A non-conjugate light path flexible multi-band laser beam control system and method

Abstract

The present application relates to a kind of non-conjugate light path flexible multi-band laser beam control system and method, belong to photoelectric counterwork and tracking sight field, including host computer, driver, two fast mirrors, receiving optical lens group, photoelectric detector, two main mirrors, two secondary mirrors, multi-band laser emission device, emission optical lens group, kude mirror;Driver is embedded in unified clock driving unit and two sets of fast mirror DSP control system unit.This application increases to two fast mirrors in optical system, each fast mirror is independently controlled by its corresponding fast mirror DSP control system, when non-conjugate aperture photoelectric equipment is interfered with target, the strategy of two fast mirrors synchronous control is used to realize accurate aiming and interference to target.Two fast mirrors are driven by the same clock signal, and clock signal is consistent with fiber position sensor frequency, realize fast mirror synchronous response position and speed difference value signal.

Description

Technical Field

[0001] This invention belongs to the field of optoelectronic countermeasures and tracking aiming technology, specifically relating to a non-conjugate optical path agile multi-band laser beam control system and method. Background Technology

[0002] With the evolution of optoelectronic warfare tactics, laser beam control systems represent an important direction in laser technology development. To adapt to the diverse demands of modern optoelectronic warfare on laser systems and provide more flexible and effective practical capabilities, non-common aperture laser beam control systems play a crucial role.

[0003] Existing optical devices for laser beam control systems are only analyzed from the perspective of common aperture to optimize space and weight, but they also have the following problems:

[0004] I. Traditional designs typically employ a shared-aperture design for both laser emission and reception detection. For example, Chinese Patent Publication No. CN108574533A discloses a shared-aperture laser communication optical transceiver based on an optical phased array. While this design simplifies the structural design to some extent, maintenance and expansion are limited. Maintaining and calibrating a shared-aperture high-energy laser system is more difficult, and any adjustment to optical components will affect the performance of the entire system. Furthermore, the system has poor scalability; changing the system configuration and functions becomes extremely difficult.

[0005] II. For small- and medium-aperture, compact laser optoelectronic countermeasures equipment, the use of non-conjugate optical paths will bring better application results. Common-aperture structures utilize primary and secondary mirrors with larger mass and volume, leading to increased size and mass. For example, Chinese patent CN116105543A discloses a 360° passive detection and common-aperture laser emission device, in which the beam needs to pass sequentially through the primary and secondary mirrors and the off-axis three-mirror common-aperture optical system unit, resulting in relatively low optical transmittance. This cannot meet the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasures equipment, and the high-precision micro-arc tracking and aiming of non-conjugate lasers.

[0006] Third, beam quality control is complex. In a common aperture system, due to the conjugate optical path, beam quality control requires consideration of both the transmission and reception paths, making it difficult to achieve a high-quality beam.

[0007] IV. Optical distortion and thermal effects: With higher integration of common aperture systems, the thermal effects of high-power lasers may cause deformation of optical components, making it impossible to guarantee the stability and quality of the beam, thereby reducing the reliability and robustness of the system.

[0008] Prior to this invention, there were no reports or studies in China on tracking and aiming using two fast reflectors to synchronously control a non-conjugate optical path. Summary of the Invention

[0009] This invention addresses the technical problems of existing conjugate laser optoelectronic countermeasures equipment, such as difficult maintenance of the detection and laser emission optical paths, limited functionality, poor anti-interference capabilities, low optical transmittance, and poor design flexibility. It provides a non-conjugate optical path-based, flexible, multi-band laser beam control system and method. The control system of this invention reduces interference between the emission and detection optical paths, improving the system's anti-interference capability; it enhances the robustness and control accuracy of the laser beam control system, facilitating future maintenance and expansion; and it achieves high-quality beam control and high optical transmittance. Simultaneously, it meets the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasures equipment, and high-precision micro-arc tracking and aiming of non-conjugate lasers.

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

[0011] A non-conjugate optical path-smart 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 also includes: a first primary mirror, a first secondary mirror, a first fast reflector, a receiving optical mirror group, and a photodetector;

[0013] In another optical path direction, it also includes: a multi-band laser emitting device, an emitting optical mirror group, a Couder mirror, a second fast reflector, a secondary mirror, and a second primary mirror;

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

[0015] The incident light is reflected sequentially by the first primary mirror, the first mirror reflection, and the first fast reflection mirror before being focused by the receiving optical mirror group and entering the photodetector to acquire the image.

[0016] The laser emitted by the multi-band laser emitting device interferes with the target after being reflected by the emitting optical mirror group, the Coud mirror, the second fast reflecting mirror, the second mirror reflection, and the second primary mirror reflection in sequence.

[0017] The two fast reflector DSP control systems control the first fast reflector and the second fast reflector to rotate synchronously, so as 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 optic position sensor on the voice coil motor.

[0018] Furthermore, the fast reflector DSP control system includes: a DSP and its control circuit, a voice coil motor flexibly hinged to the fast reflector, and an optical fiber position sensor mounted on the voice coil motor; the DSP is equipped with an active disturbance rejection controller and a CMAC neural network adaptive controller, and the active disturbance rejection controller and the CMAC neural network adaptive controller are used to implement an adaptive active disturbance rejection control algorithm to achieve fast response and precise control of the first fast reflector and the second fast reflector.

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

[0020] Furthermore, the main control computer sends out target tracking signals and control clock signals, while simultaneously acquiring feedback from the fiber optic position sensor. It uses an extended state observer to output the current system state, and a tracking differentiator performs transition processing on the target tracking signal, outputting corrected target tracking position and velocity signals. A DSP performs differential processing on the corrected tracking signal and the current system state, outputting the target tracking position error and differential error. A nonlinear fusion unit nonlinearly fuses the target tracking position error and differential error to calculate the control output. A multiplier calculates the real-time control quantity for the voice coil motor, adjusting the voice coil motor in real-time to achieve synchronous and rapid response of the first and second fast reflectors. Simultaneously, the fiber optic position sensor feedback and target tracking signal are input into a CMAC neural network adaptive controller to optimize the nonlinear fusion proportional coefficient in real-time. The operating frequency of the fiber optic position sensor is consistent with the frequency of the control clock signal.

[0021] Furthermore, both the first and second fast reflectors are made of lightweight silicon carbide lenses.

[0022] A non-conjugate optical path-smart multi-band laser beam control method, applicable to the non-conjugate optical path-smart multi-band laser beam control system of this invention, includes the following steps:

[0023] The incident light is reflected sequentially by the first primary mirror, the first mirror reflection, and the first fast reflection mirror before being focused by the receiving optical mirror group and entering the photodetector.

[0024] The laser emitted by the multi-band laser emitting device interferes with the target after being reflected by the emitting optical mirror group, the Coud mirror, the second fast reflecting mirror, the second mirror reflection, and the second primary mirror reflection in sequence.

[0025] The main control computer sends out target tracking signals and control clock signals, while simultaneously acquiring feedback from the fiber optic position sensor. It uses an extended state observer to output the current system state, and a tracking differentiator performs transition processing on the target tracking signal, outputting corrected target tracking position and velocity signals. A DSP performs differential processing on the corrected tracking signal and the current system state, outputting the target tracking position error and differential error. A nonlinear fusion unit nonlinearly fuses the target tracking position error and differential error to calculate the control output. A multiplier calculates the real-time control quantity for the voice coil motor, adjusting the voice coil motor in real-time to achieve synchronous and rapid response of the first and second fast reflectors. Simultaneously, the fiber optic position sensor feedback and target tracking signal are input to a CMAC neural network adaptive controller to optimize the nonlinear fusion proportional coefficient in real-time. The operating frequency of the fiber optic position sensor is consistent with the frequency of the control clock signal.

[0026] Furthermore, the input 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 current position and speed state quantities of the voice coil motor, and U1 and U2 represent the desired position and desired speed of the target tracking, respectively; the real-time control quantity y of the voice coil motor is related to ym, where ym represents the control output quantity calculated by the CMAC neural network adaptive controller.

[0027] Furthermore, the input of the CMAC neural network adaptive controller is the difference between the CMAC neural network adaptive controller output ym and the real-time control quantity y of the voice coil motor. The output of the CMAC neural network adaptive controller is the nonlinear combined proportional coefficients β1 and β2. The CMAC neural network adaptive controller is a feedforward neural network, and the nonlinear relationship between the input and 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 With x min This represents the maximum and minimum input values, where M represents x. max The initial address corresponding to the quantization, s i (k), u(k), and round() represent the position of u(k) in the concept memory at time k, the input of the CMAC neural network adaptive controller at time k, and the rounding function, respectively; the actual mapping is the mapping of c storage units in the concept memory AC to c storage units in the actual memory AP, and the network output 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 Matlab modulo function, and the output is

[0028] The beneficial effects of this invention are:

[0029] This invention discloses a non-conjugate optical path-efficient multi-band laser beam control system. The optical system incorporates two fast reflectors, each independently controlled by its corresponding fast reflector DSP control system. When non-co-aperture optoelectronic devices interfere with the target, a strategy of synchronous control of the two fast reflectors achieves precise aiming and interference. Both fast reflectors are driven by the same clock signal, and this clock signal is synchronized with the frequency of the voice coil motor position sensor, thereby enabling synchronous response of the fast reflectors to position and velocity difference signals.

[0030] The present invention discloses a non-conjugate optical path-smart multi-band laser beam control system, which adopts an active disturbance rejection control strategy to improve the dynamic performance of the system and reduce the overshoot. It uses an extended state observer to estimate and compensate for internal and external disturbances, giving the system a strong anti-interference capability.

[0031] In this invention, the fast reflector and voice coil motor employ a flexible hinge structure, and the fiber optic position sensor is small in size, high in accuracy, and high in frequency. In the fast reflector DSP control system, a CMAC neural network adaptive controller is introduced to achieve adaptive active disturbance rejection control based on active disturbance rejection control. The CMAC neural network adaptive active disturbance rejection control algorithm used in the fast reflector DSP control system can improve the position response speed by nearly four times compared to existing PID control methods. Attached Figure Description

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

[0033] Figure 1 This is a schematic diagram of the structure of a non-conjugate optical path ingenious multi-band laser beam control system according to the present invention.

[0034] Figure 2 This is a schematic diagram of the DSP control system for a fast reflector.

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

[0036] Figure 4 This is a schematic diagram of the operating current during fast mirror scanning, where the blue curve area represents the scanning area and the red curve area represents the invalid area.

[0037] The reference numerals in the figure are:

[0038] 1-Driver, 2-First fast reflector, 3-Receiving optical mirror group, 4-Photodetector, 5-First primary mirror 1, 6-Second primary mirror, 7-First primary mirror, 8-Multi-band laser emitting device, 9-Emitting optical mirror group, 10-Second fast reflector, 11-Coud mirror, 12-Second primary mirror;

[0039] 701 - Tracking Differentiator, 702 - Nonlinear Combiner, 703 - Extended State Observer, 704 - Multiplier, 705 - CMAC Neural Network Adaptive Controller. Detailed Implementation

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

[0041] like Figure 1 As shown, a non-conjugate optical path-flexible 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 reflector 2, a receiving optical mirror group 3, a photodetector 4, a first primary mirror 5, a second primary mirror 6, a first primary mirror 7, a multi-band laser emitting device 8, an emitting optical mirror group 9, a second fast reflector 10, a Couder mirror 11, and a second primary mirror 12. The driver 1 embeds a unified clock driving unit and two sets of fast reflector DSP control system units. The first primary mirror 5, the first primary mirror 7, the first fast reflector 2, the receiving optical mirror group 3, and the photodetector 4 are located in one optical path direction; the multi-band laser emitting device 8, the emitting optical mirror group 9, the Couder mirror 11, the second fast reflector 10, the second primary mirror 12, and the second primary mirror 6 are located in another optical path direction. Simultaneously, the first fast reflector 2 and the second fast reflector 10 are each at 45° to their respective principal optical axes and both use lightweight silicon carbide lenses. The incident light is reflected sequentially by the first principal mirror 5, the first mirror 7, and adjusted by the first fast reflector 2 before passing through the receiving optical mirror group 3 and entering the infrared photodetector 4 to acquire the image. The emitted laser from the multi-band laser emitting device 8 is emitted sequentially by the optical mirror group 9, reflected by the Coud mirror 11, adjusted by the second fast reflector 10, reflected by the second mirror 12, and reflected by the second principal mirror 6 before interfering with the target. When the laser optoelectronic countermeasures equipment is performing long-range tracking and aiming, the two fast reflectors (the first fast reflector 2 and the second fast reflector 10) are controlled to rotate synchronously by the fast reflector DSP control system to achieve parallelism between the principal optical axis of the detection optical path and the principal optical axis of the laser emission optical path, thereby improving the aiming accuracy and anti-interference capability of the laser. The unified clock signal is consistent with the frequency of the fiber optic position sensor on the voice coil motor.

[0042] like Figure 2As shown, the fast reflector DSP control system mainly includes: a DSP and its control circuit, a voice coil motor flexibly hinged to the fast reflector, and an optical fiber position sensor mounted on the voice coil motor. The DSP is equipped with an active disturbance rejection controller (ADRC) 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. The CMAC neural network adaptive ADRC control algorithm is implemented 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 rapid response of the first fast reflector 2 and the second fast reflector 10, enabling synchronous response and precise positioning of the two reflectors.

[0043] The non-conjugate optical path-smart multi-band laser beam control method applicable to the present invention is implemented as follows:

[0044] (1) The incident light passes through the first primary mirror 5, the first mirror 7, and the first fast reflector 2 along the main optical axis A and is then focused by the receiving optical mirror group 3 to enter the infrared photodetector 4 to collect the image; the emitted laser of the multi-band laser emitting device 8 passes through the emitting optical mirror group 9, the Coud mirror 11, the second fast reflector 10, the second mirror 12, and the second primary mirror 6 along the main optical axis B and then interferes with the target.

[0045] (2) The first fast reflector 2 and the second fast reflector 10 are controlled to respond synchronously by the driver 1. The specific control process is as follows: Figure 2As shown. The main control computer sends out the target tracking signal and control clock signal, and simultaneously acquires the feedback from the fiber optic position sensor. The extended state observer 703 outputs the current system state. The tracking differentiator 701 performs transient processing on the target tracking signal, outputting a corrected target tracking position signal and velocity signal. The DSP performs differential processing on the corrected tracking signal and the current system state, outputting the target tracking position error and differential error. The nonlinear fusion unit 702 nonlinearly fuses the target tracking position error and differential error to calculate the control output. The multiplier 704 calculates the real-time control quantity for the voice coil motor, and adjusts it in real-time. The voice coil motor enables synchronous and rapid response of the two fast-reflecting mirrors. Simultaneously, the feedback from the fiber optic position sensor and the target tracking signal are input to the CMAC neural network adaptive controller 705 to optimize the nonlinear fusion proportional coefficients in real time. The operating frequency of the fiber optic position sensor is consistent with the control clock signal frequency. The input to the tracking differentiator 701 is the target tracking signal, where 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, and U1 and U2 represent the desired target tracking position and speed, respectively. The real-time control quantity y of the voice coil motor is related to ym, where ym represents the control output quantity calculated by the CMAC neural network adaptive controller 705. The input to the CMAC neural network adaptive controller 705 is the difference between the CMAC neural network adaptive controller 705 output quantity ym and the voice coil motor real-time control quantity y. The output of the CMAC neural network adaptive controller 705 is the nonlinear combined proportional coefficients β1 and β2. The CMAC neural network adaptive controller 705 is a feedforward neural network, and the nonlinear relationship between the input and output is achieved through two basic mappings. Concept mapping is the mapping from input space U to concept memory AC. x max With x min This represents the maximum and minimum input values, where M represents x. max The initial address corresponding to the quantization, s i (k), u(k), and round() represent the position of u(k) in the concept memory at time k, the input of the CMAC neural network adaptive controller at time k, and the rounding function, respectively. The actual mapping is the mapping of c storage units in the concept memory AC to c storage units in the actual memory AP. The network output 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 Matlab modulo function, and the output is

[0046] (3) By fitting the position curves of the first fast reflector 2 and the second fast reflector 10 when they are coaxial, the first fast reflector 2 and the second fast reflector 10 are subjected to unified dimension processing. When the second fast reflector 2 and the second fast reflector 10 are in synchronous response, they are always coaxial, which ensures the laser strike accuracy and the infrared detection accuracy. Figure 4 This is a schematic diagram of the operating current during fast mirror scanning, where the blue curve area represents the scanning area and the red curve area represents the invalid area.

[0047] The non-conjugate optical path-efficient multi-band laser beam control system of this invention is compared and analyzed with the existing PID control method in MATLAB using unit step response simulation. The position step response is as follows: Figure 3 As shown in the simulation diagram, the non-conjugate optical path agile multi-band laser beam control system of the present invention has a unit step response rise time of 4ms, which is 4 times faster than the existing PID control method, and there is no overshoot or oscillation.

[0048] In summary, the non-conjugate optical path agile multi-band laser beam control system of the present invention controls the synchronous rotation of two fast reflectors through a fast reflector DSP control system during laser transmission and reception; the required rotation angles of the two fast reflectors are uniformly dimensioned; and the two principal optical axes of the laser transceiver are calibrated to be coaxial. This invention solves the problems of difficult maintenance, limited functionality, and poor design flexibility in conjugate laser optoelectronic countermeasures equipment, such as the detection and laser transmission optical paths. It reduces interference between the transmission and detection optical paths, improving the system's anti-interference capability. Simultaneously, it can meet the requirements of mobile platforms, embedded miniaturized optoelectronic countermeasures equipment, and high-precision micro-arc tracking and aiming of non-conjugate lasers.

[0049] The above are merely preferred embodiments of the present invention and do not constitute any limitation on the present invention. Any equivalent substitutions or modifications made by those skilled in the art to the technical solutions and content disclosed in the present invention without departing from the scope of the present invention shall be deemed to have remained within the protection scope of the present invention.

Claims

1. A non-conjugate optical path-efficient multi-band laser beam control system, characterized in that, Includes a main control computer and a driver connected to the main control computer; In the optical path direction, it also includes: a first primary mirror, a first secondary mirror, a first fast reflector, a receiving optical mirror group, and a photodetector; In another optical path direction, it also includes: a multi-band laser emitting device (8), an emitting optical mirror group (9), a Couder mirror (11), a second fast reflector (10), a second mirror (12), and a second primary mirror (6); The driver (1) is embedded with a unified clock driving unit and two sets of fast reflector DSP control systems; the first fast reflector (2) and the second fast reflector (10) are respectively at 45° to their respective main optical axes and are respectively connected to the driver (1); The incident light is reflected sequentially by the first primary mirror (5), the first mirror (7), and the first fast reflector (2), and then focused by the receiving optical mirror group (3) into the photodetector (4) to acquire the image. The laser emitted by the multi-band laser emitting device (8) is reflected sequentially by the emitting optical mirror group (9), the Coud mirror (11), the second fast reflector (10) for adjustment, the second mirror (12) for reflection, and the second primary mirror (6) for reflection before interfering with the target. The two fast reflector DSP control systems control the first fast reflector (2) and the second fast reflector (10) to rotate synchronously, so as 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 drive unit has the same frequency as the fiber optic position sensor on the voice coil motor.

2. The non-conjugate optical path-efficient multi-band laser beam control system according to claim 1, characterized in that, The fast reflector DSP control system includes: a DSP and its control circuit, a voice coil motor flexibly hinged to the fast reflector, and an optical fiber position sensor mounted on the voice coil motor; the DSP is equipped with an active disturbance rejection controller and a CMAC neural network adaptive controller (705), and the active disturbance rejection controller and the CMAC neural network adaptive controller (705) are used to implement an adaptive active disturbance rejection control algorithm to achieve fast response and precise control of the first fast reflector (2) and the second fast reflector (10).

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

4. The non-conjugate optical path-efficient multi-band laser beam control system according to claim 3, characterized in that, The main control computer sends out target tracking signal and control clock signal, and simultaneously acquires the feedback from the fiber optic position sensor. It uses the 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 the corrected target tracking position signal and velocity signal. The DSP performs differential processing on the corrected tracking signal and the current state of the system respectively, and outputs the target tracking position error and differential error. The nonlinear fusion unit (702) nonlinearly fuses the target tracking position error and differential error to calculate the control output. The multiplier (704) calculates the real-time control quantity of the voice coil motor and adjusts the voice coil motor in real time to achieve synchronous and rapid response of the first fast reflector (2) and the second fast reflector (10). At the same time, the feedback from 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 proportional coefficient in real time. The operating frequency of the fiber optic position sensor is consistent with the frequency of the control clock signal.

5. The non-conjugate optical path-efficient multi-band laser beam control system according to claim 1, characterized in that, Both the first fast reflector (2) and the second fast reflector (10) are made of lightweight silicon carbide lenses.

6. A non-conjugate optical path-efficient 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 reflected sequentially by the first primary mirror (5), the first mirror (7), and the first fast reflector (2), and then focused by the receiving optical mirror group (3) into the photodetector (4). The laser emitted by the multi-band laser emitting device (8) is reflected sequentially by the emitting optical mirror group (9), the Coud mirror (11), the second fast reflector (10) for adjustment, the second mirror (12) for reflection, and the second primary mirror (6) for reflection before interfering with the target. The main control computer sends out the target tracking signal and the control clock signal, and simultaneously acquires the feedback from the fiber optic position sensor. The extended state observer (703) outputs the current state of the system. The tracking differentiator (701) performs transition processing on the target tracking signal and outputs the corrected target tracking position signal and velocity signal. The DSP performs differential processing on the corrected tracking signal and the current state of the system respectively, and outputs the target tracking position error and differential error. The nonlinear fusion unit (702) nonlinearly fuses the target tracking position error and differential error to calculate the control output. The multiplier (704) calculates the real-time control quantity of the voice coil motor and adjusts the voice coil motor in real time to achieve synchronous and fast response of the first fast reflector (2) and the second fast reflector (10). At the same time, the feedback from the fiber optic position sensor and the target tracking signal are input to the CMAC neural network adaptive controller (705) to optimize the nonlinear fusion proportional coefficient in real time. The operating frequency of the fiber optic 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 current position and speed state quantities of the voice coil motor, 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 to 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 quantity y of the voice coil motor. The output of the CMAC neural network adaptive controller (705) is the nonlinear combined proportional coefficients β1 and β2. The CMAC neural network adaptive controller (705) is a feedforward neural network, and the nonlinear relationship between the input and 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 With x min This represents the maximum and minimum input values, where M represents x. max The initial address corresponding to the quantization, s i (k), u(k), and 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 the mapping of 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 the c storage units in the actual memory AP; ad(i) = (s i (k)MOD N)+1, MOD() represents the Matlab modulo function, and the output is y=∑ i c ＝1 w(ad(i)).

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