A Feedforward Control Method of Fast Mirror Based on Error Observer
A technology of feedforward control and feedforward controller, which is applied in the field of fast mirror feedforward control based on error observers, can solve problems such as poor use effect, large error in target speed prediction, complex structure, etc., and achieve a wide range of applications , small amount of calculation, and the effect of simplifying the control process
Active Publication Date: 2020-05-01
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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The structure of this method is relatively complicated, and it needs to rely on external sensors to realize; and CCD data is also used when realizing the target speed prediction, and the delay in it will also lead to a large error in the target speed prediction, resulting in poor use effect
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[0023] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0024] as attached figure 1 Shown is a control block diagram of a fast mirror feed-forward control method based on an error observer, which includes a high-bandwidth eddy current inner loop, a CCD position outer loop, and an error observer. The core idea of this method is to use the visual axis error provided by the CCD and the output of the position loop controller to fuse to realize a high-gain observer to realize the observation and estimation of the target position, and then realize the feedforward of the target position control to reduce its CCD tracking error. The specific implementation steps of adopting described device to realize feed-forward control method are as follows:
[0025] Step (1): Install an eddy current position sensor in the fast mirror tracking control system to measure the deflection angle position of...
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The invention relates to an error observer-based feedforward control method of a fast mirror. For the disadvantages in feedforward control of the fast mirror at present, a high-gain observer is achieved by fusing a visual axis error amount provided by a CCD and an output quantity of a position ring controller, so that observation and estimation of a target position are achieved, feedforward control on the target position is achieved and a CCD tracking error is reduced. The method is CCD sensor-based data fusion feedforward, so that the method is effective to target tracking and also effective to CCD-based fast mirror disturbance rejection, and the application range is relatively wide. The method is output depending on a position controller, but not output of an outer ring, so that the method is not limited by the sampling rate of an outer ring sensor, and the control flow of a system can be simplified only by the error amount returned by the CCD. Meanwhile, the control structure is relatively simple in actual engineering realization, the calculation amount is smaller, the control complexity is lower and the error observer-based feedforward control method is more intuitive and easy to understand.
Description
technical field [0001] The invention belongs to the field of photoelectric system tracking control, and in particular relates to a fast mirror feedforward control method based on an error observer, which is used to reduce tracking errors and further improve the tracking performance of the fast mirror for maneuvering targets. Background technique [0002] When the photoelectric tracking control system realizes the tracking of the moving target, it mainly relies on the feedback tracking method based on the visual error. As a visual tracking error sensor, CCD is widely used in the frame control loop and the fast mirror control loop in the photoelectric system. The fast mirror control loop is used to achieve high-precision locking and tracking of the target, and its tracking accuracy determines the final overall performance of the system. The traditional fast mirror tracking control mainly relies on the eddy current position sensor and the CCD visual error sensor to realize the...
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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor邓超唐涛毛耀任维张超
OwnerINST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI