used to transmit data to host computer；Controller further includes control laser heater strip electricity
The internal mode controller with interference observer of pressure.
As shown in Fig. 2, laser current drive module includes low-pass filtering module, current source hardware closed-loop module, current value
Detect sampling module and laser hardware protection module.
Low-pass filtering module includes that the follower connected by U26A amplifier and resistance R260 and capacitor C262 form low pass
The low-pass first order filter of the cutoff frequency 1.59Hz of filter composition, it is possible to reduce current source controls the high-frequency noise of voltage,
The phenomenon that overshoot can be generated fastly by avoiding laser power-up speeds too.
Current source hardware closed-loop module is the major part of current source, including U26B amplifier, U27 instrument amplifier, capacitor
C263, sampling resistor R271-1 and resistance R264.Wherein R271-1 is sampling resistor, control output electric current and the mark for setting voltage
Spend factor.The relationship of D/A module setting voltage value and electric current is shown below:
ISwash=VDA/RIt adopts
In formula, ISwashFor laser current levels, VDAFor D/A module setting value, RIt adoptsFor constant multiplier resistance.
Current value detects sampling module, connects into follower by U26C amplifier to realize current detecting, sampling resistor both ends
Voltage passes through instrument amplifier INA333, using U26C with then being acquired by ADC.This can be calculated by bringing collection value into above formula
When current value, current value is monitored with this.
Laser hardware protection module, proportional amplifier, triode Q5 and relay including the connection of U26D amplifier
K1B, K2B.When laser accidentally falls off in working condition, since circuit state is uncertain, U26B amplifier, which is equivalent to, to be compared
Device may maintain always maximum output voltage.At this moment connecting laser, can be due to the excessive breakdown laser of immediate current.Protection
Function concrete operations process is as follows, and starting LD1_On is low level, and for relay shorted laser, laser does not have input electricity
Stream.Relay disconnects after LD1_On sets height, starts setting up electric current and sets low LD1_On, after relay status is by sampling at this time
Voltage determines.Think that laser disconnects when electric current is less than 0.2mA, relay is closed automatically.
As shown in figure 3, the heated current drive module of VCSEL laser, including heating signal generation circuit, heating signal
Modulation circuit and power amplification circuit three parts.
Thermal signal generation circuit generates 10KHz amplitude by stm32 control Direct Digital Frequency Synthesizers (DDS) U10 and fixes
Sine wave exciting signal, after low-pass filtering, amplifier is with then exporting.
Heating signal modulation circuit, is variable gain amplifier (VGA) U12, and the internal mode controller with interference observer is logical
The value for crossing D/A module setting Temp1_set changes the amplitude of sine wave to adjust gain size.
Sinusoidal signal is carried out 7.5 times of exchange amplification for current feedback power amplifier LT1210 by power amplification circuit
Remove driving heating sheet.
As shown in figure 4, the temperature demodulation module of VCSEL laser, including excitation source generating circuit, filter circuit, AD mould
Block, temperature demodulation circuit and Huygens's electric bridge.
Source generating circuit is motivated, the sinusoidal of 8kHz is generated by stm32 control Direct Digital Frequency Synthesizers (DDS) U15 and is believed
Number, it is exported after exchange amplification.
Filter circuit, the fertile hereby bandpass filter of quadravalence Bart realized by amplifier U18A and U18B, makes to sense Huygens's electricity
The pumping signal of bridge can filter out out-of-band noise.
A/D module is for carrying out data acquisition；
Temperature demodulation circuit is as shown in figure 5, first by the output signal U of electric bridgeBridgeout(TP0_out) and input signal
UBridgein(8k) realizes temperature demodulation, obtains the input voltage amplitude and output of amplitude Yu Huygens's electric bridge by AD630 module
The directly proportional DC output voltage U of voltage amplitude productAD630:
In formula, UBridgeoutFor the amplitude of Huygens's bridge output voltage；UBridgeinFor Huygens's electric bridge input stimulus voltage
The amplitude of amplitude；Gain is instrument amplifier amplification factor.
Output signal UAD630After AD is converted, become digital value and be transferred to controller, since the amplitude of pumping signal is
Definite value, controller is according to the amplitude size and U of pumping signalAD630Output size can find out bridge output signal UBridgeout,
Then thermistor resistance value can be obtained further according to the relationship between the resistance and output voltage of Huygens's electric bridge:
RhotFor thermistor resistance value；R is the fixed bridge arm resistance of Huygens's electric bridge；Finally according to Steinhart formula
The temperature of laser can be found out:
In formula, A, B and C are the coefficient of thermistor.
Internal mode controller with interference observer is carried out according to temperature of the laser temperature value being calculated to laser
Control.
The concrete methods of realizing of internal mode controller with interference observer is as follows:
VCSEL structure of controlling temperature figure is heat sink to use with connecting as shown in fig. 6, the structure of controlling temperature of VCSEL includes VCSEL laser
Silicon wafer three parts, temperature sensing realized by NTC resistance 10K3CG.Heating device uses nichrome heater strip, entirely
The each section of device all has thermal capacity, and model is complex.The heat transfer model of homogenous material heat accumulation object can be by single order
Inertial model indicates that for above-mentioned VCSEL laser structure, system is mainly by heat sink, NTC thermistor, thermal conductive silicon plate,
Four heat accumulation objects of VCSEL laser are constituted.System transter can it is equivalent series-parallel at four one order inertia models and
At the model after System Discrimination are as follows:
Laser interference observer structure chart is that as shown in Figure 7, internal model control principle is as shown in Figure 8.Band interference observer
Controller general output U (n) are as follows:
In formula, uIMCIt (n) is the output quantity of the internal mode controller with interference observer；For the compensation of interference observer
Amount.
Interference observer is designed by following formula according to the transmission function of Temperature control model.
Assuming that laser model is Gn(s), the inverse of model is Gn -1(s), the filter of interference observer is Q (s), extraneous
Environment interferes the equivalent inpnt of laser are as follows:
The filter of the object takes:
By above-mentioned Q (s), Q (s) Gn -1(s) bilinear z-transform is carried out with the 0.01s sampling period to obtain:
Internal mode controller is designed with internal model control principle, due to model be minimum phase system then:
Wherein, internal mode controller filter can be expressed from the next:
Therefore, internal mode controller Gc(s) it can be expressed from the next:
The controller can be regarded as to a PI controller Gc1With another part Gc2It is connected in series:
By controller Gc2It can be obtained with 0.01Hz discretization:
Laser temperature control is carried out by above-mentioned algorithm by stm32, in 25 DEG C of room temperature or so of indoor progress, load
It is completely exposed and is compared respectively with PID control and the internal model control with interference observer in air.Experimentation is as follows: first
First, using PID control, it is 70 DEG C by temperature setting, waits after stablizing, setting value is changed to 71 DEG C, and waiting will setting temperature after stablizing
Degree is changed to 69 DEG C.Then, using the internal model control with interference observer, aforesaid operations are repeated.Two groups of experimental datas are carried out pair
Than the effect contrast figure obtained based on interference observer and internal model control and PID control under room temperature is as shown in Figure 9.Load is put
Enter in incubator, incubator transmits heat by air blower, and there are wind to disturb.Simultaneously under 25 DEG C of primary condition with the speed of 2 DEG C/min into
10 DEG C of row of heating and cooling repeatedly.Based on interference observer and internal model control and PID control in the case where variation of ambient temperature
Effect contrast figure is as shown in Figure 10, it can be seen that the method that combines of interference observer and internal model control can be with from experimental result picture
It realizes preferable disturbance rejection control, and basic non-overshoot may be implemented.
Embodiment described above is only that preferred embodiments of the present invention will be described, not to the scope of the present invention
It is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical solution of the present invention
The various changes and improvements made should all be fallen into the protection scope that claims of the present invention determines.
Claims (6)
1. a kind of Laser Control System, which is characterized in that the control system includes: message processing module, laser current drive
Dynamic model block, heated current drive module and temperature demodulation module；
The message processing module includes communication module and controller；The communication module is used for and host computer is communicated；Institute
State controller for temperature resolve and to the laser current drive module, heated current drive module and temperature demodulation module into
Row control；The controller includes the internal mode controller with interference observer for controlling laser heating filament voltage；
The laser current drive module is used to generate driving current for laser, and the laser current drive module includes DA mould
Block, low-pass filtering module, current source hardware closed-loop module, current value detection sampling module and laser hardware protection module；Institute
It states controller and controls the D/A module generation output voltage, high-frequency noise and electric current were powered on by the low-pass filtering module
Rush in capable inhibition；The output voltage of the low-pass filtering module is input to the current source hardware closed-loop module；The current source
Hardware closed-loop module is fed back by amplifier generates constant-current source, by the input voltage for changing the current source hardware closed-loop module
The output size of current of current source hardware closed-loop module described in big minor adjustment, by adjusting in the current source hardware closed-loop module
The size of sampling resistor changes the range of the laser current drive module output electric current, and the output electric current is as the laser
The driving current of device；Output electric current of the current value detection sampling module to the current source hardware closed-loop module samples resistance
It is sampled, the laser current levels is detected；The laser hardware protection module is in parallel with the laser, with
Current sampling data in the current value detection sampling module judges automatically the Injection Current of the laser as input, when
The Injection Current is less than given threshold, the relay closure in the laser hardware protection module, and then realizes described sharp
The protection of light device；
The heated current drive module is used to provide input voltage for the heater strip of the laser；The heated current driving
Module, including heating signal generation circuit, heating signal modulation circuit and power amplification circuit；The controller control is described to be added
Thermal signal generation circuit generates the fixed sine wave exciting signal of amplitude as heating reference signal；It is described with interference observer
Internal mode controller controls the heating signal modulation circuit and carries out amplitude control to the heating reference signal；The power amplification
Circuit exports after carrying out power amplification to the output of the heating signal modulation circuit, is loaded into the heating of the laser
On silk, heated current is generated；
The temperature demodulation module is used to demodulate the laser with the high frequency voltage brain wash of temperature information, obtains width
The DC output voltage directly proportional to the input voltage amplitude of Huygens's electric bridge and output voltage amplitude product is spent, after AD is converted
It is input to the controller；The temperature demodulation module includes excitation source generating circuit, filter circuit and Huygens's electric bridge, temperature
Demodulator circuit and A/D module；The controller control excitation source generating circuit generates the sine wave signal of fixed frequency as detection
Pumping signal；The filter circuit is filtered the detection pumping signal, filters out out-of-band noise, improves signal-to-noise ratio,
Filtered detection pumping signal is input to Huygens's electric bridge；Huygens's electric bridge includes thermistor, the favour
The input voltage and output voltage of more this electric bridge are input to the temperature demodulation circuit, obtain amplitude and Huygens's electric bridge
Input voltage amplitude and the directly proportional DC output voltage of output voltage amplitude product, the voltage are handled through the A/D module
Afterwards, it is input to the controller.
2. Laser Control System according to claim 1, which is characterized in that the low-pass filtering module is single order low pass
Filter.
3. Laser Control System according to claim 1, which is characterized in that when electric current is less than 0.2mA, the laser
The relay of device hardware protection module is closed automatically.
4. Laser Control System according to claim 1, which is characterized in that the heating reference signal is fixed for constant amplitude
Frequency sine wave pumping signal.
5. Laser Control System according to claim 1, which is characterized in that the inspection that the excitation source generating circuit generates
Survey pumping signal is constant amplitude fixed frequency sinusoidal signal.
6. a kind of internal mode controller with interference observer for Laser Control System described in one of claim 1-5 is set
Meter method, which is characterized in that it is comprised the following specific steps that:
Step 1, the equivalent inpnt interference of the laser is calculated:
Laser model is Gn(s), the inverse of model is Gn -1(s), the filter of interference observer is Q (s), then external environment is to sharp
The equivalent inpnt of light device interferes are as follows:
In formula, u (s) is the extraneous input of laser；
Step 2, internal mode controller is designed:
The forward transfer function G of the internal mode controllerIMC(s) are as follows:
In formula,For nominal plant model, f (s) is the filter transfer function for realizing internal mode controller,
In formula, TfFor filter time constant；
Internal mode controller model Gc(s) it is expressed from the next:
Step 3, the general output U (n) of the internal mode controller with interference observer is calculated；
In formula, uIMCIt (n) is the output quantity of the internal mode controller with interference observer；For the compensation of interference observer
Amount.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112615619A (en) * | 2020-12-22 | 2021-04-06 | 苏州邈航科技有限公司 | Three-threshold IF conversion circuit |
| CN112615619B (en) * | 2020-12-22 | 2023-09-22 | 苏州邈航科技有限公司 | Three-threshold IF conversion circuit |
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| Publication number | Publication date |
|---|---|
| CN110426960B (en) | 2020-07-31 |
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