Control method and device for moving mirror scanning system and electronic equipment

Abstract

The invention discloses a control method and device for a moving mirror scanning system and electronic equipment, and relates to the technical field of precise motion control, and the control method comprises the steps: determining motor parameters of a voice coil motor in the moving mirror scanning system, and controlling the moving mirror scanning system to start under the condition that a target angular velocity signal is received, and obtaining an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, determining a target voltage signal based on the motor parameter, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, and controlling the operation of the voice coil motor by adopting the target voltage signal. Therefore, the difference value between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion is smaller than the preset threshold value. According to the invention, the technical problem that the periodic scanning motion of the moving mirror in the moving mirror scanning system cannot be effectively controlled in the prior art, so that the periodic error of the moving mirror is large is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of precision motion control, and in particular to a control method and device for a moving mirror scanning system, and electronic equipment. Background Art

[0002] For time-resolved spectroscopy of non-repeatable experiments (e.g., many chemical reactions), a moving mirror scanning system is required to obtain time-resolved data. In this case, the swing scanning motion of the moving mirror is a pre-set known periodic fast scanning motion. The fast scanning mode of the moving mirror will cause impact on the system due to frequent acceleration and deceleration motion, induce the motor to produce scanning oscillation, and thus affect the tracking performance of the system.

[0003] In the related technology 1, an optoelectronic pod stabilization method based on interference torque spectrum and repetitive control is proposed. The optimization parameters are designed on the basis of the plug-in repetitive control link and the motor double closed-loop control. The interference torque or its equivalent current value is calculated by measuring the current and gyro residual during the pod stabilization operation. The calculated interference torque is used as input, and an optimization model is constructed in combination with a simple pod control model. Finally, the controller parameters are determined by numerical optimization.

[0004] However, the dual closed-loop control algorithm in the related art 1 has poor anti-interference ability and cannot suppress other disturbances to the system. In addition, the use of numerical optimization methods to determine controller parameters has poor effects in practical applications.

[0005] In the related technology 2, a method for suppressing periodic load disturbances of a brushless DC motor at low speed is proposed, and a parallel composite control method based on improved repetitive control and self-disturbance rejection control is adopted, so that the system can accurately compensate for periodic load disturbances.

[0006] However, the parallel repetitive control and anti-disturbance control in the related technology 2 requires a careful design of the coordination mechanism between the two controllers to prevent mutual influence, and multiple nonlinear functions are used, requiring many parameters to be adjusted, and the parameter adjustment is complex.

[0007] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0008] An embodiment of the present invention provides a control method and device and an electronic device for a moving mirror scanning system, so as to at least solve the technical problem in the related art that the periodic scanning motion of the moving mirror in the moving mirror scanning system cannot be effectively controlled, resulting in a large periodic error of the moving mirror.

[0009] According to one aspect of an embodiment of the present invention, a control method for a moving mirror scanning system is provided, which is applied to a preset anti-disturbance control system, wherein the preset anti-disturbance control system refers to an anti-disturbance control system with a repetitive controller inserted, comprising: determining motor parameters of a voice coil motor in the moving mirror scanning system, wherein the voice coil motor is used to control the moving mirror in the moving mirror scanning system to perform periodic scanning motion; in the case of receiving a target angular velocity signal, controlling the moving mirror scanning system to start, and obtaining an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, wherein the target angular velocity signal includes: a target angular velocity in each time period, the estimated angular velocity signal includes: an estimated angular velocity in each time period, and the actual angular velocity signal includes: an actual angular velocity in each time period; determining a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, wherein the target voltage signal includes: a target voltage in each time period; and controlling the operation of the voice coil motor using the target voltage signal so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

[0010] Furthermore, before determining the motor parameters of the voice coil motor in the moving mirror scanning system, it also includes: determining the center frequency and quality factor of the voice coil motor; constructing a notch filter transfer function based on the spectrum, center frequency, and quality factor, wherein the notch filter transfer function is used to eliminate the mechanical resonance peak of each spectrum.

[0011] Furthermore, after constructing the notch filter transfer function, it also includes: controlling the moving mirror scanning system to determine the output signal of the voice coil motor at each frequency spectrum based on the motor parameters and the target voltage signal, using the first transfer function and the notch filter transfer function, wherein the first transfer function is a function based on the frequency spectrum, the motor parameters, the input signal and the output signal; the input signal includes: the input voltage corresponding to each frequency spectrum, and the input voltage corresponding to each frequency spectrum is obtained by Fourier transforming the target voltage corresponding to each time period in the target voltage signal; the output signal includes: the output angular velocity corresponding to each frequency spectrum, and the output angular velocity corresponding to each frequency spectrum is obtained by Fourier transforming the actual angular velocity corresponding to each time period in the actual angular velocity signal.

[0012] Furthermore, the preset anti-disturbance control system includes at least: a repetitive controller, a linear extended state observer and a state error feedback control law, wherein: the repetitive controller includes at least: a low-pass filter, a signal delay and a dynamic compensator, the repetitive controller processes the received signals in sequence through the low-pass filter, the signal delay and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion; the linear extended state observer is used to detect the estimated angular velocity and the total disturbance estimate in each time period; the state error feedback control law is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimate.

[0013] Furthermore, the step of the linear extended state observer detecting the estimated angular velocity and the total disturbance estimate in each time period includes: receiving the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system; determining the first error in the current time period based on the actual angular velocity and the estimated angular velocity in the current time period; determining the estimated angular velocity in the next time period based on the estimated angular velocity, the total disturbance estimate, the first error, the target voltage, the sampling rate, the first preset parameter and the second preset parameter in the current time period; determining the total disturbance estimate in the next time period based on the total disturbance estimate in the current time period, the first error, the sampling rate and the third preset parameter.

[0014] Furthermore, the state error feedback control law determines the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimation value, and the steps include: determining the second error in the current time period based on the target angular velocity in the current time period and the estimated angular velocity; determining the intermediate voltage in the current time period based on the second error in the current time period, the fourth preset parameter and the fifth preset parameter; determining the target voltage in the current time period based on the intermediate voltage in the current time period, the total disturbance estimation value and the second preset parameter.

[0015] Furthermore, the control method also includes: determining the period duration of the periodic scanning motion of the moving mirror; constructing a signal delay function used by the signal delayer based on the period duration; constructing a filter function used by the low-pass filter and a compensation function used by the dynamic compensator.

[0016] Furthermore, based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, the step of determining the target voltage signal includes: based on the target angular velocity signal, using a linear extended state observer to estimate the estimated angular velocity and the total disturbance estimate in each time period, and obtaining the actual angular velocity fed back by the moving mirror scanning system in each time period; using a repetitive controller to process the target angular velocity signal and the estimated angular velocity signal to obtain a processed target angular velocity signal and a processed estimated angular velocity signal; based on the processed target angular velocity signal, the processed estimated angular velocity signal and the total disturbance estimate in each time period, using a state error feedback control law to determine the target voltage in each time period to obtain a target voltage signal, wherein the moving mirror scanning system uses a first transfer function and a notch filter transfer function to output the actual angular velocity in each time period based on the target voltage in each time period and the motor parameters.

[0017] According to another aspect of an embodiment of the present invention, a control device for a moving mirror scanning system is provided, which is applied to a preset anti-disturbance control system, wherein the preset anti-disturbance control system refers to an anti-disturbance control system with a repetitive controller inserted, and comprises: a first determining unit, which is used to determine the motor parameters of a voice coil motor in the moving mirror scanning system, wherein the voice coil motor is used to control the moving mirror in the moving mirror scanning system to perform periodic scanning motion; a starting unit, which is used to control the moving mirror scanning system to start up when receiving a target angular velocity signal, and obtain an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, wherein the target angular velocity signal comprises: a target angular velocity in each time period, the estimated angular velocity signal comprises: an estimated angular velocity in each time period, and the actual angular velocity signal comprises: an actual angular velocity in each time period; a second determining unit, which is used to determine a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, wherein the target voltage signal comprises: a target voltage in each time period; and a control unit, which is used to control the operation of the voice coil motor using the target voltage signal, so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

[0018] Furthermore, the control device also includes: a first determination module, used to determine the center frequency and quality factor of the voice coil motor before determining the motor parameters of the voice coil motor in the moving mirror scanning system; a first construction module, used to construct a notch filter transfer function based on the spectrum, center frequency, and quality factor, wherein the notch filter transfer function is used to eliminate the mechanical resonance peak of each spectrum.

[0019] Furthermore, the control device also includes: a second determination module, which is used to control the moving mirror scanning system to determine the output signal of the voice coil motor at each frequency spectrum based on the motor parameters and the target voltage signal after constructing the notch filter transfer function, using the first transfer function and the notch filter transfer function, wherein the first transfer function is a function based on the frequency spectrum, the motor parameters, the input signal and the output signal; the input signal includes: an input voltage corresponding to each frequency spectrum, and the input voltage corresponding to each frequency spectrum is obtained by Fourier transforming the target voltage corresponding to each time period in the target voltage signal; the output signal includes: an output angular velocity corresponding to each frequency spectrum, and the output angular velocity corresponding to each frequency spectrum is obtained by Fourier transforming the actual angular velocity corresponding to each time period in the actual angular velocity signal.

[0020] Furthermore, the preset anti-disturbance control system includes at least: a repetitive controller, a linear extended state observer and a state error feedback control law, wherein: the repetitive controller includes at least: a low-pass filter, a signal delay and a dynamic compensator, the repetitive controller processes the received signals in sequence through the low-pass filter, the signal delay and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion; the linear extended state observer is used to detect the estimated angular velocity and the total disturbance estimate in each time period; the state error feedback control law is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimate.

[0021] Furthermore, the control device also includes: a first detection module, which is used to detect the estimated angular velocity and the total disturbance estimate in each time period through a linear extended state observer, and the first detection module includes: a first receiving submodule, which is used to receive the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system; a first determining submodule, which is used to determine the first error in the current time period based on the actual angular velocity and the estimated angular velocity in the current time period; a second determining submodule, which is used to determine the estimated angular velocity in the next time period based on the estimated angular velocity in the current time period, the total disturbance estimate, the first error, the target voltage, the sampling rate, the first preset parameter and the second preset parameter; a third determining submodule, which is used to determine the total disturbance estimate in the next time period based on the total disturbance estimate in the current time period, the first error, the sampling rate and the third preset parameter.

[0022] Furthermore, the control device also includes: a third determination module, which is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimation value through the state error feedback control law, and the third determination module includes: a fourth determination submodule, which is used to determine the second error in the current time period based on the target angular velocity and the estimated angular velocity in the current time period; a fifth determination submodule, which is used to determine the intermediate voltage in the current time period based on the second error in the current time period, the fourth preset parameter and the fifth preset parameter; and a sixth determination submodule, which is used to determine the target voltage in the current time period based on the intermediate voltage in the current time period, the total disturbance estimation value and the second preset parameter.

[0023] Furthermore, the control device also includes: a fourth determination module, used to determine the period duration of the periodic scanning motion of the moving mirror; a second construction module, used to construct a signal delay function used by the signal delayer based on the period duration; and a third construction module, used to construct a filter function used by the low-pass filter and a compensation function used by the dynamic compensator.

[0024] Furthermore, the second determination unit includes: a first estimation module, which is used to estimate the estimated angular velocity and the total disturbance estimate in each time period based on the target angular velocity signal by using a linear extended state observer, and obtain the actual angular velocity fed back by the moving mirror scanning system in each time period; a first processing module, which is used to process the target angular velocity signal and the estimated angular velocity signal by using a repetitive controller to obtain a processed target angular velocity signal and a processed estimated angular velocity signal; a fifth determination module, which is used to determine the target voltage in each time period based on the processed target angular velocity signal, the processed estimated angular velocity signal and the total disturbance estimate in each time period by using a state error feedback control law to obtain a target voltage signal, wherein the moving mirror scanning system outputs the actual angular velocity in each time period based on the target voltage in each time period and the motor parameters by using a first transfer function and a notch filter transfer function.

[0025] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement any one of the above-mentioned control methods for a moving mirror scanning system.

[0026] In the present invention, the motor parameters of the voice coil motor in the moving mirror scanning system can be determined by presetting an anti-disturbance control system. When a target angular velocity signal is received, the moving mirror scanning system is controlled to start, and an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system are obtained. Based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, a target voltage signal is determined, and the target voltage signal is used to control the operation of the voice coil motor so that the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion is less than a preset threshold value, thereby solving the technical problem in the related art that the periodic scanning motion of the moving mirror in the moving mirror scanning system cannot be effectively controlled, resulting in a large periodic error of the moving mirror.

[0027] In the present invention, by inserting a repetitive controller into the anti-disturbance control system, the tracking accuracy and anti-disturbance capability of the moving mirror scanning system can be effectively improved. When the moving mirror performs periodic scanning motion, the preset anti-disturbance control system can automatically adjust the voltage output of the voice coil motor to ensure that the difference between the actual angular velocity of the moving mirror and the target angular velocity is maintained within a preset threshold, thereby achieving precise control of the scanning motion of the moving mirror and achieving the technical effect of reducing the periodic error of the moving mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0029] Figure 1 is a flow chart of an optional control method for a moving mirror scanning system according to an embodiment of the present invention;

[0030] Figure 2 is a schematic diagram of an optional moving mirror scanning system structure according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of an optional swing cycle according to an embodiment of the present invention;

[0032] Figure 4 is a schematic diagram of an optional swing angular velocity curve according to an embodiment of the present invention;

[0033] Figure 5 is a schematic diagram of an optional auto-disturbance rejection control structure with a repetitive controller inserted according to an embodiment of the present invention;

[0034] Figure 6 is a schematic diagram of an optional control device for a moving mirror scanning system according to an embodiment of the present invention;

[0035] Figure 7It is a hardware structure block diagram of an electronic device (or mobile device) for a control method of a moving mirror scanning system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) collected and involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data are in compliance with the relevant laws, regulations and standards of the relevant regions, necessary confidentiality measures are taken, and public order and good customs are not violated, and corresponding operation entrances are provided for users to choose to authorize or refuse. For example, an interface is set between the system and the relevant users or organizations. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0039] In the present invention, a repetitive self-anti-disturbance control method is proposed to solve the problem that the moving mirror scanning system has a fast cycle and a short stroke during rapid scanning, and the periodic following error will have a greater impact on the system. The method can effectively reduce the periodic error of the system while enhancing the anti-disturbance capability of the system, thereby improving the fast scanning performance of the moving mirror.

[0040] In the present invention, repetitive control is a control method for high-precision tracking of a reference input known in a cycle, which has the advantages of high control accuracy, simple implementation and non-parameter dependence. Active disturbance rejection control also does not rely on the accurate mathematical model of the controlled object, can estimate and compensate for the disturbance inside and outside the system in real time, and has strong anti-interference ability. Active disturbance rejection control can improve the response speed of the system by designing the state error feedback control law, while reducing the overshoot and steady-state error of the system.

[0041] The present invention introduces a repetitive controller into the ADRC algorithm, which improves the tracking performance of the system without affecting the stability of the controller, and reduces the periodic error of the system when performing rapid scanning. In addition, simulation and experimental results show that the ADRC method with the repetitive controller has a simple structure, the repetitive controller does not affect the stability of the system, and effectively reduces the periodic error of the system while enhancing the anti-disturbance capability of the system. When the moving mirror control system performs rapid scanning, compared with the current ADRC algorithm, the ADRC algorithm with the repetitive controller has better following performance, and can effectively reduce the periodic error of the system caused by rapid periodic motion.

[0042] The present invention is described in detail below in conjunction with various embodiments.

[0043] Embodiment 1

[0044] According to an embodiment of the present invention, an embodiment of a control method for a moving mirror scanning system is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0045] Figure 1 is a flow chart of an optional control method for a moving mirror scanning system according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0046] Step S101 , determining motor parameters of a voice coil motor in a moving mirror scanning system, wherein the voice coil motor is used to control a moving mirror in the moving mirror scanning system to perform periodic scanning motion.

[0047] In an embodiment of the present invention, the control method for the moving mirror scanning system can be applied to a preset auto-disturbance rejection control system (referred to as control system), which is an auto-disturbance rejection control system with a repetitive controller inserted.

[0048] Here, the moving mirror scanning system uses the swinging voice coil motor as a control object, so that the voice coil motor controls the moving mirror in the moving mirror scanning system to perform periodic scanning motion.

[0049] Figure 2 is a schematic diagram of an optional moving mirror scanning system structure according to an embodiment of the present invention, such as Figure 2 As shown in the figure, the moving mirror scanning system includes: a swinging voice coil motor, a double swing arm, a beam splitter, a moving mirror, a fixed mirror and other structures. The moving mirror scanning system plays a core role in precision optical measurement equipment such as Fourier transform infrared spectrometers. It is mainly used to realize the periodic scanning of the light beam in the optical path to collect spectral information at different wavelengths. The periodic scanning motion of the moving mirror can form a changing optical path difference between the light beam and the fixed mirror. According to the principle of Michelson interferometer, an interference pattern is generated, and then the spectral data is obtained through Fourier transform.

[0050] In an embodiment of the present invention, in order to achieve precise control of the moving mirror scanning system, the motor parameters of the voice coil motor in the moving mirror scanning system can be determined first, including but not limited to: the resistance, inductance, total moment of inertia, friction damping coefficient, torque constant and elastic damping coefficient of the motor.

[0051] In this embodiment, the motor parameters are determined to establish a mathematical model of the voice coil motor, which is the basis for designing a control system. Only by accurately understanding the characteristics of the motor can an effective control strategy be designed to ensure that the moving mirror scanning system maintains high accuracy and stability during fast scanning.

[0052] Step S102, when receiving the target angular velocity signal, control the moving mirror scanning system to start, and obtain the estimated angular velocity signal and the actual angular velocity signal of the moving mirror scanning system, wherein the target angular velocity signal includes: the target angular velocity in each time period, the estimated angular velocity signal includes: the estimated angular velocity in each time period, and the actual angular velocity signal includes: the actual angular velocity in each time period.

[0053] In an embodiment of the present invention, after receiving the target angular velocity signal (which can be set according to experimental requirements), the control system starts the moving mirror scanning system to enable the voice coil motor to start running, and at the same time estimates the estimated angular velocity signal generated by the moving mirror scanning system and collects the actual angular velocity signal generated by the moving mirror scanning system for subsequent error calculation and control strategy adjustment, thereby ensuring that the motion trajectory of the moving mirror can accurately track the given target.

[0054] Here, the target angular velocity signal includes: the target angular velocity in each time period (i.e. a very short time, such as 0.1 second), which is the angular velocity that the moving mirror is expected to achieve; the estimated angular velocity signal includes: the estimated angular velocity in each time period, which is the predicted or estimated angular velocity of the moving mirror; the actual angular velocity signal includes: the actual angular velocity in each time period, which is the measured current actual angular velocity of the moving mirror.

[0055] Step S103, determining a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, wherein the target voltage signal includes: a target voltage in each time period.

[0056] In the embodiment of the present invention, based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, the control system can calculate a suitable target voltage signal. The target voltage signal includes: a target voltage in each time period, so that the target voltage is used as an input of the voice coil motor to control the operation of the voice coil motor and make the moving mirror perform periodic scanning motion.

[0057] In this embodiment, the adjustment of the target voltage ensures that the moving mirror can overcome the periodic error and accurately move according to the target angular velocity sequence.

[0058] Step S104, using the target voltage signal to control the operation of the voice coil motor so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

[0059] In an embodiment of the present invention, a target voltage signal is used to drive the voice coil motor to adjust the actual angular velocity of the moving mirror (i.e., the angular velocity of the actual movement of the moving mirror) to be as close to the target angular velocity as possible, with the error not exceeding a preset threshold.

[0060] For example, for the moving mirror scanning system in the Fourier transform infrared spectrometer, the parameters of the voice coil motor are first determined by experiment or simulation. Then, after the control system receives the target angular velocity signal, the moving mirror scanning system can be started. Then, the actual angular velocity of the moving mirror is monitored in real time by the sensor, and the estimated angular velocity of the moving mirror is estimated by the controller algorithm. Based on this information, the target voltage in each time period is calculated to accurately control the voice coil motor so that the angular velocity of the moving mirror can track the target angular velocity sequence, and the error is kept within the preset threshold. In this way, through the precise control of the voice coil motor, the moving mirror scanning system of the Fourier transform infrared spectrometer can achieve high-precision periodic rapid scanning, thereby improving the efficiency and accuracy of spectral acquisition.

[0061] In summary, by inserting a repetitive controller into the anti-disturbance control system, the tracking accuracy and anti-disturbance capability of the moving mirror scanning system can be effectively improved. When the moving mirror performs periodic scanning motion, the preset anti-disturbance control system can automatically adjust the voltage output of the voice coil motor to ensure that the difference between the actual angular velocity of the moving mirror and the target angular velocity is maintained within the preset threshold, thereby achieving precise control of the scanning motion of the moving mirror and achieving the technical effect of reducing the periodic error of the moving mirror, thereby solving the technical problem that the periodic scanning motion of the moving mirror in the moving mirror scanning system cannot be effectively controlled in the related art, resulting in a large periodic error of the moving mirror.

[0062] In order to improve the accuracy of constructing a notch filter transfer function, in the control method for a moving mirror scanning system provided in Example 1 of the present application, before determining the motor parameters of the voice coil motor in the moving mirror scanning system, the center frequency and quality factor of the voice coil motor are determined; based on the spectrum, center frequency, and quality factor, a notch filter transfer function is constructed, wherein the notch filter transfer function is used to eliminate the mechanical resonance peak of each spectrum.

[0063] In the embodiment of the present invention, the voice coil motor has the characteristics of high acceleration and deceleration during operation, which easily causes mechanical resonance and affects the stable operation of the voice coil motor. The mechanical resonance model is a typical second-order system, and its transfer function is shown in the following formula: Among them, i and ω i are the resonance damping ratio and the resonance point frequency, s represents the spectrum, and n represents the number of resonances. Therefore, a reasonable notch filter needs to be designed to eliminate the mechanical resonance peak. The notch filter transfer function is shown in the following formula: Among them, f 0 and Q are the center frequency and quality factor respectively. Therefore, it is necessary to choose a reasonable f 0 and Q, in order to eliminate the mechanical resonance peak near the operating frequency of the voice coil motor in the moving mirror scanning system.

[0064] In an embodiment of the present invention, the center frequency and quality factor of the voice coil motor can be determined first, wherein the center frequency refers to the resonance point of the mechanical device at a certain frequency, that is, the frequency at which the system is prone to oscillation. In this embodiment, the center frequency is obtained through system identification and modal analysis, and is usually closely related to the physical properties of the voice coil motor, such as materials, structures, and dimensions. The quality factor reflects the energy storage and dissipation capabilities of the system near the center frequency, and directly affects the width and depth of the notch filter, that is, the ability of the notch filter to suppress signals within a specific frequency range. In practical applications, the selection of the quality factor requires balancing the response speed and noise suppression capabilities of the system. The quality factor of the voice coil motor can be obtained through experimental or simulation analysis.

[0065] In the embodiment of the present invention, a notch filter transfer function can be constructed according to the determined center frequency, quality factor and spectrum. The function of the notch filter transfer function is to suppress the signal at the frequency by setting the zero point of the transfer function near the mechanical resonance frequency, thereby avoiding the influence of resonance on the system performance.

[0066] In order to improve the accuracy of determining the output signal output by the moving mirror scanning system, in the control method for the moving mirror scanning system provided in the first embodiment of the present application, after constructing the notch filter transfer function, the moving mirror scanning system is controlled to determine the output signal of the voice coil motor at each frequency spectrum based on the motor parameters and the target voltage signal, using the first transfer function and the notch filter transfer function, wherein the first transfer function is a function based on the frequency spectrum, the motor parameters, the input signal and the output signal; the input signal includes: an input voltage corresponding to each frequency spectrum, and the input voltage corresponding to each frequency spectrum is obtained by Fourier transforming the target voltage corresponding to each time period in the target voltage signal; the output signal includes: an output angular velocity corresponding to each frequency spectrum, and the output angular velocity corresponding to each frequency spectrum is obtained by Fourier transforming the actual angular velocity corresponding to each time period in the actual angular velocity signal.

[0067] In the embodiment of the present invention, the moving mirror scanning system uses the swinging voice coil motor as the control object, selects ω(s) (i.e., angular velocity) as the output signal, and u(s) (i.e., voltage) as the input signal, and the transfer function of the system (i.e., the first transfer function) is: Where s is the frequency spectrum, R is the resistance, L is the inductance, J is the total moment of inertia, k is the friction damping coefficient, k a is the torque constant, and b represents the elastic damping coefficient.

[0068] In the embodiment of the present invention, in order to eliminate the mechanical resonance peak, the motor parameters of the voice coil motor and the target voltage signal can be combined with the first transfer function and the notch filter transfer function (i.e., G(s)G n (s)) to determine the output signal of the voice coil motor at each frequency spectrum.

[0069] In the embodiment of the present invention, the input signal includes: the input voltage corresponding to each spectrum, and the input voltage corresponding to each spectrum is obtained by performing Fourier transformation on the target voltage corresponding to each time period in the target voltage signal, so that the time domain signal can be converted into a frequency domain signal. The output signal includes: the output angular velocity corresponding to each spectrum, and the output angular velocity corresponding to each spectrum is obtained by performing Fourier transformation on the actual angular velocity corresponding to each time period in the actual angular velocity signal, so that the time domain signal can be converted into a frequency domain signal.

[0070] In this embodiment, after Fourier transforming the target voltage signal, combined with the first transfer function and the notch filter transfer function, the voice coil motor can respond to the target voltage more accurately, while effectively suppressing the periodic error caused by mechanical resonance, ensuring that the scanning angular velocity of the moving mirror is consistent with the target value. In addition, by analyzing the output signal of the voice coil motor in the frequency domain, the dynamic performance of the system can be more deeply evaluated and optimized, and the overall control effect of the system can be improved, especially in the time-resolved spectrum acquisition process of non-repeatable experiments, the accuracy and reliability of the data can be ensured, and the anti-interference ability and tracking performance of the system can be enhanced.

[0071] In order to achieve precise control of the moving mirror scanning system, a preset auto-disturbance rejection control system is constructed. In the control method for the moving mirror scanning system provided in Example 1 of the present application, the preset auto-disturbance rejection control system includes at least: a repetitive controller, a linear extended state observer and a state error feedback control law, wherein: the repetitive controller includes at least: a low-pass filter, a signal delay and a dynamic compensator, and the repetitive controller processes the received signals in sequence through the low-pass filter, the signal delay and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion; the linear extended state observer is used to detect the estimated angular velocity and the total disturbance estimate in each time period; the state error feedback control law is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimate.

[0072] In an embodiment of the present invention, the preset active anti-disturbance control system is composed of a repetitive controller, a linear extended state observer (LESO) and a state error feedback control law (SEF), which can optimize the control accuracy and stability of the moving mirror scanning system in fast and periodic scanning motion.

[0073] In an embodiment of the present invention, the repetitive controller includes: a low-pass filter, a signal delay device and a dynamic compensator, and the repetitive controller processes the received signal in sequence through the low-pass filter, the signal delay device and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion. Wherein:

[0074] The low-pass filter is used to smooth the input signal, eliminate high-frequency noise, and ensure the reliability and stability of the signal. In this embodiment, the low-pass filter can process the received target angular velocity signal and filter out the high-frequency components in the signal to ensure that the input signal of the repetitive controller is clean and stable.

[0075] The signal delayer is used to introduce time delay in signal processing to match the system dynamic characteristics or the phase requirements of periodic motion. In the moving mirror scanning system, the signal delayer delays the signal processed by the low-pass filter to ensure that the signal is synchronized with the period of the moving mirror periodic scanning motion, providing a basis for subsequent repetitive control.

[0076] The dynamic compensator is used to enhance the dynamic response of the control system and improve the performance of repeated control by adjusting or compensating the dynamic characteristics of the system. In this embodiment, after receiving the signal delayed by the signal delayer, the dynamic compensator designs a corresponding compensation strategy according to the periodic characteristics of the moving mirror scanning system to reduce the difference between the actual angular velocity and the target angular velocity.

[0077] Through the sequential processing of low-pass filter, signal delay and dynamic compensator, the repetitive controller can effectively correct the periodic error in the moving mirror fast scanning mode and improve the tracking performance of the system.

[0078] In the embodiment of the present invention, the repetitive controller introduced in the active disturbance rejection control system is equivalent to adding a gain in the loop of the active disturbance rejection control system, which can improve the system response speed at low frequencies, but can reduce the anti-interference performance of the system at high frequencies. As the repetitive controller acts for multiple cycles, the periodic error can be corrected to the minimum value.

[0079] In the embodiment of the present invention, the linear extended state observer is used to estimate the system state in real time, including the estimated angular velocity in each time period and the estimated total disturbance value inside and outside the system. The state error feedback control law can calculate the target voltage in each time period based on the estimation result of LESO (the estimated angular velocity in each time period and the estimated total disturbance value) and the target angular velocity signal.

[0080] In this embodiment, by combining the repetitive controller, the linear extended state observer and the state error feedback control law, the preset anti-disturbance control system can correct the difference between the actual angular velocity and the target angular velocity in the periodic scanning motion of the moving mirror in real time, effectively suppress the periodic error, and ensure the accuracy and consistency of the scanning motion. At the same time, due to the synergistic effect of the repetitive controller and the linear anti-disturbance control mechanism, the preset anti-disturbance control system not only enhances the anti-disturbance capability, but also simplifies the controller parameter setting process, thereby improving the flexibility and ease of use of the system design.

[0081] In order to improve the accuracy of determining the estimated angular velocity and the total disturbance estimate in each time period, in the control method for a moving mirror scanning system provided in Example 1 of the present application, the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system is received; based on the actual angular velocity and the estimated angular velocity in the current time period, the first error in the current time period is determined; based on the estimated angular velocity, the total disturbance estimate, the first error, the target voltage, the sampling rate, the first preset parameter and the second preset parameter in the current time period, the estimated angular velocity in the next time period is determined; based on the total disturbance estimate in the current time period, the first error, the sampling rate and the third preset parameter, the total disturbance estimate in the next time period is determined.

[0082] In the embodiment of the present invention, the discrete expression of LESO is: Where k represents the current time period, y(k) is the feedback signal from the controlled object (i.e., the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system), and z 1 (k) is the estimated value of the input (i.e., the estimated angular velocity in the current time period), z 2 (k) is the estimated value of the total disturbance of the system (i.e., the estimated value of the total disturbance in the current time period), and e(k) is the first error in the current time period. 01 , β 02 and b 0 are the three parameters in LESO (i.e., the first preset parameter, the third preset parameter, and the second preset parameter), β 01 and β 02 The estimated values ​​of the input and total disturbance are affected respectively, b 0 It is a key parameter that affects LESO disturbance compensation. h represents the sampling rate, and u(k) represents the voltage in the current time period.

[0083] In the embodiment of the present invention, the linear extended state observer can receive the actual angular velocity signal y(k) corresponding to each time period fed back by the moving mirror scanning system in real time, and then compare the actual angular velocity y(k) in the current time period with the estimated angular velocity z in the same time period. 1 (k) Compare and calculate the first error z 1 (k). The first error reflects the deviation between the current system state and the estimated state, and is the basis for LESO to perform state error feedback control. Through the calculation of this error, the system can understand the control effect in real time, providing a basis for subsequent disturbance compensation and control law adjustment.

[0084] In the embodiment of the present invention, according to the estimated angular velocity z in the current time period 1 (k), total disturbance estimate z 2 (k), the first error e(k), the target voltage u(k), the sampling rate h, the first preset parameter β 01And the second preset parameter b 0 , the linear extended state observer can calculate the estimated angular velocity z in the next time period 1 (k+1). In this way, the angular velocity of the moving mirror in the next time period can be predicted based on the current control state and external disturbance, providing guidance for the adjustment of the control law.

[0085] In the embodiment of the present invention, based on the total disturbance estimation value z in the current time period 2 (k), the first error e(k), the sampling rate h and the third preset parameter β 02 , the linear extended state observer can calculate the total disturbance estimate z in the next time period 2 (k+1). In this way, by updating the total disturbance estimation value in real time, the system can effectively identify and compensate for external disturbances and improve the system's anti-disturbance capability.

[0086] In this embodiment, the preset anti-disturbance control system can correct the periodic error and external disturbance in the scanning motion of the moving mirror in real time by receiving the actual angular velocity feedback signal in real time, combined with the state estimation and disturbance compensation function of LESO, to ensure that the moving mirror can accurately move according to the target angular velocity signal. In addition, by dynamically updating the estimated angular velocity and the total disturbance estimate, the system can adapt to different working environments and disturbance types, and provide continuous and high-precision control effects.

[0087] In order to improve the accuracy of determining the target voltage within each time period, in the control method for a moving mirror scanning system provided in Example 1 of the present application, the second error within the current time period is determined based on the target angular velocity and the estimated angular velocity within the current time period; the intermediate voltage within the current time period is determined based on the second error within the current time period, the fourth preset parameter and the fifth preset parameter; the target voltage within the current time period is determined based on the intermediate voltage within the current time period, the total disturbance estimate and the second preset parameter.

[0088] In the embodiment of the present invention, the discrete expression of SEF is: Among them, e 1 (k) represents the second error in the current time period, v(k) represents the target angular velocity in the current time period, and u 0 (k) represents the middle voltage in the current time period, k p and k i are the control parameters of SEF (ie, the fourth preset parameter and the fifth preset parameter).

[0089] In the embodiment of the present invention, the state error feedback control law can first calculate the second error e in the current time period 1 (k), the second error e 1(k) is the target angular velocity (i.e. the angular velocity expected by the system) and the estimated angular velocity z 1 The second error reflects the following error of the control system in the current time period and is the key basis for dynamically adjusting the control signal. Then, based on the second error e in the current time period 1 (k), fourth preset parameter k p and the fifth preset parameter k i , calculate the intermediate voltage u in the current time period 0 (k). Then, based on the intermediate voltage u in the current time period 0 (k), total disturbance estimate z 2 (k) and the second preset parameter b 0 , calculate the target voltage u(k) in the current time period. The target voltage is the control signal that the voice coil motor will actually receive. By subtracting the product of the total disturbance estimate and the inverse of the second preset parameter from the intermediate voltage, the system can compensate for the external disturbance in real time and ensure that the output angular velocity of the voice coil motor can accurately track the target angular velocity.

[0090] In this embodiment, the state error feedback control law dynamically adjusts the target voltage by calculating the second error and the total disturbance estimate in real time, ensuring that the voice coil motor moves according to the preset trajectory, and effectively suppressing the influence of mechanical resonance and other disturbances caused by periodic motion on the system. Ultimately, this process improves the control accuracy and stability of the moving mirror scanning system, allowing the system to obtain higher quality time-resolved spectral data when in fast scanning mode, meeting the requirements of Fourier transform infrared spectrometers for high-precision, high-time resolution data acquisition. Through continuous error calculation and control signal adjustment, the system can adapt to various working conditions and achieve real-time, high-precision scanning control.

[0091] In the control method for a moving mirror scanning system provided in Example 1 of the present application, the period duration of the moving mirror's periodic scanning motion is determined; based on the period duration, a signal delay function used by a signal delayer is constructed; a filter function used by a low-pass filter and a compensation function used by a dynamic compensator are constructed.

[0092] In the embodiment of the present invention, the plug-in repetitive controller is composed of a low-pass filter F(s), a signal delay The control effect of the insertion repetitive control depends on the periodicity of the controlled object on the one hand, and on the selection of the low-pass filter F(s) and the dynamic compensator W(s) on the other hand. The transfer function of the repetitive controller can be expressed as: Generally, F(s) is taken as a constant less than 1. From the repetitive control transfer function, we can see that the closer |F(s)| is to 1, The larger the value.

[0093] In the embodiment of the present invention, the period duration T of the periodic scanning motion of the moving mirror can be determined. This duration is a key parameter for selecting a signal delay, designing a low-pass filter and a dynamic compensator, and it is directly related to whether the repetitive controller can accurately capture and correct periodic errors. In the moving mirror scanning system of the Fourier transform infrared spectrometer, the swing period of the moving mirror is predetermined according to the spectrum acquisition requirements and system design parameters, such as 0.1 seconds.

[0094] In the embodiment of the present invention, based on the cycle time T, a signal delay function used by the signal delayer can be constructed: The signal delay function can ensure that the signal delay is synchronized with the periodic scanning motion of the moving mirror, so that the signal can be correctly compared and corrected with the signal in the previous cycle during the cycle correction. In this embodiment, the function of the signal delayer is to delay the input signal for a period of time to ensure that the repetitive controller can perform error correction based on the periodic characteristics of the moving mirror motion.

[0095] In the embodiment of the present invention, a filter function F(s) used by a low-pass filter is constructed according to the cycle duration and the specific requirements of the system. The filter function can filter out high-frequency noise in the signal, making the signal smoother and suitable for processing by a repetitive controller. The design of the filter function needs to consider the cycle duration, the dynamic characteristics of the system, and the frequency components of the target signal to ensure that the signal can still maintain its periodic characteristics after filtering.

[0096] In the embodiment of the present invention, a compensation function W(s) used by a dynamic compensator is constructed. The compensation function enhances the effect of repeated control and improves the tracking accuracy of the system by adjusting the dynamic characteristics of the system. The design of the compensation function needs to consider the dynamic response of the system and the requirements of repeated control to ensure that the system can respond quickly while maintaining stability when correcting periodic errors.

[0097] In this embodiment, by accurately determining the scanning cycle length of the moving mirror and constructing a signal delay device, a low-pass filter and a dynamic compensator that match it, the repetitive controller can effectively capture and correct the periodic errors caused by the periodic motion of the moving mirror, while reducing the high-frequency noise in the signal and enhancing the dynamic response of the system.

[0098] Figure 3 is a schematic diagram of an optional swing cycle according to an embodiment of the present invention, such as Figure 3 As shown, with time (s) as the horizontal coordinate and the swing angle (rad) as the vertical coordinate, the swing period of the moving mirror in the moving mirror scanning system is displayed, that is, 0.1s is one swing period.

[0099] In order to improve the accuracy of determining the target voltage signal, in the control method for a moving mirror scanning system provided in Example 1 of the present application, based on the target angular velocity signal, a linear extended state observer is used to estimate the estimated angular velocity and the total disturbance estimate in each time period, and the actual angular velocity fed back by the moving mirror scanning system in each time period is obtained; a repetitive controller is used to process the target angular velocity signal and the estimated angular velocity signal to obtain a processed target angular velocity signal and a processed estimated angular velocity signal; based on the processed target angular velocity signal, the processed estimated angular velocity signal and the total disturbance estimate in each time period, a state error feedback control law is used to determine the target voltage in each time period to obtain a target voltage signal, wherein the moving mirror scanning system uses a first transfer function and a notch filter transfer function to output the actual angular velocity in each time period based on the target voltage in each time period and the motor parameters.

[0100] In an embodiment of the present invention, the control system uses a linear extended state observer (LESO) to estimate the estimated angular velocity and the total disturbance estimate in each time period based on the target angular velocity signal. LESO is an algorithm that can estimate the state and disturbance in a linear system. It uses the dynamic model of the system and the feedback signal to estimate the current state. Through LESO, the control system can monitor and estimate the actual angular velocity of the moving mirror and the disturbance inside and outside the system in real time, providing a basis for subsequent error correction and control signal adjustment.

[0101] The control system then processes the target angular velocity signal and the estimated angular velocity signal through a repetitive controller. The repetitive controller is designed to eliminate or reduce periodic errors by comparing the difference between the target signal and the actual signal and correcting the signal using a low-pass filter, a signal delayer, and a dynamic compensator. The low-pass filter smoothes the signal, the signal delayer ensures that the processing is synchronized with the periodic motion of the moving mirror, and the dynamic compensator compensates the signal according to the system state.

[0102] Afterwards, the control system uses the state error feedback control law to determine the target voltage in each time period based on the processed target angular velocity signal, the processed estimated angular velocity signal, and the total disturbance estimate in each time period to obtain the target voltage signal. SEF is an error-based feedback control strategy that ensures fast system response and eliminates steady-state errors. Through this control strategy, the control system can dynamically adjust the target voltage based on the current estimated state error and historical error information to overcome disturbances and reduce the periodic error of the moving mirror.

[0103] In an embodiment of the present invention, the moving mirror scanning system can use the first transfer function and the notch filter transfer function to output the actual angular velocity in each time period according to the target voltage and motor parameters in each time period. After the actual angular velocity is corrected for multiple cycles, it will gradually become stable and close to the target angular velocity.

[0104] In this embodiment, by real-time monitoring and estimation of the system state by LESO, combined with the periodic error correction function of the repetitive controller and the precise control strategy of SEF, the system can dynamically adjust the target voltage to ensure that the actual angular velocity of the moving mirror scanning motion is consistent with the target angular velocity, effectively suppressing the periodic error. In addition, based on the target voltage and motor parameters in each time period, the system uses the first transfer function and the notch filter transfer function to output the actual angular velocity in each time period. This process further enhances the system's ability to suppress mechanical resonance and improves the system's anti-interference ability.

[0105] This will be described below in conjunction with another specific implementation.

[0106] In this embodiment, a moving mirror scanning system can be controlled by using a repetitive anti-disturbance control algorithm. A voice coil motor is used as a control object, and a system identification is performed on the voice coil motor. The mathematical model of the voice coil motor is obtained as follows: Where s is the frequency spectrum. The first-order natural frequency of the moving mirror scanning system is 8.1 Hz after modal calculation, and then a notch filter is designed to eliminate the mechanical resonance peak. The indicators of the Fourier transform spectrometer are analyzed, and the swing period of the moving mirror is as follows: Figure 3 As shown, 0.1s is a swing period, based on which the repetitive controller can be designed and finally the design of the entire controller can be completed.

[0107] In this embodiment, the embedded system for implementing the repetitive self-anti-disturbance control algorithm mainly includes: a main control module, a drive module, and a signal feedback module. Among them, the main control module is used to implement the algorithm, receive feedback data from the signal feedback module, calculate the output signal, and output the output signal to the drive module. The drive module can use an H-bridge drive circuit to drive the voice coil motor to move. The signal feedback module is designed with an AD (Analog-to-Digital) acquisition unit, whose main function is to amplify, filter, convert single-ended to differential, voltage bias and analog-to-digital conversion of the infrared interference analog signal output by the infrared signal preamplifier unit. The AD acquisition unit can use a chip with a high bandwidth, low noise and multi-channel synchronous acquisition with a sampling bit number of 16 bits. The signal feedback module is used to obtain a square wave signal reflecting the frequency of the laser feedback signal.

[0108] After multiple cycles, the swing angular velocity error of the voice coil motor gradually decreases and eventually tends to be stable. Figure 4is a schematic diagram of an optional swing angular velocity curve according to an embodiment of the present invention, such as Figure 4 As shown, with time (s) as the horizontal axis and the swing angular velocity (rad / s) as the vertical axis, the swing angular velocity curve of the moving mirror in the moving mirror scanning system controlled by the current automatic anti-disturbance control algorithm and the swing angular velocity curve of the moving mirror in the moving mirror scanning system controlled by the repeated automatic anti-disturbance control algorithm in this embodiment are shown. Figure 4 It can be seen that the swing angular velocity of the moving mirror in the moving mirror scanning system controlled by the repetitive self-disturbance rejection control algorithm in this embodiment tends to be stable after several swing cycles, that is, compared with the self-disturbance rejection control algorithm, the repetitive self-disturbance rejection control algorithm in this embodiment shows good control performance, can well suppress periodic disturbances and reduce periodic errors.

[0109] Figure 5 is a schematic diagram of an optional auto-disturbance rejection control structure with a repetitive controller inserted according to an embodiment of the present invention, such as Figure 5 As shown, the auto-disturbance rejection control structure with a repetitive controller inserted includes: a repetitive controller and a linear auto-disturbance rejection controller, wherein the repetitive controller includes: a low-pass filter, a signal delayer and a dynamic compensator; the linear auto-disturbance rejection controller includes: a linear extended state observer and a state error feedback control law.

[0110] like Figure 5 As shown, the auto-disturbance rejection control system (i.e., the preset auto-disturbance rejection control system) with a repetitive controller is connected to the power supply E, firstly inputs the target angular velocity signal v, and starts the moving mirror scanning system. Then, the linear extended state observer can estimate the estimated angular velocity Z at each moment based on the actual angular velocity y at each moment fed back by the moving mirror scanning system. 1 and the total disturbance estimate Z 2 (Total disturbance estimate Z 2 Based on parameter b 0 The inverse of b is calculated. 0 ). After that, the controller repeatedly controls the target angular velocity signal v and the estimated angular velocity Z 1 Processing, that is, the target angular velocity signal v and the estimated angular velocity Z 1 First, the signal is passed through a low-pass filter and the filter function F(s) is used to reduce the high-frequency noise in the signal. The filtered signal enters the signal delay device and is delayed by the signal delay function Delay one cycle to ensure synchronization with the periodic scanning motion of the moving mirror. The delayed signal enters the dynamic compensator and is compensated using the compensation function W(s) to enhance the adaptability of the signal. After that, the state error feedback control law can calculate the intermediate voltage u 0 , and based on the processed target angular velocity signal v and the processed estimated angular velocity Z 1 , the total disturbance estimate Z at each moment2 , parameter b 0 (b 0 is the parameter set for the linear extended state observer) and the inverse of the intermediate voltage u 0 , determine the target voltage u in each time period, so as to control the operation of the voice coil motor in the moving mirror scanning system through the target voltage u.

[0111] In summary, this implementation not only optimizes the control accuracy of the moving mirror scanning motion, but also enhances the robustness of the system, and can meet the needs of high-precision, high-time-resolution data acquisition, and realize high-quality time-resolved spectral data acquisition in the fast scan mode of the Fourier transform infrared spectrometer.

[0112] The following is a detailed description in conjunction with another embodiment.

[0113] Embodiment 2

[0114] A control device for a moving mirror scanning system provided in this embodiment includes a plurality of implementation units, each of which corresponds to each implementation step in the above-mentioned embodiment 1.

[0115] Figure 6 is a schematic diagram of an optional control device for a moving mirror scanning system according to an embodiment of the present invention, such as Figure 6 As shown, the control device may include: a first determining unit 60 , a starting unit 61 , a second determining unit 62 , and a control unit 63 .

[0116] Wherein, the first determination unit 60 is used to determine the motor parameters of the voice coil motor in the moving mirror scanning system, wherein the voice coil motor is used to control the moving mirror in the moving mirror scanning system to perform periodic scanning motion;

[0117] The starting unit 61 is used to control the moving mirror scanning system to start when receiving the target angular velocity signal, and obtain an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, wherein the target angular velocity signal includes: the target angular velocity in each time period, the estimated angular velocity signal includes: the estimated angular velocity in each time period, and the actual angular velocity signal includes: the actual angular velocity in each time period;

[0118] The second determination unit 62 is used to determine a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, wherein the target voltage signal includes: a target voltage in each time period;

[0119] The control unit 63 is used to control the operation of the voice coil motor using a target voltage signal so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

[0120] The control device can effectively improve the tracking accuracy and anti-interference ability of the moving mirror scanning system by inserting a repetitive controller into the anti-disturbance control system. When the moving mirror performs periodic scanning motion, the preset anti-disturbance control system can automatically adjust the voltage output of the voice coil motor to ensure that the difference between the actual angular velocity of the moving mirror and the target angular velocity is maintained within the preset threshold, thereby achieving precise control of the scanning motion of the moving mirror and achieving the technical effect of reducing the periodic error of the moving mirror, thereby solving the technical problem in the related art that the periodic scanning motion of the moving mirror in the moving mirror scanning system cannot be effectively controlled, resulting in a large periodic error of the moving mirror.

[0121] Optionally, the control device also includes: a first determination module, used to determine the center frequency and quality factor of the voice coil motor before determining the motor parameters of the voice coil motor in the moving mirror scanning system; a first construction module, used to construct a notch filter transfer function based on the spectrum, center frequency, and quality factor, wherein the notch filter transfer function is used to eliminate the mechanical resonance peak of each spectrum.

[0122] Optionally, the control device also includes: a second determination module, which is used to control the moving mirror scanning system to determine the output signal of the voice coil motor at each frequency spectrum based on the motor parameters and the target voltage signal after constructing the notch filter transfer function, using the first transfer function and the notch filter transfer function, wherein the first transfer function is a function based on the frequency spectrum, the motor parameters, the input signal and the output signal; the input signal includes: an input voltage corresponding to each frequency spectrum, and the input voltage corresponding to each frequency spectrum is obtained by Fourier transforming the target voltage corresponding to each time period in the target voltage signal; the output signal includes: an output angular velocity corresponding to each frequency spectrum, and the output angular velocity corresponding to each frequency spectrum is obtained by Fourier transforming the actual angular velocity corresponding to each time period in the actual angular velocity signal.

[0123] Optionally, the preset anti-disturbance control system includes at least: a repetitive controller, a linear extended state observer and a state error feedback control law, wherein: the repetitive controller includes at least: a low-pass filter, a signal delay and a dynamic compensator, the repetitive controller processes the received signals in sequence through the low-pass filter, the signal delay and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion; the linear extended state observer is used to detect the estimated angular velocity and the total disturbance estimate in each time period; the state error feedback control law is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimate.

[0124] Optionally, the control device also includes: a first detection module, used to detect the estimated angular velocity and the total disturbance estimate in each time period through a linear extended state observer, the first detection module including: a first receiving submodule, used to receive the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system; a first determination submodule, used to determine the first error in the current time period based on the actual angular velocity and the estimated angular velocity in the current time period; a second determination submodule, used to determine the estimated angular velocity in the next time period based on the estimated angular velocity in the current time period, the total disturbance estimate, the first error, the target voltage, the sampling rate, the first preset parameter and the second preset parameter; a third determination submodule, used to determine the total disturbance estimate in the next time period based on the total disturbance estimate in the current time period, the first error, the sampling rate and the third preset parameter.

[0125] Optionally, the control device also includes: a third determination module, which is used to determine the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period and the total disturbance estimation value through the state error feedback control law, and the third determination module includes: a fourth determination submodule, which is used to determine the second error in the current time period based on the target angular velocity and the estimated angular velocity in the current time period; a fifth determination submodule, which is used to determine the intermediate voltage in the current time period based on the second error in the current time period, the fourth preset parameter and the fifth preset parameter; and a sixth determination submodule, which is used to determine the target voltage in the current time period based on the intermediate voltage in the current time period, the total disturbance estimation value and the second preset parameter.

[0126] Optionally, the control device also includes: a fourth determination module, used to determine the period duration of the periodic scanning motion of the moving mirror; a second construction module, used to construct a signal delay function used by the signal delayer based on the period duration; and a third construction module, used to construct a filter function used by the low-pass filter and a compensation function used by the dynamic compensator.

[0127] Optionally, the second determination unit includes: a first estimation module, used to estimate the estimated angular velocity and the total disturbance estimate in each time period based on the target angular velocity signal, using a linear extended state observer, and obtain the actual angular velocity fed back by the moving mirror scanning system in each time period; a first processing module, used to process the target angular velocity signal and the estimated angular velocity signal using a repetitive controller to obtain a processed target angular velocity signal and a processed estimated angular velocity signal; a fifth determination module, used to determine the target voltage in each time period based on the processed target angular velocity signal, the processed estimated angular velocity signal and the total disturbance estimate in each time period, using a state error feedback control law to obtain a target voltage signal, wherein the moving mirror scanning system uses the first transfer function and the notch filter transfer function to output the actual angular velocity in each time period based on the target voltage and motor parameters in each time period.

[0128] The above-mentioned control device may also include a processor and a memory. The above-mentioned first determination unit 60, start unit 61, second determination unit 62, control unit 63, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0129] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the target voltage signal is used to control the operation of the voice coil motor by adjusting the kernel parameters, so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold.

[0130] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0131] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: determining motor parameters of a voice coil motor in a moving mirror scanning system, controlling the moving mirror scanning system to start when a target angular velocity signal is received, obtaining an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, determining a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, and using the target voltage signal to control the operation of the voice coil motor so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold.

[0132] According to another aspect of an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, any one of the above-mentioned control methods for a moving mirror scanning system is implemented.

[0133] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement the above-mentioned control method for a moving mirror scanning system.

[0134] Figure 7 1 is a hardware structure block diagram of an electronic device (or mobile device) for a control method of a moving mirror scanning system according to an embodiment of the present invention. Figure 7 As shown, the electronic device may include one or more processors (e.g., Figure 7 The processor 702a, processor 702b, ..., processor 702n, etc., which may include but are not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 704 for storing data. In addition, it may also include: a display, an input / output interface (I / 0 interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / 0 interface), a network interface, a keyboard, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components as shown, or with Figure 7 Different configurations are shown.

[0135] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0136] The embodiments or examples of the present disclosure are not exhaustive, but are only illustrative of some embodiments or examples, and are not intended to be specific limitations on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment or example can be implemented as an independent example, and the steps can be combined arbitrarily. For example, the scheme after removing some steps in a certain embodiment or example can also be implemented as an independent example, and the order of the steps in a certain embodiment or example can be arbitrarily exchanged. In addition, the optional methods or optional examples in a certain embodiment or example can be combined arbitrarily; in addition, the various embodiments or examples can be combined arbitrarily, for example, some or all steps of different embodiments or examples can be combined arbitrarily, and a certain embodiment or example can be combined arbitrarily with the optional methods or optional examples of other embodiments or examples.

[0137] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] In the several embodiments provided by the present invention, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0141] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0142] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control method for a moving mirror scanning system, characterized in that: Applied to a preset active disturbance rejection control system, wherein the preset active disturbance rejection control system refers to an active disturbance rejection control system in which a repetitive controller is inserted, including: Determining motor parameters of a voice coil motor in a moving mirror scanning system, wherein the voice coil motor is used to control a moving mirror in the moving mirror scanning system to perform periodic scanning motion; When receiving a target angular velocity signal, the moving mirror scanning system is controlled to start, and an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system are obtained, wherein the target angular velocity signal includes: a target angular velocity in each time period, the estimated angular velocity signal includes: an estimated angular velocity in each time period, and the actual angular velocity signal includes: an actual angular velocity in each time period; Determine a target voltage signal based on the motor parameter, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal, wherein the target voltage signal includes: a target voltage in each time period; The target voltage signal is used to control the operation of the voice coil motor so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

2. The control method according to claim 1, characterized in that: Before determining the motor parameters of the voice coil motor in the moving mirror scanning system, it also includes: Determining the center frequency and quality factor of the voice coil motor; A notch filter transfer function is constructed based on the frequency spectrum, the center frequency, and the quality factor, wherein the notch filter transfer function is used to eliminate the mechanical resonance peak of each frequency spectrum.

3. The control method according to claim 2, characterized in that: After constructing the notch filter transfer function, also include: The moving mirror scanning system is controlled based on the motor parameters and the target voltage signal, and a first transfer function and a notch filter transfer function are used to determine the output signal of the voice coil motor at each frequency spectrum, wherein the first transfer function is a function based on the frequency spectrum, the motor parameters, the input signal and the output signal; the input signal includes: an input voltage corresponding to each frequency spectrum, and the input voltage corresponding to each frequency spectrum is obtained by Fourier transforming the target voltage corresponding to each time period in the target voltage signal; the output signal includes: an output angular velocity corresponding to each frequency spectrum, and the output angular velocity corresponding to each frequency spectrum is obtained by Fourier transforming the actual angular velocity corresponding to each time period in the actual angular velocity signal.

4. The control method according to claim 1, characterized in that: The preset active disturbance rejection control system at least includes: the repetitive controller, the linear extended state observer and the state error feedback control law, wherein: The repetitive controller at least comprises: a low-pass filter, a signal delay device and a dynamic compensator, and the repetitive controller sequentially processes the received signal through the low-pass filter, the signal delay device and the dynamic compensator to correct the difference between the actual angular velocity and the target angular velocity of the moving mirror in the periodic scanning motion; The linear extended state observer is used to detect the estimated angular velocity and the total disturbance estimate in each time period; The state error feedback control law is used to determine a target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period, and the total disturbance estimation value.

5. The control method according to claim 4, characterized in that: The step of detecting the estimated angular velocity and the total disturbance estimation value in each time period by the linear extended state observer comprises: Receive the actual angular velocity corresponding to each time period fed back by the moving mirror scanning system; Determine a first error in the current time period based on the actual angular velocity and the estimated angular velocity in the current time period; Determine the estimated angular velocity in a next time period based on the estimated angular velocity in a current time period, the total disturbance estimate, the first error, the target voltage, a sampling rate, a first preset parameter, and a second preset parameter; The total disturbance estimate value in a next time period is determined based on the total disturbance estimate value in a current time period, the first error, the sampling rate, and a third preset parameter.

6. The control method according to claim 4, characterized in that: The state error feedback control law determines the target voltage in each time period based on the target angular velocity signal, the estimated angular velocity in each time period, and the total disturbance estimation value, comprising: determining a second error within the current time period based on the target angular velocity and the estimated angular velocity within the current time period; Determine the intermediate voltage within the current time period based on the second error, the fourth preset parameter and the fifth preset parameter within the current time period; The target voltage in the current time period is determined based on the intermediate voltage in the current time period, the total disturbance estimation value and a second preset parameter.

7. The control method according to claim 4, characterized in that: The control method further comprises: Determining the periodic duration of the periodic scanning motion of the moving mirror; Based on the cycle duration, constructing a signal delay function used by the signal delayer; A filter function used by the low-pass filter and a compensation function used by the motion compensator are constructed.

8. The control method according to claim 1, characterized in that: The step of determining a target voltage signal based on the motor parameters, the target angular velocity signal, the estimated angular velocity signal and the actual angular velocity signal comprises: Based on the target angular velocity signal, a linear extended state observer is used to estimate the estimated angular velocity and the total disturbance estimation value in each time period, and the actual angular velocity fed back by the moving mirror scanning system in each time period is obtained; Using the repetitive controller, processing the target angular velocity signal and the estimated angular velocity signal to obtain the processed target angular velocity signal and the processed estimated angular velocity signal; Based on the processed target angular velocity signal, the processed estimated angular velocity signal and the total disturbance estimate in each time period, the state error feedback control law is used to determine the target voltage in each time period to obtain the target voltage signal, wherein the moving mirror scanning system uses a first transfer function and a notch filter transfer function to output the actual angular velocity in each time period based on the target voltage in each time period and the motor parameters.

9. A control device for a moving mirror scanning system, characterized in that: Applied to a preset active disturbance rejection control system, wherein the preset active disturbance rejection control system refers to an active disturbance rejection control system in which a repetitive controller is inserted, including: A first determining unit is used to determine motor parameters of a voice coil motor in a moving mirror scanning system, wherein the voice coil motor is used to control a moving mirror in the moving mirror scanning system to perform a periodic scanning motion; A starting unit, used for controlling the moving mirror scanning system to start up when receiving a target angular velocity signal, and obtaining an estimated angular velocity signal and an actual angular velocity signal of the moving mirror scanning system, wherein the target angular velocity signal includes: a target angular velocity in each time period, the estimated angular velocity signal includes: an estimated angular velocity in each time period, and the actual angular velocity signal includes: an actual angular velocity in each time period; a second determining unit, configured to determine a target voltage signal based on the motor parameter, the target angular velocity signal, the estimated angular velocity signal, and the actual angular velocity signal, wherein the target voltage signal includes: a target voltage in each time period; A control unit is used to control the operation of the voice coil motor using the target voltage signal so that the difference between the actual angular velocity of the moving mirror in the periodic scanning motion and the target angular velocity is less than a preset threshold, wherein the actual angular velocity is the angular velocity of the actual motion of the moving mirror.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the control method for a moving mirror scanning system as described in any one of claims 1 to 8.

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