Piezoelectric fast steering mirror high-precision output feedback control method and device

Abstract

The present application relates to the field of high-precision motion control, in particular to a piezoelectric fast mirror high-precision output feedback control method and device, the method comprising: a piezoelectric fast mirror design hysteresis estimator based on state observer; piezoelectric fast mirror feedback controller is designed based on the hysteresis estimator; the output value of the feedback controller is input to the piezoelectric fast mirror, and the high-precision motion and control of the piezoelectric fast mirror are realized; the hysteresis estimator is introduced into the design process of the state feedback controller in the present application, the hysteresis modeling process is avoided, and the high-precision control of the piezoelectric fast mirror can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of high-precision motion control, and more specifically, to a high-precision output feedback control method and device for a piezoelectric fast reflector. Background Technology

[0002] As a key component for stabilizing the line of sight, the high-precision control of piezoelectric fast reflectors has attracted increasing attention. However, problems such as hysteresis in piezoelectric fast reflectors pose a significant challenge to their high-precision control, severely limiting their application in optical imaging systems and hindering their further promotion.

[0003] To address the hysteresis problem of piezoelectric fast reflectors, existing methods employ hysteresis modeling and feedforward compensation. However, these methods suffer from uncertain modeling accuracy and difficulty in obtaining feedforward controller parameters, resulting in low control accuracy for the piezoelectric fast reflectors.

[0004] Therefore, there are still shortcomings in the existing technology, which need to be further developed. Summary of the Invention

[0005] This invention provides a high-precision output feedback control method and apparatus for a piezoelectric fast reflector, which at least solves the technical problem of low control accuracy of existing piezoelectric fast reflectors.

[0006] According to an embodiment of the present invention, a high-precision output feedback control method for a piezoelectric fast reflector is provided, comprising the following steps:

[0007] Design a hysteresis estimator based on a piezoelectric fast reflector with a state observer;

[0008] Design of a feedback controller for a piezoelectric fast reflector based on a hysteresis estimator;

[0009] The output value of the feedback controller is input to the piezoelectric fast reflector to achieve high-precision motion and control of the piezoelectric fast reflector.

[0010] Furthermore, the design of the hysteresis estimator based on the piezoelectric fast reflector using the state observer is as follows:

[0011] The piezoelectric fast reflector is characterized by the following model:

[0012]

[0013] Where m, b, k and d are the parameters of model (1), representing the mass, damping coefficient, stiffness and input scaling factor of the piezoelectric fast reflector, respectively, and are generally constant real numbers; x(t) and u(t) correspond to the output position and input voltage of the piezoelectric fast reflector, respectively. represents the first derivative operation and the second derivative operation of x(t) respectively; h(t) represents the hysteresis output of the piezoelectric fast steering mirror;

[0014] The piezoelectric fast steering mirror model is rewritten as:

[0015]

[0016] wherein a1=k / m, a2=b / m, a3=kd / m are parameters after the model is rewritten, and are calculated through m, b, k, d in formula (1);

[0017] The hysteresis estimator of the piezoelectric fast steering mirror is designed according to the model (2):

[0018]

[0019] wherein ζ(t) is an auxiliary variable of the hysteresis estimator, L is the gain of the hysteresis estimator, and η(·) is a nonlinear function of the hysteresis estimator.

[0020] Further, the feedback controller of the piezoelectric fast steering mirror is designed based on the hysteresis estimator, and is specifically:

[0021] The dynamic expression of the change of the set state is designed:

[0022]

[0023] wherein λ is a constant, and e(t)=x1(t)-x d (t) is the error between the actual output position and the expected position of the piezoelectric fast steering mirror;

[0024] The formula (6) can be obtained by derivation of the expression (4):

[0025]

[0026] According to the formula (5) and the designed hysteresis estimator, the state feedback controller of the piezoelectric fast steering mirror is:

[0027]

[0028] Further, the output value of the feedback controller is input to the piezoelectric fast steering mirror, so as to realize high-precision trajectory tracking and control of the piezoelectric fast steering mirror, and is specifically:

[0029] The preset sampling time is set;

[0030] Through real-time calculation, the state feedback controller simulation signal output value of the piezoelectric fast steering mirror at the current time is obtained;

[0031] The analog signal is converted into a digital signal and input to a driving power supply of the piezoelectric fast steering mirror;

[0032] The driving power supply drives the piezoelectric fast steering mirror to move with high precision based on the digital signal.

[0033] Further, after the driving power supply drives the piezoelectric fast steering mirror to move with high precision based on the digital signal, the method further comprises:

[0034] It is judged whether to continue to move, and if the movement is continued, the reading is returned to the part of acquiring the information of the current time position, the total control voltage of the piezoelectric fast steering mirror in the last period is continuously calculated, and the control program is circularly performed.

[0035] Further, a control algorithm execution module composed of an ARM embedded STMF407 chip is used to set the sampling time.

[0036] Further, a D / A conversion module is used to convert the analog signal into a digital signal.

[0037] A piezoelectric fast steering mirror high-precision output feedback control device comprises:

[0038] A hysteresis estimator design module is used to design a hysteresis estimator of the piezoelectric fast steering mirror based on a state observer;

[0039] A feedback controller design module is used to design a feedback controller of the piezoelectric fast steering mirror based on the hysteresis estimator;

[0040] A control module is used to input the output value of the feedback controller to the piezoelectric fast steering mirror, so as to realize the high-precision movement and control of the piezoelectric fast steering mirror.

[0041] A computer readable medium comprises one or more programs stored in the computer readable storage medium, and the one or more programs can be executed by one or more processors to implement the steps of the piezoelectric fast steering mirror high-precision output feedback control method according to any one of the above.

[0042] A terminal device comprises a processor, a memory and a communication bus; the memory stores a computer readable program which can be executed by the processor;

[0043] The communication bus realizes the connection and communication between the processor and the memory;

[0044] The processor executes the computer readable program to implement the steps of the piezoelectric fast steering mirror high-precision output feedback control method according to any one of the above.

[0045] The piezoelectric fast mirror high-precision output feedback control method and device, the method comprises the following steps: a hysteresis estimator is designed for the piezoelectric fast mirror based on a state observer; a feedback controller of the piezoelectric fast mirror is designed based on the hysteresis estimator; the output value of the feedback controller is input to the piezoelectric fast mirror, so as to realize high-precision movement and control of the piezoelectric fast mirror; the hysteresis estimator is introduced into the design process of the state feedback controller, so that the hysteresis modeling process is avoided, and the high-precision control of the piezoelectric fast mirror can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application, and do not limit the application. In the drawings:

[0047] Figure 1 The flow chart of the piezoelectric fast mirror high-precision output feedback control method of the application;

[0048] Figure 2 The state feedback control block diagram based on the hysteresis estimator of the application;

[0049] Figure 3 The experimental test hardware structure block diagram adopted by the application;

[0050] Figure 4 The module diagram of the piezoelectric fast mirror high-precision output feedback control device of the application;

[0051] Figure 5 The terminal device of the application. DETAILED DESCRIPTION

[0052] In order to enable personnel in the art to better understand the application scheme, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the application.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and in the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] Embodiment 1

[0055] According to an embodiment of the present application, a piezoelectric fast mirror high-precision output feedback control method is provided, referring to Figures 1 to 3 , comprising the following steps:

[0056] S100: Designing a hysteresis estimator for a piezoelectric fast mirror based on a state observer.

[0057] Step S100 specifically includes:

[0058] First, the piezoelectric fast mirror is characterized as a model form as follows:

[0059]

[0060] Wherein, m, b, k and d are parameters of model (1), representing the mass, damping coefficient, stiffness and input proportional coefficient of the piezoelectric fast mirror respectively, which are generally constant real numbers; x(t) and u(t) correspond to the output position and input voltage of the piezoelectric fast mirror respectively; h(t) represents the hysteresis part output of the piezoelectric fast mirror; the expression (1) can be used to describe the input-output characteristics of the piezoelectric fast mirror, and to realize the description of its characteristics.

[0061] The current position of the piezoelectric fast mirror is measured by a displacement sensor, and the analog signal is converted into a digital signal by an A / D conversion module to assign an initial value to the controller variable; at this time, for the convenience of expression, the piezoelectric fast mirror model is rewritten as:

[0062]

[0063] Wherein, a1=k / m, a2=b / m, a3=kd / m; the equivalent form of formula (2) can be used to express, so as to reduce the calculation amount of the subsequent hysteresis estimator design.

[0064] An input desired signal value is input, an output voltage of a controller at a previous time is calculated, and position information of the piezoelectric fast steering mirror at this time is obtained; according to the model (2), the position information of the piezoelectric fast steering mirror at the current time and the input voltage information are combined to design a hysteresis estimator as follows:

[0065]

[0066] Wherein, ζ(t) is an auxiliary variable of the hysteresis estimator, realizing variable connection in the operation process of the hysteresis estimator, making the operation expression clearer, L is the gain of the hysteresis estimator, and η(·) is a nonlinear function of the hysteresis estimator.

[0067] S200: Design a feedback controller of the piezoelectric fast steering mirror based on the hysteresis estimator.

[0068] On the basis of the hysteresis estimator, a difference between the desired position and the output position of the piezoelectric fast steering mirror is calculated, and a state feedback controller is designed.

[0069] The step S200 specifically comprises:

[0070] A dynamic expression of the change of the state is designed:

[0071]

[0072] Wherein, λ is a constant, e(t) = x1(t)-x d (t) is an error between the actual output position and the desired position of the piezoelectric fast steering mirror; using the formula (4) will make the convergence speed of the state feedback controller faster, which is manifested as that the output error e(t) quickly approaches to zero.

[0073] The formula (7) can be obtained by derivation of the expression (4):

[0074]

[0075] According to the formula (5) and the designed hysteresis estimator, the state feedback controller of the piezoelectric fast steering mirror is obtained as shown in the formula (6):

[0076]

[0077] S300: Input the output value of the feedback controller to the piezoelectric fast steering mirror, realizing high-precision movement and control of the piezoelectric fast steering mirror.

[0078] The step S400 specifically comprises:

[0079] S401: Pre-set a sampling time;

[0080] S402: Obtain the analog signal output value of the state feedback controller of the piezoelectric fast reflector at the current moment through real-time calculation;

[0081] S403: Convert the analog signal into a digital signal and input it to the driving power supply of the piezoelectric fast reflector;

[0082] S404: Based on the digital signal, the driving power supply drives the piezoelectric fast reflector to perform high-precision motion.

[0083] The process after step S404 also includes:

[0084] Determine whether to continue moving. If so, return to the section that obtains the current position information to take a reading, continue to calculate the total control voltage of the piezoelectric fast reflector in the previous cycle, and repeat the control program.

[0085] In the embodiments, such as Figure 3 As shown, the control algorithm execution module composed of ARM embedded STMF407 chip defines the sampling time as 1ms, calculates and obtains the analog signal output of the state feedback controller of the piezoelectric fast reflector at the current moment in real time, converts the analog signal into a digital signal through the D / A conversion module, and inputs the digital signal to the driving power supply of the piezoelectric fast reflector, thereby driving the piezoelectric fast reflector to perform high-precision movement.

[0086] Determine whether the controller should continue moving. If it does, return to the position sensor to obtain the current position information, take a reading, and continue to calculate the total control voltage of the piezoelectric fast reflector in the previous cycle, and repeat the control program.

[0087] This invention proposes a high-precision output feedback control method for piezoelectric fast reflectors. It unifies the nonlinear characteristics of piezoelectric fast reflectors, such as model uncertainty, external disturbances, and hysteresis, as external disturbances. By designing a disturbance estimator, the method estimates and compensates for the disturbances, ensuring the linearity of the piezoelectric fast reflector. Based on this, a sliding mode surface is designed using state errors, and a high-precision output feedback controller is proposed to achieve high-precision trajectory tracking control of the piezoelectric fast reflector. This method can be extended to high-precision positioning control of other linear systems affected by external disturbances, solving high-precision control problems in related fields.

[0088] Example 2

[0089] According to another embodiment of the present invention, a high-precision output feedback control device for a piezoelectric fast reflector is provided, see [link to relevant documentation]. Figure 4 ,include:

[0090] The hysteresis estimator design module 100 is used for designing a hysteresis estimator of the piezoelectric fast steering mirror based on a state observer;

[0091] The feedback controller design module 200 is used for designing a feedback controller of the piezoelectric fast steering mirror based on the hysteresis estimator;

[0092] The control module 300 is used for inputting an output value of the feedback controller into the piezoelectric fast steering mirror, so as to realize high-precision movement and control of the piezoelectric fast steering mirror.

[0093] The piezoelectric fast steering mirror high-precision output feedback control method and device in the embodiment of the application comprises: a hysteresis estimator design module 100 is used for designing a hysteresis estimator of the piezoelectric fast steering mirror based on a state observer; a feedback controller design module 200 is used for designing a feedback controller of the piezoelectric fast steering mirror based on the hysteresis estimator; and a control module 300 is used for inputting an output value of the feedback controller into the piezoelectric fast steering mirror, so as to realize high-precision movement and control of the piezoelectric fast steering mirror. The hysteresis estimator is introduced into the design process of the state feedback controller, so that the hysteresis modeling process is avoided, and the high-precision control of the piezoelectric fast steering mirror can be effectively improved.

[0094] Embodiment 3

[0095] Based on the piezoelectric fast steering mirror high-precision output feedback control method, the embodiment provides a computer readable storage medium, the computer readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the piezoelectric fast steering mirror high-precision output feedback control method of the above embodiment.

[0096] Embodiment 4

[0097] A terminal device comprises a processor, a memory and a communication bus, the memory stores a computer readable program which can be executed by the processor, the communication bus realizes the connection communication between the processor and the memory, and the processor realizes the steps in the piezoelectric fast steering mirror high-precision output feedback control method when executing the computer readable program.

[0098] Based on the piezoelectric fast steering mirror high-precision output feedback control method, the application provides a terminal device, such as Figure 5As shown, it includes at least one processor 20, a display screen 21, and a memory 22, and can further include a communications interface 23 and a bus 24. The processor 20, the display screen 21, the memory 22 and the communications interface 23 can communicate with each other through the bus 24. The display screen 21 is configured to display a preset user guide interface in the initial setting mode. The communications interface 23 can transmit information. The processor 20 can call the logic instructions in the memory 22 to execute the method in the above embodiments.

[0099] In addition, the logic instructions in the memory 22 described above can be realized in the form of a software function unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0100] The memory 22 as a computer readable storage medium can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the method in the embodiments of the present disclosure. The processor 20 executes the functions of the application and data processing by running the software programs, instructions or modules stored in the memory 22, that is, realizes the method in the above embodiments.

[0101] The memory 22 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 22 can include a high-speed random access memory, and can further include a non-volatile memory. For example, a variety of media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc., can also be a transitory storage medium.

[0102] In addition, the specific process of the above storage medium and the plurality of instructions in the terminal device loaded and executed by the processor has been described in detail in the above method, and here will not be stated one by one.

[0103] The above only describes the preferred embodiments of the present application. It should be noted that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A high-precision output feedback control method for a piezoelectric fast reflector, characterized in that, Includes the following steps: Design a hysteresis estimator based on a piezoelectric fast reflector with a state observer; A feedback controller for a piezoelectric fast reflector is designed based on the hysteresis estimator. The output value of the feedback controller is input to the piezoelectric fast reflector to achieve high-precision motion and control of the piezoelectric fast reflector. The piezoelectric fast reflector design hysteresis estimator based on the state observer is specifically as follows: The piezoelectric fast reflector is characterized by the following model form: （1） in, , , and These are the parameters of model (1), representing the mass, damping coefficient, stiffness, and input scaling factor of the piezoelectric fast reflector, respectively; they are generally constant real numbers. and These correspond to the output position and input voltage of the piezoelectric fast reflector, respectively. , Representing respectively to The first and second derivative operations; This represents the hysteresis output of the piezoelectric fast reflector; The piezoelectric fast reflector model is rewritten as follows: （2） in, , , , which are the parameters after the model is rewritten, and are obtained through formula (1). , , , Calculated; Design the hysteresis estimator for the piezoelectric fast reflector based on model (2): （3） in, As auxiliary variables for the hysteresis estimator, It is the gain of the hysteresis estimator. It is a nonlinear function of the hysteresis estimator.

2. The high-precision output feedback control method for a piezoelectric fast reflector according to claim 1, characterized in that, The feedback controller for designing the piezoelectric fast reflector based on the hysteresis estimator is specifically as follows: Design a dynamic expression for the change of the set state: （4） in, It is a constant. The error between the actual output position and the desired position of the piezoelectric fast reflector; By differentiating expression (4), we can obtain the formula: （5） According to formula (5) and the designed hysteresis estimator, the state feedback controller of the piezoelectric fast reflector is as follows: （6）。 3. The high-precision output feedback control method for a piezoelectric fast reflector according to claim 1, characterized in that, The output value of the feedback controller is input to the piezoelectric fast reflector to achieve high-precision trajectory tracking and control of the piezoelectric fast reflector. Specifically, this is achieved by: Preset sampling time; The current state feedback controller analog signal output value of the piezoelectric fast reflector is obtained through real-time calculation. The analog signal is converted into a digital signal and input to the driving power supply of the piezoelectric fast reflector; Based on the digital signal, the driving power supply drives the piezoelectric fast reflector to perform high-precision movements.

4. The high-precision output feedback control method for a piezoelectric fast reflector according to claim 3, characterized in that, After the driving power supply drives the piezoelectric fast reflector to perform high-precision motion based on the digital signal, it also includes: Determine whether to continue moving. If so, return to the section that obtains the current position information to take a reading, continue to calculate the total control voltage of the piezoelectric fast reflector in the previous cycle, and repeat the control program.

5. The high-precision output feedback control method for a piezoelectric fast reflector according to claim 4, characterized in that, The sampling time is set using a control algorithm execution module composed of an ARM embedded STMF407 chip.

6. The high-precision output feedback control method for a piezoelectric fast reflector according to claim 4, characterized in that, The analog signal is converted into a digital signal using a D / A conversion module.

7. A high-precision output feedback control device for a piezoelectric fast reflector, characterized in that, include: Hysteresis estimator design module for designing hysteresis estimators for piezoelectric fast reflectors based on state observers; A feedback controller design module is used to design a feedback controller for a piezoelectric fast reflector based on the hysteresis estimator. The control module is used to input the output value of the feedback controller to the piezoelectric fast reflector, so as to realize the high-precision motion and control of the piezoelectric fast reflector; The piezoelectric fast reflector design hysteresis estimator based on the state observer is specifically as follows: The piezoelectric fast reflector is characterized by the following model form: （1） in, , , and These are the parameters of model (1), representing the mass, damping coefficient, stiffness, and input scaling factor of the piezoelectric fast reflector, respectively; they are generally constant real numbers. and These correspond to the output position and input voltage of the piezoelectric fast reflector, respectively. , Representing respectively to The first and second derivative operations; This represents the hysteresis output of the piezoelectric fast reflector; The piezoelectric fast reflector model is rewritten as follows: （2） in, , , , which are the parameters after the model is rewritten, and are obtained through formula (1). , , , Calculated; Design the hysteresis estimator for the piezoelectric fast reflector based on model (2): （3） in, As auxiliary variables for the hysteresis estimator, It is the gain of the hysteresis estimator. It is a nonlinear function of the hysteresis estimator.

8. A computer-readable medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps in the high-precision output feedback control method for piezoelectric fast reflectors as described in any one of claims 1-6.

9. A terminal device, characterized in that, include: Processor, memory, and communication bus; The memory stores a computer-readable program that can be executed by the processor; The communication bus enables communication between the processor and the memory; When the processor executes the computer-readable program, it implements the steps in the high-precision output feedback control method for piezoelectric fast reflectors as described in any one of claims 1-6.

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