音圈快速反射镜的完全跟踪控制

王福超; 王昱棠; 田大鹏

doi:10.37188/OPE.20202809.1997

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音圈快速反射镜的完全跟踪控制

微纳技术与精密机械 | 更新时间：2020-09-28

- 音圈快速反射镜的完全跟踪控制
- Perfect tracking control for fast-steering mirror driven by voice coil motor
- 光学精密工程 2020年28卷第9期页码：1997-2006
- 作者机构：
  
  1.中国科学院航空光学成像与测量重点实验室, 吉林长春 130033
  2.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
- 作者简介：
  
  [ "王福超(1988-), 男, 吉林磐石人, 助理研究员, 2013年于哈尔滨工程大学获得硕士学位, 主要从事伺服控制技术的研究。E-mail:wangfuchao@ciomp.ac.cn" ]
  [ "王昱棠(1987-), 女, 内蒙古呼伦贝尔人, 副研究员, 2012年于北京理工大学获得硕士学位, 2019年于中国科学院大学获得博士学位, 主要从事航空成像与测量、运动控制方面的研究。E-mail:ytwang@ciomp.ac.cn" ]
- 基金信息：
  
  国家自然科学基金资助项目(61673365);中国科学院前沿科学重点研究计划资助项目(ZDBS-LY-JSC044);中国科学院青年创新促进会会员项目(2017257);“十三五”空军预研专用技术项目(30306)
- DOI：10.37188/OPE.20202809.1997
  中图分类号： TP273
- 收稿日期：2020-05-12，
  
  修回日期：2020-06-08，
  
  录用日期：2020-6-8，
  
  纸质出版日期：2020-09-25
- 稿件说明：
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王福超, 王昱棠, 田大鹏. 音圈快速反射镜的完全跟踪控制[J]. 光学精密工程, 2020,28(9):1997-2006.

Fu-chao WANG, Yu-tang WANG, Da-peng TIAN. Perfect tracking control for fast-steering mirror driven by voice coil motor[J]. Optics and precision engineering, 2020, 28(9): 1997-2006.
王福超, 王昱棠, 田大鹏. 音圈快速反射镜的完全跟踪控制[J]. 光学精密工程, 2020,28(9):1997-2006. DOI： 10.37188/OPE.20202809.1997.

Fu-chao WANG, Yu-tang WANG, Da-peng TIAN. Perfect tracking control for fast-steering mirror driven by voice coil motor[J]. Optics and precision engineering, 2020, 28(9): 1997-2006. DOI： 10.37188/OPE.20202809.1997.

摘要

音圈电机驱动的快速反射镜在传统控制方法下具有严重的相位滞后，限制了其性能。针对这一问题提出了一种完全跟踪控制方法（Perfect Tracking Control，PTC）。首先，建立音圈快速反射镜系统离散状态空间模型，构建多速率采样系统，对长周期采样控制环节设计完全跟踪控制器；然后，对短周期环节设计基于离散滑模变结构控制的内回路补偿控制器。新方法实现了音圈快速反射镜对指令的完全跟踪，并有效补偿了外部扰动、模型不确定性以及机械非线性等因素对系统性能的影响，保证了系统的鲁棒性。实验结果表明：PTC控制实现了系统工作频带的扩展，与传统PID控制相比，系统的阶跃响应调节时间缩短50%，静态位置波动峰峰值减小50%；与基于干扰观测器和零相差跟踪控制器的方法相比，系统的位置稳态误差由1.5%减小到0.05%。采用新方法的音圈快速反射镜对幅值360"的正弦位置指令跟踪的双十带宽达到375 Hz，有效改善动态性能，拓展控制带宽。

Abstract

The traditional control method for a fast-steering mirror driven by a voice coil motor suffers from serious phase lag

which limits the performance. Herein

a perfect tracking controller (PTC) was proposed to solve this problem. First

a discrete state space model of the voice coil-driven fast-steering mirror was established

a multirate sampling system was constructed

and a PTC was designed for long-cycle operations. Second

an internal compensator controller was designed for short-cycle operations based on the discrete-time sliding mode control method. The new method achieves perfect tracking of the voice coil-driven fast-steering mirror and reduces the effects of external disturbances

model uncertainties

and mechanical nonlinearity

thus ensuring the robustness of the system. Experimental results show that the proposed PTC improves bandwidth performance. Compared with the proportional-integral-derivative controller method

the system step response time is reduced by 50% and position error is reduced by 50%. Compared with the disturbance observer and zero phase error tracking controller method

the steady-state error is reduced from 1.5% to 0.05%. Moreover

the proposed method allows the fast-steering mirror driven by a voice coil motor to track sine position commands with an amplitude of 360"; the double-decade bandwidth is up to 375 Hz. The proposed method can effectively improve dynamic performance and expand the system control bandwidth.

关键词

Keywords

references

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