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Self-adaptive integral sliding mode control method and system for laser radar scanning mechanism

A technology of scanning mechanism and laser radar, which is applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problems of long measurement optical distance, small monitoring area, and difficult self-positioning of observation targets

Active Publication Date: 2019-07-12
UNIV OF SCI & TECH OF CHINA
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Problems solved by technology

[0004] However, the defects of this monitoring and analysis method are: first, the measurement optical distance is long and the monitoring area is small, which makes it very difficult to self-locate the observation target; second, in the follow-up process of the observation system, the micro vibration It will bring great detection error and poor anti-interference ability

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  • Self-adaptive integral sliding mode control method and system for laser radar scanning mechanism
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  • Self-adaptive integral sliding mode control method and system for laser radar scanning mechanism

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[0053] In order to further illustrate the features of the present invention, please refer to the following detailed description and accompanying drawings of the present invention. The accompanying drawings are for reference and description only, and are not intended to limit the protection scope of the present invention.

[0054] Such as figure 1 As shown, this embodiment discloses an adaptive integral sliding mode control method of a lidar scanning mechanism, and the lidar scanning mechanism includes a base B 0 , Azimuth rotation joint B 1 and pitch-rotation joint B 2 , Base B 0 , Azimuth rotation joint B 1 and pitch-rotation joint B 2 To rotate and connect in turn, the control method includes the following steps S1 to S3:

[0055] S1. Using the DH modeling method, base B 0 , Azimuth rotation joint B 1 and pitch-rotation joint B 2 As joint points, establish the joint coordinate system respectively;

[0056] S2. Establish a torque-joint angle dynamic equation of the ...

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Abstract

The invention discloses a self-adaptive integral sliding mode control method and system of a laser radar scanning mechanism. The laser radar scanning mechanism comprises a base B0, an azimuth rotationjoint B1 and a pitching rotation joint B2, wherein the base B0, the azimuth rotating joint B1 and the pitching rotating joint B2 are sequentially connected in a rotating mode, and the method comprises the steps that a DH modeling method is utilized, the base B0, the azimuth rotating joint B1 and the pitching rotating joint B2 serve as joint points, and joint coordinate systems are established respectively; according to the established joint coordinate system and the power parameters of the laser radar scanning mechanism, a torque-joint angle kinetic equation of the laser radar scanning mechanism is established; and a sliding mode angle controller is established to adjust the actual angle of the joint angle, and the torque applied to the laser radar scanning mechanism by the motor is obtained. According to the method, integral sliding mode control is adopted, the problems of flutter and noise sensitivity in the arrival stage are solved, the uncertainty of the system dynamics of the laser radar scanning mechanism is eliminated, and the robustness of the system is improved.

Description

technical field [0001] The invention relates to the technical field of air pollution emission detection, in particular to an adaptive integral sliding mode control method and system of a laser radar scanning mechanism. Background technique [0002] At present, the situation of my country's atmospheric environment is severe, the total amount of pollutant discharge is large, and the regional atmospheric environmental problems characterized by fine particulate matter are becoming increasingly prominent. Frequent regional air pollution problems such as smog are closely related to substandard exhaust emissions from urban mobile pollution sources such as motor vehicles, engineering vehicles, and ships. Mobile source pollution has become one of the most prominent and urgent problems in my country's air pollution problems. [0003] In terms of emission monitoring of non-road mobile pollution sources such as ships, since optical reflection devices cannot be installed, a passive scan...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G01S17/88
CPCG05B13/042G01S17/88Y02A90/10
Inventor 康宇杨钰潇卢峻森陈才吕文君
Owner UNIV OF SCI & TECH OF CHINA
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