Non-conjugate light path smart multi-band laser beam control system and method

Abstract

The invention relates to a non-conjugate optical path smart multi-band laser beam control system and method, and belongs to the field of photoelectric countermeasure and tracking aiming, and the system comprises a main control computer, a driver, two fast reflectors, a receiving optical lens group, a photoelectric detector, two primary lenses, two secondary lenses, a multi-band laser emission device, an emission optical lens group and a Kuder lens. And a unified clock driving unit and two sets of quick reflecting mirror DSP control system units are embedded in the driver. The two fast reflectors are added in the optical system, each fast reflector is independently controlled by the corresponding fast reflector DSP control system, and when non-common-caliber photoelectric equipment interferes with an aiming target, accurate aiming and interference of the target are achieved through the strategy that the two fast reflectors are synchronously controlled. The two fast reflectors are driven by the same clock signal, and the frequency of the clock signal is consistent with that of the optical fiber position sensor, so that the fast reflectors synchronously respond to position and speed difference signals.

Description

Technical Field

[0001] The present invention belongs to the technical field of optoelectronic countermeasure and tracking aiming, and particularly relates to a non-conjugate optical path flexible multi-band laser beam control system and method. Background Art

[0002] With the evolution of optoelectronic countermeasure forms, the laser beam control system represents an important direction in the development of laser technology. In order to meet the diverse requirements of modern optoelectronic countermeasures for laser systems and provide more flexible and effective practical capabilities, the non-common-aperture laser beam control system plays a key role.

[0003] The optical devices of existing laser beam control systems only analyze from the perspective of common aperture to achieve optimization of space and weight, but there are also the following problems:

[0004] First, the traditional design is a common-aperture design for laser emission and reception detection. For example, Chinese Patent with publication number CN108574533A discloses a common-aperture laser communication optical terminal based on an optical phased array. A laser communication device disclosed therein can simplify the structural design to a certain extent, but its maintenance and expansion are restricted. The maintenance and calibration of a common-aperture high-energy laser system are more difficult. Any adjustment of optical elements will affect the performance of the entire system. At the same time, the scalability of the system is poor, and it will be extremely difficult to operate when changing the system configuration and functions.

[0005] Second, for small and medium-sized aperture flexible laser optoelectronic countermeasure equipment, using a non-conjugate optical path will bring better application effects. The common-aperture structure uses primary and secondary mirror bodies with relatively large mass and volume, resulting in an increase in volume and mass. For example, Chinese Patent with publication number CN116105543A discloses a 360° passive detection and common-aperture laser emission device, in which the beam needs to pass through the primary and secondary mirror bodies in sequence and pass through an off-axis three-common-aperture optical system unit, resulting in relatively low optical transmittance and being unable to meet the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasure equipment, non-conjugate laser high-precision micro-radian tracking and aiming.

[0006] Third, the beam quality control is complex. In a common-aperture system, due to the optical path conjugation, when controlling the beam quality, it is necessary to consider the emission and reception paths, and it is difficult to achieve high-quality beams.

[0007] Fourth, optical distortion and thermal effects. The common-aperture system has a higher integration degree. The thermal effect of high-power lasers may cause deformation of optical elements, unable to ensure the stability and quality of the beam, and thus reducing the reliability and robustness of the system.

[0008] It is understood that before the present invention, there was no relevant report or research in China on synchronously controlling the non-conjugate optical path through two fast steering mirrors for tracking and aiming. Summary of the Invention

[0009] The present invention aims to solve the technical problems of the conjugate laser optoelectronic countermeasure equipment in the prior art, such as the difficulties in maintaining the detection optical path and the laser emission optical path, the single function, the poor anti-interference ability, the low optical transmittance, and the poor design flexibility. A non-conjugate optical path flexible multi-band laser beam control system and method are provided. The control system of the present invention can reduce the interference between the emission and detection optical paths, improve the anti-interference ability of the system; improve the robustness and control accuracy of the laser beam control system, facilitate later maintenance and expansion, and achieve high-quality beam control and relatively high optical transmittance; at the same time, it can meet the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasure equipment, non-conjugate laser high-precision micro-radian tracking and aiming.

[0010] To solve the above technical problems, the technical solution of the present invention is specifically as follows:

[0011] A non-conjugate optical path flexible multi-band laser beam control system includes a main control computer and a driver connected to the main control computer;

[0012] In the optical path direction, it further includes: a first primary mirror, a first secondary mirror, a first fast steering mirror, a receiving optical mirror group, and a photodetector;

[0013] In another optical path direction, it further includes: a multi-band laser emission device, an emission optical mirror group, a Coudé mirror, a second fast steering mirror, a second secondary mirror, and a second primary mirror;

[0014] The driver is embedded with a unified clock driving unit and two sets of fast steering mirror DSP control systems; the first fast steering mirror and the second fast steering mirror are respectively at an angle of 45° with their respective main optical axes and are respectively connected to the driver;

[0015] The incident light is sequentially reflected by the first primary mirror, the first secondary mirror, and adjusted by the first fast steering mirror, and then focused by the receiving optical mirror group and enters the photodetector to collect images;

[0016] The emitted laser of the multi-band laser emission device is sequentially reflected by the emission optical mirror group, the Coudé mirror, adjusted by the second fast steering mirror, reflected by the second secondary mirror, and reflected by the second primary mirror to interfere with the target;

[0017] The two fast steering mirror DSP control systems respectively control the first fast steering mirror and the second fast steering mirror to rotate synchronously to make the main optical axis A of the detection optical path parallel to the main optical axis B of the laser emission optical path; the unified clock signal unit has the same frequency as the fiber position sensor on the voice coil motor.

[0018] Further, the fast steering mirror DSP control system includes: a DSP and its control circuit, a voice coil motor flexibly hinged to the fast steering mirror, and an optical fiber position sensor mounted on the voice coil motor; an auto-disturbance rejection controller and a CMAC neural network adaptive controller are set in the DSP, and an adaptive auto-disturbance rejection control algorithm is implemented by using the auto-disturbance rejection controller and the CMAC neural network adaptive controller to achieve fast response and precise control of the first fast steering mirror and the second fast steering mirror.

[0019] Further, the auto-disturbance rejection controller includes a tracking differentiator, a nonlinear combiner, an extended state observer, and a multiplier.

[0020] Further, the master computer issues a target tracking signal and a control clock signal, and at the same time obtains the feedback quantity of the optical fiber position sensor. The extended state observer outputs the current state quantity of the system. The tracking differentiator performs a transition process on the target tracking signal and outputs a corrected target tracking position signal and a speed signal. After the DSP performs differential processing on the corrected tracking signal and the current state quantity of the system respectively, the target tracking position error and the differential error are output. The nonlinear fusion device nonlinearly fuses the target tracking position error and the differential error to calculate the control output quantity, and calculates the real-time control quantity of the voice coil motor through the multiplier, and adjusts the voice coil motor in real time to achieve the synchronous fast response of the first fast steering mirror and the second fast steering mirror; at the same time, the feedback quantity of the optical fiber position sensor and the target tracking signal are input into the CMAC neural network adaptive controller to optimize the nonlinear fusion proportional coefficient in real time; the working frequency of the optical fiber position sensor is consistent with the frequency of the control clock signal.

[0021] Further, both the first fast steering mirror and the second fast steering mirror adopt lightweight silicon carbide lenses.

[0022] A non-conjugate optical path dexterous multi-band laser beam control method, and the applicable system is the non-conjugate optical path dexterous multi-band laser beam control system of the present invention, including the following steps:

[0023] The incident light is sequentially reflected by the first main mirror, the first secondary mirror, and adjusted by the first fast steering mirror, and then focused by the receiving optical lens group and enters the photodetector.

[0024] The laser emitted by the multi-band laser emitting device is sequentially reflected by the emitting optical lens group, the Coudé mirror, adjusted by the second fast steering mirror, the second secondary mirror, and the second main mirror, and then interferes with the target.

[0025] The master computer issues a target tracking signal and a control clock signal, and at the same time obtains the feedback quantity of the fiber optic position sensor. The extended state observer is used to output the current state quantity of the system. The tracking differentiator performs a transition process on the target tracking signal and outputs a corrected target tracking position signal and a speed signal. After the DSP performs differential processing on the corrected tracking signal and the current state quantity of the system respectively, the target tracking position error and the differential error are output. The nonlinear fusion device nonlinearly fuses the target tracking position error and the differential error to calculate the control output quantity, and calculates the real-time control quantity of the voice coil motor through a multiplier, and adjusts the voice coil motor in real time to realize the synchronous fast response of the first fast steering mirror and the second fast steering mirror; at the same time, the feedback quantity of the fiber optic position sensor and the target tracking signal are input into the CMAC neural network adaptive controller to optimize the nonlinear fusion proportionality coefficient in real time; the working frequency of the fiber optic position sensor is consistent with the frequency of the control clock signal.

[0026] Further, the input quantity of the tracking differentiator is the target tracking signal, e1 = U1 - z1 is the target tracking position error, e2 = U2 - z2 is the target tracking speed error, z1 and z2 are the state quantities of the current position and speed of the voice coil motor respectively, and U1 and U2 represent the expected position and expected speed of the target tracking respectively; the real-time control quantity y of the voice coil motor is related to ym, and ym represents the control output quantity calculated by the CMAC neural network adaptive controller.

[0027] Further, the input quantity of the CMAC neural network adaptive controller is the difference between the output quantity ym of the CMAC neural network adaptive controller and the real-time control quantity y of the voice coil motor, and the output quantity of the CMAC neural network adaptive controller is the nonlinear combination proportionality coefficients β1 and β2; the CMAC neural network adaptive controller is a forward neural network, and the nonlinear relationship between the input and the output is realized through two basic mappings; the concept mapping is the mapping from the input space U to the concept memory AC, x max and x min represent the maximum and minimum values of the input, M represents the initial address corresponding to the quantization of x max s i (k), u(k), round() represent the position of u(k) in the concept memory at time k, the input quantity of the CMAC neural network adaptive controller at time k, and the rounding function respectively; the actual mapping is the mapping from c storage units in the concept memory AC to c storage units in the actual memory AP, and the output of the network is the sum of the weights of c storage units in the actual memory AP; ad(i) = (s i (k) MOD N)+1, MOD() represents the remainder function in Matlab, and the output is

[0028] The beneficial effects of the present invention are as follows:

[0029] In a non-conjugate optical path flexible multi-band laser beam control system of the present invention, two fast steering mirrors are added in the optical system, and each fast steering mirror is independently controlled by its corresponding fast steering mirror DSP control system. When a non-common aperture optoelectronic device interferes with a targeting object, a strategy of synchronous control of the two fast steering mirrors is adopted to achieve precise targeting and interference with the object. The two fast steering mirrors are driven by the same clock signal, and the clock signal is consistent with the frequency of the voice coil motor position sensor, so as to realize the synchronous response of the fast steering mirror to the position and speed difference signals.

[0030] A non-conjugate optical path flexible multi-band laser beam control system of the present invention adopts an active disturbance rejection control strategy, which improves the dynamic performance of the system and reduces the overshoot of the system at the same time. An extended state observer is used to estimate and compensate for internal and external disturbances, so that the system has strong anti-interference ability.

[0031] In the present invention, the fast steering mirror and the voice coil motor adopt a flexible hinge structure, and the fiber optic position sensor is small in size, high in precision and high in frequency. In the fast steering mirror DSP control system, on the basis of active disturbance rejection control, a CMAC neural network adaptive controller is introduced to realize adaptive active disturbance rejection control. The use of the CMAC neural network adaptive active disturbance rejection control algorithm in the fast steering mirror DSP control system can improve the rapidity of position response by nearly 4 times compared with the existing PID control method. Brief Description of the Drawings

[0032] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0033] Figure 1 It is a schematic structural diagram of a non-conjugate optical path flexible multi-band laser beam control system of the present invention.

[0034] Figure 2 It is a principle block diagram of the fast steering mirror DSP control system.

[0035] Figure 3 It is a comparison diagram of position step responses, where the yellow response curve is the original PID position response curve, and the blue response curve is the position step response curve of the present invention.

[0036] Figure 4 It is a schematic diagram of the working current when the fast steering mirror scans. Among them, the blue curve area is the scanning area, and the red curve area is the invalid area.

[0037] The reference signs in the drawings are shown as:

[0038] 1 - Driver, 2 - First fast steering mirror, 3 - Receiving optical mirror group, 4 - Photoelectric detector, 5 - First primary mirror 1, 6 - Second primary mirror, 7 - First secondary mirror, 8 - Multi - band laser emission device, 9 - Emission optical mirror group, 10 - Second fast steering mirror, 11 - Coudé mirror, 12 - Second secondary mirror;

[0039] 701 - Tracking differentiator, 702 - Non - linear combiner, 703 - Extended state observer, 704 - Multiplier, 705 - CMAC neural network adaptive controller. Specific implementation mode

[0040] The present invention will be further described in detail below with reference to the accompanying drawings.

[0041] As Figure 1 shown, a non - conjugate optical path dexterous multi - band laser beam control system of the present invention includes a main control computer and a driver 1 connected to the main control computer, a first fast steering mirror 2, a receiving optical mirror group 3, a photoelectric detector 4, a first primary mirror 5, a second primary mirror 6, a first secondary mirror 7, a multi - band laser emission device 8, an emission optical mirror group 9, a second fast steering mirror 10, a Coudé mirror 11, and a second secondary mirror 12. A unified clock driving unit and two sets of fast steering mirror DSP control system units are embedded in the driver 1. The first primary mirror 5, the first secondary mirror 7, the first fast steering mirror 2, the receiving optical mirror group 3, and the photoelectric detector 4 are located in one optical path direction; the multi - band laser emission device 8, the emission optical mirror group 9, the Coudé mirror 11, the second fast steering mirror 10, the second secondary mirror 12, and the second primary mirror 6 are located in another optical path direction. At the same time, the first fast steering mirror 2 and the second fast steering mirror 10 are respectively at an angle of 45° with their respective main optical axes, and both use lightweight silicon carbide lenses. The incident light is reflected by the first primary mirror 5, reflected by the first secondary mirror 7, adjusted by the first fast steering mirror 2, and then enters the infrared photoelectric detector 4 through the receiving optical mirror group 3 to collect images; the laser emitted by the multi - band laser emission device 8 is emitted through the emission optical mirror group 9, reflected by the Coudé mirror 11, adjusted by the second fast steering mirror 10, reflected by the second secondary mirror 12, and reflected by the second primary mirror 6 to interfere with the target. When the laser photoelectric countermeasure equipment is performing long - distance tracking and aiming, the two fast steering mirrors (the first fast steering mirror 2 and the second fast steering mirror 10) are controlled by the fast steering mirror DSP control system to rotate synchronously, so as to make the main optical axis of the detection optical path parallel to the main optical axis of the laser emission optical path, and at the same time improve the aiming accuracy and anti - interference ability of the laser. Among them, the unified clock signal is consistent with the frequency of the fiber position sensor on the voice coil motor.

[0042] As Figure 2As shown in the figure, the fast steering mirror DSP control system mainly includes: DSP and its control circuit, a voice coil motor flexibly hinged to the fast steering mirror, and an optical fiber position sensor installed on the voice coil motor; in the DSP, an active disturbance rejection controller including a tracking differentiator 701, a nonlinear combiner 702, an extended state observer 703, and a multiplier 704, and a CMAC neural network adaptive controller 705 are provided. The CMAC neural network adaptive active disturbance rejection control algorithm is implemented by using the tracking differentiator 701, the nonlinear combiner 702, the extended state observer 703, and the CMAC neural network adaptive controller 705 to achieve precise control and fast response of the first fast steering mirror 2 and the second fast steering mirror 10, so that the first fast steering mirror 2 and the second fast steering mirror 10 respond synchronously and are precisely positioned.

[0043] A non-conjugate optical path dexterous multi-band laser beam control method applicable to the non-conjugate optical path dexterous multi-band laser beam control system of the present invention has the following specific implementation process:

[0044] (1) The incident light is reflected by the first main mirror 5, the first secondary mirror 7, and adjusted by the first fast steering mirror 2 in sequence along the main optical axis A, and then focused by the receiving optical mirror group 3 and enters the infrared photodetector 4 to collect images; the laser emitted by the multi-band laser emitting device 8 is reflected by the emitting optical mirror group 9, the Coudé mirror 11, adjusted by the second fast steering mirror 10, reflected by the second secondary mirror 12, and reflected by the second main mirror 6 in sequence along the main optical axis B to interfere with the target.

[0045] (2) The driver 1 is used to control the first fast steering mirror 2 and the second fast steering mirror 10 to respond synchronously, and the specific control process is as follows Figure 2As shown in the figure. The main control computer issues a target tracking signal and a control clock signal, and at the same time obtains the feedback quantity of the fiber optic position sensor. The extended state observer 703 outputs the current state quantity of the system. The tracking differentiator 701 performs a transition process on the target tracking signal and outputs a corrected target tracking position signal and a speed signal. After the DSP performs differential processing on the corrected tracking signal and the current state quantity of the system respectively, it outputs the target tracking position error and the differential error. The nonlinear fusion device 702 nonlinearly fuses the target tracking position error and the differential error to calculate the control output quantity, and calculates the real-time control quantity of the voice coil motor through the multiplier 704, and adjusts the voice coil motor in real time to realize the synchronous fast response of the two fast steering mirrors; at the same time, the feedback quantity of the fiber optic position sensor and the target tracking signal are input into the CMAC neural network adaptive controller 705 to optimize the nonlinear fusion ratio coefficient in real time. The working frequency of the fiber optic position sensor is consistent with the frequency of the control clock signal; the input quantity of the tracking differentiator 701 is the target tracking signal, e1 = U1 - z1 is the target tracking position error, e2 = U2 - z2 is the target tracking speed error, z1 and z2 are the current position and speed state quantities of the voice coil motor respectively, and U1 and U2 respectively represent the expected position and expected speed of the target tracking. The real-time control quantity y of the voice coil motor is related to ym, and ym represents the control output quantity calculated by the CMAC neural network adaptive controller 705. The input quantity of the CMAC neural network adaptive controller 705 is the difference between the output quantity ym of the CMAC neural network adaptive controller 705 and the real-time control quantity y of the voice coil motor. The output quantity of the CMAC neural network adaptive controller 705 is the nonlinear combination ratio coefficients β1 and β2. The CMAC neural network adaptive controller 705 is a forward neural network, and the nonlinear relationship between the input and the output is realized through two basic mappings. The concept mapping is the mapping from the input space U to the concept memory AC, x max and x min represent the maximum and minimum values of the input, M represents x max the initial address corresponding to after quantization, s i (k), u(k), round() respectively represent the position of u(k) in the concept memory at the kth moment, the input quantity of the CMAC neural network adaptive controller at the kth moment, and the rounding function. The actual mapping is the mapping from c storage units in the concept memory AC to c storage units in the actual memory AP, and the output of the network is the sum of the weights of c storage units in the actual memory AP. ad(i) = (s i (k) MOD N) + 1, MOD() represents the remainder function of Matlab, and the output is

[0046] (3) By fitting the position curve when the first fast steering mirror 2 and the second fast steering mirror 10 are coaxial, a unified dimension processing is performed on the first fast steering mirror 2 and the second fast steering mirror 10. When the second fast steering mirror 2 and the second fast steering mirror 10 respond synchronously, coaxiality is achieved at all times, ensuring the strike accuracy of the laser and the detection accuracy of the infrared. Figure 4 It is a schematic diagram of the working current when the fast steering mirror scans. Among them, the blue curve area is the scanning area, and the red curve area is the invalid area.

[0047] The unit step response simulation comparison analysis of a non-conjugate optical path dexterous multi-band laser beam control system of the present invention and the existing PID control method is carried out in MATLAB. The position step response is as Figure 3 shown. It can be seen from the simulation diagram that the rise time of the unit step response of the non-conjugate optical path dexterous multi-band laser beam control system of the present invention is 4 ms, which is 4 times faster than the existing PID control method, and there is no overshoot and oscillation.

[0048] In summary, for the non-conjugate optical path dexterous multi-band laser beam control system of the present invention, when the laser transceiver device emits and receives laser, the two fast steering mirrors are controlled to rotate synchronously through the fast steering mirror DSP control system; a unified dimension processing is performed on the angles that the two fast steering mirrors need to rotate; the two main optical axes of the laser transceiver device are calibrated to be coaxial. The present invention solves the problems of conjugate laser optoelectronic countermeasure devices, such as difficult maintenance of the detection optical path and the laser emission optical path, single function, and poor design flexibility. It reduces the interference between the emission and detection optical paths and improves the anti-interference ability of the system. At the same time, it can meet the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasure equipment, non-conjugate laser high-precision micro-radian tracking and aiming.

[0049] The above is only the preferred embodiment of the present invention and does not impose any limitation on the present invention. Any person skilled in the art within the technical field, without departing from the technical solution of the present invention, makes any form of equivalent substitution or modification and other changes to the technical solution and technical content disclosed by the present invention, all of which fall within the content of the technical solution of the present invention and still belong to the protection scope of the present invention.

Claims

1. A non-conjugate optical path smart multi-band laser beam control system, characterized in that: It includes a main control computer and a driver connected to the main control computer; The optical path also includes: a first primary mirror, a first secondary mirror, a first fast reflection mirror, a receiving optical lens group and a photoelectric detector; In another optical path direction, it also includes: a multi-band laser emitting device (8), an emitting optical mirror group (9), a Coode mirror (11), a second fast reflecting mirror (10), a secondary mirror (12) and a second primary mirror (6); The driver (1) has a built-in unified clock drive unit and two sets of fast reflection mirror DSP control systems; the first fast reflection mirror (2) and the second fast reflection mirror (10) are respectively arranged at 45° to their respective main optical axes and are respectively connected to the driver (1); The incident light is sequentially reflected by the first primary mirror (5), reflected by the first secondary mirror (7), adjusted by the first fast reflection mirror (2), and then focused by the receiving optical lens group (3) and enters the photoelectric detector (4) to collect an image; The emitted laser light of the multi-band laser emitting device (8) is sequentially reflected by the emitting optical mirror group (9), the Couder mirror (11), adjusted by the second fast reflecting mirror (10), reflected by the secondary mirror (12), and reflected by the second main mirror (6) to interfere with the target; The two fast reflection mirror DSP control systems respectively control the first fast reflection mirror (2) and the second fast reflection mirror (10) to rotate synchronously, so as to achieve parallelism between the main optical axis A of the detection optical path and the main optical axis B of the laser emission optical path; and the frequency of the unified clock drive unit is consistent with that of the optical fiber position sensor on the voice coil motor.

2. The non-conjugate optical path smart multi-band laser beam control system according to claim 1, characterized in that: The fast reflection mirror DSP control system comprises: a DSP and a control circuit thereof, a voice coil motor flexibly articulated with the fast reflection mirror, and an optical fiber position sensor mounted on the voice coil motor; an auto-disturbance rejection controller and a CMAC neural network adaptive controller (705) are arranged in the DSP, and an adaptive auto-disturbance rejection control algorithm is implemented by using the auto-disturbance rejection controller and the CMAC neural network adaptive controller (705), so as to realize rapid response and precise control of the first fast reflection mirror (2) and the second fast reflection mirror (10).

3. The non-conjugate optical path smart multi-band laser beam control system according to claim 2, characterized in that: The active disturbance rejection controller comprises a tracking differentiator (701), a nonlinear combiner (702), an extended state observer (703) and a multiplier (704).

4. The non-conjugate optical path smart multi-band laser beam control system according to claim 3, characterized in that: The main control computer sends out a target tracking signal and a control clock signal, and simultaneously obtains feedback from the optical fiber position sensor, and uses an extended state observer (703) to output the current state of the system. The tracking differentiator (701) performs transition processing on the target tracking signal, and outputs a corrected target tracking position signal and a speed signal. The corrected tracking signal and the current state of the system are respectively differentially processed by the DSP, and then a target tracking position error and a differential error are output. The nonlinear fusion device (702) nonlinearly fuses the target tracking position error and the differential error to calculate a control output, and calculates a real-time control amount of the voice coil motor through a multiplier (704). The voice coil motor is adjusted in real time to achieve synchronous and rapid response of the first fast reflection mirror (2) and the second fast reflection mirror (10); at the same time, the feedback from the optical fiber position sensor and the target tracking signal are input into a CMAC neural network adaptive controller (705), and a nonlinear fusion proportional coefficient is optimized in real time. The operating frequency of the optical fiber position sensor is consistent with the frequency of the control clock signal.

5. The non-conjugate optical path smart multi-band laser beam control system according to claim 1, characterized in that: The first fast reflecting mirror (2) and the second fast reflecting mirror (10) both adopt lightweight silicon carbide lenses.

6. A non-conjugate optical path smart multi-band laser beam control method, characterized in that: The applicable system is the non-conjugate optical path smart multi-band laser beam control system as described in claim 3, comprising the following steps: The incident light is sequentially reflected by the first primary mirror (5), reflected by the first secondary mirror (7), adjusted by the first fast reflection mirror (2), and then focused by the receiving optical lens group (3) and enters the photoelectric detector (4); The emitted laser light of the multi-band laser emitting device (8) is sequentially reflected by the emitting optical mirror group (9), the Couder mirror (11), adjusted by the second fast reflecting mirror (10), reflected by the secondary mirror (12), and reflected by the second main mirror (6) to interfere with the target; The main control computer sends out a target tracking signal and a control clock signal, and simultaneously obtains the feedback of the optical fiber position sensor, and uses the extended state observer (703) to output the current state of the system, and the tracking differentiator (701) performs transition processing on the target tracking signal, and outputs a corrected target tracking position signal and a speed signal, and uses the DSP to perform differential processing on the corrected tracking signal and the current state of the system, and then outputs a target tracking position error and a differential error, and the nonlinear fusion device (702) nonlinearly fuses the target tracking position error and the differential error to calculate the control output, and calculates the real-time control amount of the voice coil motor through the multiplier (704), and adjusts the voice coil motor in real time to achieve synchronous and rapid response of the first fast reflection mirror (2) and the second fast reflection mirror (10); at the same time, the feedback of the optical fiber position sensor and the target tracking signal are input into the CMAC neural network adaptive controller (705), and the nonlinear fusion proportional coefficient is optimized in real time; the working frequency of the optical fiber position sensor is consistent with the frequency of the control clock signal.

7. The non-conjugate optical path smart multi-band laser beam control method according to claim 6, characterized in that: The input of the tracking differentiator (701) is the target tracking signal, e1=U1-z1 is the target tracking position error, e2=U2-z2 is the target tracking speed error, z1 and z2 are the state quantities of the current position and speed of the voice coil motor respectively, and U1 and U2 represent the expected position and expected speed of the target tracking respectively; the real-time control quantity y of the voice coil motor is related to ym, and ym represents the control output quantity calculated by the CMAC neural network adaptive controller (705).

8. The non-conjugate optical path smart multi-band laser beam control method according to claim 7, characterized in that: The input of the CMAC neural network adaptive controller (705) is the difference between the output ym of the CMAC neural network adaptive controller (705) and the real-time control amount y of the voice coil motor, and the output of the CMAC neural network adaptive controller (705) is the nonlinear combination proportional coefficients β1 and β2; the CMAC neural network adaptive controller (705) is a forward neural network, and the nonlinear relationship between the input and the output is realized by two basic mappings; the concept mapping is the mapping of the input space U to the concept memory AC, x max With x min Indicates the maximum and minimum values ​​of the input, M represents x max The initial address corresponding to the quantization, s i (k), u(k), round() represent the position of u(k) in the concept memory at time k, the input of the CMAC neural network adaptive controller (705) at time k and the rounding function respectively; the actual mapping is from the c storage units in the concept memory AC to the c storage units in the actual memory AP, and the output of the network is the sum of the weights of the c storage units in the actual memory AP; ad(i) = (s i (k)MOD N)+1, MOD() represents the modulo function of Matlab, and the output is y=∑ i c ＝1 w(ad(i)).

Images