Engineering implementation method of fast reflector state augmentation robust controller

Abstract

The invention provides an engineering implementation method of a fast reflector state augmentation robust controller, which comprises the following steps of: inputting excitation signals with different frequencies and amplitudes through experiments, and determining an acceleration saturation limit of a voice coil motor in combination with a dynamic response curve of a sensor; dynamically configuring the position of a dominant pole: based on the acceleration saturation limit, adjusting a real part and an imaginary part of the dominant pole through iterative simulation, so that the dynamic bandwidth of the fast reflector system is maximized on the premise of avoiding nonlinear saturation; designing a state augmentation robust controller: constructing a state feedback control law in combination with a servo compensator and a stabilization compensator, obtaining full-state information through a state observer, and realizing pole assignment and disturbance suppression of a fast reflector closed-loop system; and a high-order transfer function of the state augmentation robust controller is simplified into a series combination containing proportional integral, notch filtering and an advanced link through pole-zero cancellation and similar position matching, and the consistency with control performance is verified through joint simulation.

Description

Technical Field

[0001] The present invention belongs to the technical field of control theory and control engineering, and particularly relates to an engineering implementation method for a state-augmented robust controller of a fast steering mirror. It includes high-precision, high-bandwidth, and multi-dimensional collaborative control technologies for complex controlled objects, and is particularly suitable for high-performance control of a multi-degree-of-freedom motion fast steering mirror system based on a flexible guiding structure. Background Art

[0002] A fast steering mirror system (FSM) is a component that works between a light source or a receiver and a target, and deflects a mirror through a driver to dynamically adjust and stabilize the optical axis or beam pointing of an optical system. The FSM motion mechanism adopts a flexible guiding mechanism, which is a structure that relies on the elastic deformation of materials to generate a hinge-like motion, and has the characteristics of no friction, no clearance, and no need for lubrication. Combined with high-response actuators such as voice coil motors / piezoelectric ceramics and precision sensing devices, it realizes ultra-fast response and ultra-high-precision control of the light beam.

[0003] The FSM mainly consists of a base, a mirror body, a support structure, a driving element, a position detection device, and a control system. The base, the mirror body, and the support structure determine the load-bearing capacity and resonance frequency of the system, and also affect the motion accuracy and stroke of the FSM; the driving element affects the system bandwidth and stroke; the position detection device affects the motion accuracy and response speed of the system. Considering factors such as volume, weight, and power consumption, usually the first-order resonance frequency of the FSM structure is relatively low and the actuation ability of the driver is limited; secondly, there is a structural coupling between the two-degree-of-freedom motions of the support and guiding structure based on a flexible hinge; in addition, the non-collocated structural layout between the detection device and the driving device does not belong to a rigid connection. Therefore, it is very difficult to achieve the physical limit capabilities (ultra-high motion accuracy, ultra-fast response speed) of the existing FSM system, and the optimization of control strategies and control methods is the only technical approach.

[0004] For a complex controlled object such as a fast steering mirror with multiple variables and strong coupling, the common analysis and design methods of classical linear control system design have certain limitations, manifested as poor control dynamic performance and low control robustness. The main reason is that the controlled object model obtained by traditional methods is an idealized linear model, without considering the noise characteristics and nonlinear factors in the controlled object. During the actual working process, due to different environmental temperature, humidity, vibration, equipment working conditions and other factors, different degrees of noise interference are introduced into the FSM system. At this time, there is a large deviation between the linear model established in the laboratory environment and the actual system. For example, the same FSM system installed at different positions inside the opto-mechanical system, and connecting components with different stiffnesses will cause changes in parameters such as the resonance frequency and structural coupling of the FSM. Therefore, output feedback closed-loop control algorithms based on the original inaccurate model, such as PID, lead-lag, double lead-lag, lead-double lag, notch controller, feedforward decoupling, etc., are difficult to achieve high-performance control of the existing system, manifested as a significant decline in the control effect compared with the expectation. In severe cases, control instability and failure may even occur. Summary of the Invention

[0005] Aiming at the defects and deficiencies of the existing technology, the present invention provides an engineering implementation method for a state-augmented robust controller of a fast steering mirror. By combining experimental calibration and theoretical calculation to determine the acceleration saturation limit, and dynamically optimizing the position of the dominant poles based on this, the linear dynamic bandwidth of the system is maximized on the premise of avoiding nonlinear saturation; designing a state-augmented robust controller, integrating a servo compensator to suppress disturbances, a stabilizing compensator to configure closed-loop poles, and a state observer to obtain full state information to achieve high-precision tracking and strong robustness; proposing an equivalent order reduction method for high-order controllers, simplifying it into a series combination of proportional integral, notch filtering, and lead links through zero-pole cancellation and similar position matching, and verifying the performance consistency through multi-model joint simulation; developing a dual-mode engineering implementation scheme of analog circuit and digital controller, realizing real-time control by discretizing difference equations or hardware circuits, with a sampling period ≤ 0.25 ms, ultimately making the control performance approach the physical limit of the fast steering mirror system, and significantly improving the dynamic response speed, environmental adaptability, and anti-interference ability.

[0006] The technical solutions specifically adopted by the present invention to solve its technical problems are as follows: An engineering implementation method for a state-augmented robust controller of a fast steering mirror, comprising the following steps: Determine the acceleration saturation limit of the fast steering mirror system: By experimentally inputting excitation signals with different frequencies and amplitudes, and combining the dynamic response curve of the sensor, determine the acceleration saturation limit a of the voice coil motor max ; Dynamically configure the position of the dominant poles: Based on the acceleration saturation limit a max, adjust the real part and imaginary part of the dominant pole through iterative simulation to maximize the dynamic bandwidth of the fast steering mirror system on the premise of avoiding non - linear saturation; Design of state - augmented robust controller: Combine the servo compensator and the stabilizing compensator to construct a state - feedback control law, obtain the full - state information through a state observer, and achieve pole placement and disturbance rejection of the fast steering mirror closed - loop system; Equivalent order reduction and engineering implementation: Simplify the high - order transfer function of the state - augmented robust controller through zero - pole cancellation and similar - position matching into a series combination including proportional - integral, notch filtering, and lead - link, and verify the consistency with the control performance through co - simulation.

[0007] Furthermore, the method for measuring the acceleration saturation limit is as follows: Input a sinusoidal signal with an increasing amplitude to the voice - coil motor, and monitor the output response in real - time through a position sensor (eddy - current sensor, capacitive sensor, etc.). When the output amplitude of the position sensor reaches the preset threshold and the dynamic curve is still a standard sinusoidal waveform, record the corresponding acceleration value as the saturation limit a. max .

[0008] Furthermore, measuring the acceleration saturation limit of the fast steering mirror system also includes: calculating the theoretical acceleration saturation value through the peak output force, moment of inertia, and rotation radius of the voice - coil motor.

[0009] Furthermore, the method for dynamically configuring the dominant pole is as follows: The initial dominant pole is determined according to the empirical formula of the overshoot σ% and the adjustment time t of the second - order system. s ; Through simulation analysis of the dynamic response of the fast steering mirror system under the acceleration saturation limit, when the acceleration response exceeds the acceleration saturation limit, adjust the real - part value of the dominant pole to move to the right side of the complex plane; when the acceleration response does not reach the saturation limit, adjust the real - part value of the dominant pole to move to the left side of the complex plane. Input step signals with different amplitudes, repeat adjusting the pole position, establish the mapping relationship between the input amplitude and the maximum linear bandwidth, and adjust the state - feedback matrix parameters according to the mapping relationship to adapt to different working conditions.

[0010] Furthermore, the structure of the state - augmented robust controller includes: Servo compensator: Construct an integral link based on the external - action model for disturbance rejection and asymptotic regulation to ensure zero - steady - state error of the system response. Stabilizing compensator: Include a state - feedback matrix K, and enhance the system robustness by introducing an integral link. State observer: used to estimate the system states that are not directly measured, including noise characteristics and nonlinear coupling information.

[0011] Furthermore, the equivalent order reduction of the model of the state augmented robust controller is specifically as follows: By zero-pole cancellation and similar position matching, the high-order transfer function is simplified into a series combination of proportional-integral, notch filter, and lead link; Use co-simulation to verify the response consistency of the reduced-order model and the original state feedback controller under step input and sine input to ensure the performance consistency of the controller in transient and frequency domain scenarios.

[0012] Furthermore, the engineering implementation methods of the controller include: Analog circuit implementation: Decompose the reduced-order transfer function into a hardware circuit combination of a notch filter and an integral lead module; Digital controller implementation: Generate a real-time control law through the discretization of the transfer function, with a sampling time T s ≤0.25ms to ensure the system bandwidth requirements.

[0013] And, an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the above method when executing the program.

[0014] A non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the above method.

[0015] Compared with the prior art, the present invention and its preferred solutions at least include the following beneficial effects: 1. Dynamic performance optimization by breaking through the physical saturation constraint: Determine the acceleration saturation limit through the combination of experimental calibration and theoretical calculation, and use this as a boundary to dynamically adjust the position of the dominant poles, maximizing the linear dynamic bandwidth while avoiding the system entering the nonlinear region, and solving the problem of performance limitation or instability of traditional controllers caused by ignoring physical limits; 2. Enhancement of strong robustness and anti-interference ability: Based on the design of a state-augmented robust controller, suppress disturbances through a servo compensator, configure closed-loop poles through a stabilization compensator, and obtain full state information through a state observer, significantly enhancing the system's adaptability to parameter perturbations, noise interference, and environmental changes; 3. Breakthrough in the engineering feasibility of high-order controllers: Propose an equivalent order reduction method of zero-pole cancellation and similar position matching, simplify complex high-order controllers into a series module combination in classical control theory, taking into account the advantages of modern control theory and the convenience of engineering implementation; 4. Multi-scenario deployment flexibility: Provide a dual-mode implementation solution for analog circuits and digital controllers, support rapid deployment of hardware circuits or real-time update of software algorithms, adapt to different accuracy, cost, and response speed requirements, and the design with a sampling period ≤ 0.25 ms further ensures high-dynamic scenario performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments: Figure 1 It is the response graph of testing the speed and acceleration saturation limit of the voice coil motor in the embodiment of the present invention; Figure 2 It is the initial search result graph when the dominant pole of the embodiment of the present invention is -3000 ± 3000i; Figure 3 It is the search result graph of the expected dominant pole in the embodiment of the present invention; Figure 4 It is the relationship graph between the input signal of the acceleration 300m / s 2 limit system and the corresponding bandwidths of each key point; Figure 5 It is the joint simulation graph of the multi-model controller in the embodiment of the present invention; Figure 6 It is the comparison graph of the step (upper figure) / sine (lower figure) input response in the embodiment of the present invention; Figure 7 It is the hardware circuit diagram of the controller in the embodiment of the present invention; Figure 8 It is the flowchart of the solution in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] To make the features and advantages of the present invention more obvious and understandable, specific embodiments are given below and described in detail as follows: It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0019] In view of the defects and deficiencies existing in the prior art, in the embodiments of the present invention, it is considered that the state variable feedback has a better control effect than the output feedback. To arbitrarily configure the closed-loop poles or decouple the system, full state feedback is indispensable. Through the state observer, all the key features and information of the controlled object including noise can be obtained. Therefore, an innovative method based on state variable feedback is adopted to solve the above problems and make the controller approach the physical limit of the system. The state augmented robust controller consists of a servo compensator and a stabilizing compensator. The servo compensator is used to achieve disturbance rejection and asymptotic regulation and is constructed according to the external action model; the stabilizing compensator is used to stabilize the closed-loop system and includes the state feedback K matrix. By introducing an augmented integral link, the static error of the system step response is eliminated.

[0020] However, two key problems need to be solved urgently for the engineering implementation of the state augmented robust controller: First, for the method of arbitrarily configuring the closed-loop system poles by state feedback, how to obtain the optimal dominant poles and auxiliary poles is the core to achieve high dynamic quality and strong robustness control; Second, for the complex system after introducing the state observer, how to simplify and equivalent the complex high-order controller model for engineering implementation.

[0021] Therefore, the embodiments of the present invention further provide an engineering implementation method for the state augmented robust controller of a fast steering mirror. It focuses on solving the problems that the traditional controller is difficult to approach the true physical limit of the FSM system, has poor robustness and poor environmental adaptability.

[0022] The basic process of the solution provided by the present invention is as Figure 8 shown and includes: Determine the acceleration saturation limit of the fast steering mirror system: By experimentally inputting excitation signals with different frequencies and amplitudes and combining the dynamic response curve of the sensor, determine the acceleration saturation limit a of the voice coil motor max ; Dynamically configure the position of the dominant poles: Based on the acceleration saturation limit a max , adjust the real part and imaginary part of the dominant poles through iterative simulation to maximize the dynamic bandwidth of the fast steering mirror system on the premise of avoiding nonlinear saturation; Design of the state augmented robust controller: Combine the servo compensator and the stabilizing compensator to construct a state feedback control law, obtain the full state information through the state observer, and achieve pole configuration and disturbance rejection of the fast steering mirror closed-loop system; Equivalent order reduction and engineering implementation: Simplify the high-order transfer function of the state augmented robust controller into a series combination including proportional integral, notch filtering and lead links through zero-pole cancellation and similar position matching, and verify the consistency with the control performance through co-simulation.

[0023] The design and implementation method of the state augmented robust controller is verified in a self-developed fast steering mirror system (a two-axis FSM driven by voice coil motors and sensed by eddy current position sensors), which has the advantages of high dynamic quality and good robustness.

[0024] The specific process of its implementation verification includes: (1)Method for analyzing and determining the physical saturation limit of the controlled object Once the controlled object is determined, its physical limit is also determined, and the performance of the control system cannot exceed this physical limit. In this system, the acceleration saturation limit and speed saturation limit of the voice coil motor directly determine the dynamic quality of the control. First, it is necessary to determine which physical limit the system is most "sensitive" to, measure which physical limit saturates first, and the performance shown by the system when the first limit saturates is the ultimate performance that the system can physically reach. The acceleration saturation limit is measured by a method combining theoretical calculation and experiment.

[0025] ① Theoretical calculation of the acceleration saturation limit of the voice coil motor From the design of the existing FSM system, the moments of inertia and radii of rotation of the X and Y axes are:

[0026]

[0027] The movement on each axis is composed of two voice coil motors pushing and pulling, and the load mass borne by a single motor is:

[0028] The peak output of the voice coil motor is 30F N

[0029] Therefore, the theoretical acceleration saturation limit of the voice coil motor is 312.82m / s 2 ② Theoretical calculation of the speed saturation limit of the voice coil motor: The rated power of the voice coil motor P = 70.1W, and the peak output F is 30N Therefore, the theoretical speed saturation limit of the voice coil motor is approximately:

[0030] ③ Actual test of the speed and acceleration saturation limits: Input sinusoidal signals of different frequencies. The response of the voice coil motor is converted into a voltage signal by an eddy current sensor. Observe the dynamic curve on the oscilloscope. When the motor's limit deflection position is not reached during the dynamic process (the maximum output of the eddy current sensor is 8V), continuously increase the amplitude of the input signal. The maximum speed and acceleration saturation values are obtained through multi-frequency point searches. (Sinusoidal signal with a sensor output amplitude of 7.5V and a frequency of 200Hz).

[0031] It can be seen from Figure 1 that the maximum response speed Vmax: 4870V / s, and the maximum response acceleration Amax : 6.12×10 6 V / s 2 .

[0032]

[0033]

[0034] By converting the above formula (where K45° and Ksensor are the conversion coefficients of the sensor installation position and the eddy current sensor respectively), the maximum speed of the voice coil motor is 0.244m / s, and the maximum acceleration is 332.8m / s 2 .

[0035] Since the system stroke is short, experiments show that the voice coil motor is far from reaching its speed limit within the stroke. Therefore, the speed saturation limit will not restrict the performance of the system. The acceleration saturation limit is the core factor affecting the physical performance of the system Figure 1 in which the acceleration response curve is still a standard sine curve. At this time, although the system has not reached the acceleration saturation limit, it is already close to the critical point. Combining with the theoretical calculation results of the design, the acceleration saturation value of the system can be determined to be 300m / s 2 .

[0036] (2) A method for optimizing the desired poles based on the acceleration saturation region First, based on the expected indicators such as the overshoot and settling time of a typical second-order system, determine the approximate starting position of the dominant poles of the control system according to the empirical formula

[0037]

[0038]

[0039] The coordinates of the starting point dominant poles are -3000 ± 3000i. Simulate and analyze the acceleration dynamic response under different amplitude input signals under the condition of an acceleration limit of 300m / s 2 .

[0040] Figure 2Response diagrams of each nonlinear limit port when the input is a step signal with an amplitude of 1V. It can be found from the figure that the acceleration port has saturated, and the system enters the nonlinear state. At this time, the poles need to be shifted to the right; on the contrary, if there is still margin from the acceleration saturation limit, the poles are shifted to the left. After multiple iterations, when the dominant poles are -2690 ± 2690i, the system is exactly in the linear working region, as Figure 3 shown. Among them, Figure (a) corresponds to the step response, showing the position tracking dynamics of the system. Figure 2 In, due to the improper pole position, the response shows overshoot and oscillation. Figure 3 In, the response tends to be stable, the overshoot decreases, and the settling time is shortened. Figure (b) corresponds to the control input U to show the drive signal of the voice coil motor. Figure 2 In, it reflects the saturation state of the controller output. Figure 3 In, the dynamic range of the drive signal is limited and does not exceed the linear region (the amplitude is lower than the saturation threshold). Figure (c) corresponds to the acceleration response a to record the dynamic curve of the system acceleration. Figure 2 In, it shows that the acceleration port has saturated (the amplitude exceeds the linear region), indicating that the system enters the nonlinear state, while Figure 3 In, the acceleration signal maintains a standard sine waveform and the amplitude does not exceed the saturation limit.

[0041] Changing the amplitude of the step signal input and repeating the above steps can obtain the relationship between the input signal amplitude of the system with an acceleration limit of 300m / s 2 and the corresponding bandwidths of each key point, as Figure 4 shown.

[0042] From Figure 4 it can be seen that the nonlinear bandwidth of the FSM system is greater than the linear bandwidth of the system, and the maximum linear bandwidth and the nonlinear system bandwidth increase with the decrease of the input signal. When the input signal amplitude is different, the maximum linear bandwidth that the system can reach is different, and its optimal pole position and the parameter K matrix of the controller will also change. The optimal poles, maximum linear bandwidths, and controller parameters of the system with an acceleration limit of 300m / s 2 at different inputs are shown in Table 1: Table 1 Optimal poles, maximum linear bandwidths, and controller parameter K matrix when the acceleration limit is 300m / s 2

[0043] (3) Equivalent design method of state augmented robust controller based on multi-model joint simulation First, the obtained state augmented robust controller model with an observer is equivalent to a classical model with series-parallel controllers (the equivalent method is a well-known technology). The transfer function of this system is a 9th-order system as follows: ​

[0044] Use the MATLAB program to obtain the zeros and poles of G5, including 9 zeros and 9 poles. Through the method of zero-pole cancellation at similar positions, the reduction of the series model of the classical model is realized. The equivalent and reduced transfer function is expressed as:

[0045] That is, the designed state-augmented robust controller can be equivalent to a proportional-integral link + notch link + lead link in classical control theory. To further verify the accuracy of the observer pole selection and the classical model after equivalent reduction, and the consistency of the systems with and without the observer, the method of co-simulation is used to compare the control performances of three models, including state feedback with the observer, state feedback without the observer, and the control performance of the equivalent series closed-loop system, as Figure 5 shown (Note: Figure 5 This is only a schematic diagram of the simulation software interface for demonstrating the simulation process, and it does not contain key technical information. The parameters shown are only for illustration and have nothing to do with the main design points of this solution).

[0046] Through multiple iterations of simulation and parameter optimization, the experimental results show that for the existing fast steering mirror system, regardless of large-signal or small-signal input, its control effect can infinitely approach the designed state-augmented robust controller, as Figure 6 shown.

[0047] Therefore, for complex objects that are difficult to control, the method provided in this embodiment provides a new idea for the design and engineering implementation of control systems: that is, using modern control theory to design a state-augmented robust controller to control the system, then using a state observer to perform model equivalence on the state-augmented robust controller, analyzing and correcting the classical controller through co-simulation, and finally realizing it in engineering.

[0048] (4) Engineering implementation method ① Implementation method of the controller analog circuit The transfer function of the controller is shown as follows:

[0049] Where: The notch controller is:

[0050] The high-pass filter is:

[0051] The low-pass filter is:

[0052] The band - pass filter is:

[0053] The integral lead filter is:

[0054] The circuit diagrams of each designed module are spliced together, and the notch integral lead controller hardware circuit is as Figure 7 shown.

[0055] ② Implementation method of digital controller The discretized difference equation:

[0056] Sampling time: T s = 0.00025s The coefficients of the difference equation are: num = [0 6.2395 - 16.1793 14.1215 - 4.1295] den = [1.0000 - 1.8249 1.0966 - 0.2717 0.00001233] The control law equation of the final controller is shown in the following formula:

[0057] Thus, the engineering implementation of the controller is completed based on the solution provided in this embodiment.

[0058] To achieve the efficient digital operation of the above - mentioned control law, based on the same inventive concept, the present invention also provides a computer device, which includes: one or more processors, and a memory for storing one or more computer programs; the program includes program instructions, and the processor is used to execute the program instructions stored in the memory. The processor may be a Central Processing Unit (CPU), or may also be other general - purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field - Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is used to implement one or more instructions, specifically used to load and execute one or more instructions in the computer storage medium to implement the above - mentioned method.

[0059] It should be further noted that, based on the same inventive concept, the present invention also provides a computer storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the above-mentioned method. The storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electrical, magnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, the computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device.

[0060] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right", etc. are only used to represent relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0061] The above are only the preferred embodiments of the present invention, and are not limitations to the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the technical solution content of the present invention still belong to the protection scope of the technical solution of the present invention.

[0062] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can obtain other various forms of an engineering implementation method for a fast steering mirror state augmented robust controller under the inspiration of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope covered by the present invention.

Claims

1. An engineering implementation method of a fast mirror state augmentation robust controller, characterized in that: The following steps are involved: Determine the acceleration saturation limit of the fast reflector system: By experimentally inputting excitation signals of different frequencies and amplitudes, combined with the dynamic response curve of the sensor, the acceleration saturation limit a of the voice coil motor is determined. max ; Dynamically configure the dominant pole position: Based on the acceleration saturation limit a max , by iterative simulation, the real and imaginary parts of the dominant poles are adjusted to maximize the dynamic bandwidth of the fast mirror system while avoiding nonlinear saturation; Design of state augmented robust controller: Combine the servo compensator and the stabilization compensator to construct the state feedback control law, obtain the full state information through the state observer, and realize the pole configuration and disturbance suppression of the fast mirror closed-loop system; Equivalent order reduction and engineering implementation: The high-order transfer function of the state augmented robust controller is simplified to a series combination of proportional integral, notch filtering and lead link through zero-pole cancellation and similar position matching, and the consistency with the control performance is verified through joint simulation.

2. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: The method for determining the acceleration saturation limit is: Input a sinusoidal signal with increasing amplitude to the voice coil motor, and monitor the output response in real time through the position sensor; When the output amplitude of the position sensor reaches the preset threshold and the dynamic curve is still a standard sine waveform, the corresponding acceleration value is recorded as the saturation limit a max .

3. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: Determining the acceleration saturation limit of the fast mirror system also includes: calculating a theoretical acceleration saturation value through the peak output, moment of inertia and rotation radius of the voice coil motor.

4. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: The dynamic configuration method of the dominant pole is: The initial dominant pole is determined by the overshoot σ% of the second-order system and the adjustment time t s Determined by empirical formula; By simulating and analyzing the dynamic response of the fast reflector system under the acceleration saturation limit, when the acceleration response exceeds the acceleration saturation limit, the real part value of the dominant pole is adjusted to move to the right side of the complex plane; when the acceleration response does not reach the saturation limit, the real part value of the dominant pole is adjusted to move to the left side of the complex plane; Step signals of different amplitudes are input, the pole positions are adjusted repeatedly, a mapping relationship between the input amplitude and the maximum linear bandwidth is established, and the state feedback matrix parameters are adjusted according to the mapping relationship to adapt to different working conditions.

5. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: The structure of the state augmented robust controller includes: Servo compensator: constructs an integral link based on the external action model to achieve disturbance suppression and asymptotic adjustment to ensure that the system responds without static error; Stabilizing compensator: contains the state feedback matrix K, which enhances the robustness of the system by introducing an integral link; State observer: used to estimate system states that are not directly measured, including noise characteristics and nonlinear coupling information.

6. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: The equivalent order reduction of the model of the state augmented robust controller is specifically: Through zero-pole cancellation and similar position matching, the high-order transfer function is simplified to a series combination of proportional integral, notch filtering and lead link; Joint simulation is used to verify the response consistency of the reduced-order model and the original state feedback controller under step input and sinusoidal input to ensure the performance consistency of the controller in transient and frequency domain scenarios.

7. The engineering implementation method of a fast mirror state augmentation robust controller according to claim 1, characterized in that: The engineering implementation of the controller includes: Analog circuit implementation: decomposing the reduced-order transfer function into a hardware circuit combination of a notch filter and an integral lead module; Digital controller implementation: Generate real-time control law by discretizing the transfer function, sampling time T s ≤0.25ms to ensure system bandwidth requirements.

8. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods of claims 1-7 when executing the program.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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