Improved fast steering mirror (FSM) inertial stability control method based on strapdown acceleration measurement

Abstract

The invention relates to an improved fast steering mirror (FSM) inertial stability control method based on strapdown acceleration measurement. The method achieves strapdown direct disturbance measurement by using a disturbance measurement accelerometer mounted on a base and then performs feedforward compensation control by using the measured disturbance acceleration. A disturbance measuring sensor is mounted directly on a FSM base so that the model selection of the sensor is not limited. Any sensor with high precision and high bandwidth can be used without being limited by volume and installation space. The obtained base disturbance is high in accuracy and low in lag. In order to avoid system saturation caused by double saturation in a feedforward controller, feedforward nodes are selected when an acceleration loop is given and a speed controller is output. The method ingeniously subjects the quadratic differential in a controlled object to partial compensation by using an acceleration controller so as to simplify a feedforward compensation object, thereby simplifying the design of a feedforward controller, and making the entire control loop simpler and easier to implement.

Description

Technical field [0001] The invention belongs to the field of photoelectric inertial stability control, and specifically relates to an improved fast-reflection mirror inertial stability control method based on strap-down acceleration measurement, used for stabilizing the optical path, isolating the disturbance of the base, and further improving the tracking of the photoelectric tracking equipment of the motion platform performance. Background technique [0002] In the photoelectric tracking equipment, due to the characteristics of small inertia and high bandwidth of the fast mirror, it has been widely used to realize the precision tracking control loop. The motion platform's photoelectric tracking equipment is disturbed by the base and the tracking accuracy is greatly reduced. Therefore, corresponding measures must be taken to suppress the base disturbance. It is one of the most effective methods that have been proved to realize the disturbance suppression control of the optical ...

AI Technical Summary

Problems solved by technology

However, due to the low sampling rate of the CCD, the large delay characteristics and the sampling noise contained in the inertial sensor gyroscope and accelerometer itself, when the system is subjected to external uncertain disturbances, its disturbance suppression ability is still insufficient

In terms of control ideas, the above two classic methods are only based on feedback, but do not introduce the idea of ​​feedforward control that can effectively improve the system type and reduce the system steady-state error

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