An Engineering Implementation Method for a Fast Mirror State Augmentation Robust Controller

Abstract

The present invention provides an engineering implementation method for a state augmented robust controller for a fast reflector, comprising: determining the acceleration saturation limit of a voice coil motor by experimentally inputting excitation signals of different frequencies and amplitudes in combination with a dynamic response curve of a sensor; dynamically configuring the position of a dominant pole: adjusting the real and imaginary parts of the dominant poles through iterative simulation based on the acceleration saturation limit, so as to maximize the dynamic bandwidth of the fast reflector system while avoiding nonlinear saturation; designing a state augmented robust controller: combining a servo compensator and a stabilizing compensator to construct a state feedback control law, obtaining full state information through a state observer, and realizing pole configuration and disturbance suppression of the fast reflector closed-loop system; simplifying the high-order transfer function of the state augmented robust controller into a series combination including a proportional integral, a notch filter, and a lead link through zero-pole cancellation and similar position matching, and verifying the consistency with the control performance through joint simulation.

Description

Technical Field

[0001] This invention belongs to the fields of control theory and control engineering, specifically to an engineering implementation method for a state-augmented robust controller for a fast mirror. This method includes high-precision, high-bandwidth, and multi-dimensional collaborative control technology for complex controlled objects, and is particularly suitable for high-performance control of multi-degree-of-freedom fast mirror systems based on flexible guide structures. Background Art

[0002] A fast mirror system (FSM) is a component that operates between a light source or receiver and a target. It uses a driver to control the mirror's deflection to dynamically adjust and stabilize the optical system's boresight or beam pointing. The FSM's motion mechanism utilizes a flexible guide mechanism, a hinge-like structure that relies on elastic deformation to produce frictionless, backlash-free, and lubrication-free motion. Combined with high-response actuators such as voice coil motors and piezoelectric ceramics, and precision sensors, it achieves ultra-fast beam response and ultra-high-precision control.

[0003] The FSM primarily consists of a base, mirror, support structure, drive element, position detection device, and control system. The base, mirror, and support structure determine the system's load-bearing capacity and resonant frequency, and also affect the FSM's motion accuracy and travel. The drive element influences the system's bandwidth and travel, and the position detection device affects the system's motion accuracy and response speed. Due to factors such as size, weight, and power consumption, the first-order resonant frequency of an FSM structure is typically low, and the actuator's actuation capacity is limited. Furthermore, there is structural coupling between the two degrees of freedom of the support and guide structure based on flexible hinges. Furthermore, the non-juxtaposed structural layout between the detection device and the drive device does not constitute a rigid connection. Therefore, achieving the physical limits of existing FSM systems (ultra-high motion accuracy and ultra-fast response speed) is extremely difficult, and optimizing control strategies and methods is the only technical solution.

[0004] For complex, multivariable, and tightly coupled controlled objects like fast mirrors, the commonly used analysis and design methods for classical linear control systems have limitations, manifesting as poor dynamic performance and low robustness. This is primarily due to the idealized linear model of the controlled object obtained by these traditional methods, which fails to account for noise characteristics and nonlinear factors within the controlled object. In actual operation, FSM systems are subject to varying degrees of noise interference due to factors such as ambient temperature, humidity, vibration, and equipment operating conditions. Consequently, the linear model established in laboratory environments deviates significantly from the actual system. For example, the same FSM installed at different locations within an optomechanical system, combined with connecting components of varying stiffness, can cause variations in parameters such as the FSM's resonant frequency and structural coupling. Consequently, output feedback closed-loop control algorithms based on these inaccurate models, such as PID, lead-lag, dual lead-lag, lead-dual lag, notch controllers, and feedforward decoupling, struggle to achieve high-performance control of existing systems. This results in significantly reduced control performance compared to expectations, and in severe cases, even control instability and failure. Summary of the Invention

[0005] In response to the defects and shortcomings of the existing technology, the present invention provides an engineering implementation method for a state augmented robust controller of a fast reflector. The acceleration saturation limit is determined by combining experimental calibration with theoretical calculation, and the dominant pole position is dynamically optimized based on this to maximize the linear dynamic bandwidth of the system while avoiding nonlinear saturation. A state augmented robust controller is designed to integrate the servo compensator to suppress disturbances, the stabilization compensator to configure closed-loop poles, and the state observer to obtain full state information, thereby achieving high-precision tracking and strong robustness. A high-order controller equivalent order reduction method is proposed to simplify it into a series combination of proportional integral, notch filtering and lead link through zero-pole cancellation and similar position matching, and the performance consistency is verified through multi-model joint simulation. A dual-mode engineering implementation scheme of analog circuits and digital controllers is developed to achieve real-time control by discretized difference equations or hardware circuits, with a sampling period of ≤0.25ms, ultimately making the control performance approach the physical limit of the fast reflector system, significantly improving the dynamic response speed, environmental applicability and anti-interference ability.

[0006] The technical solution specifically adopted by the present invention to solve the technical problem is:

[0007] An engineering implementation method of a fast mirror state augmentation robust controller includes the following steps:

[0008] Determine the acceleration saturation limit of the fast reflector system: By experimentally inputting excitation signals of different frequencies and amplitudes and combining the dynamic response curve of the sensor, the acceleration saturation limit a of the voice coil motor is determined. max ;

[0009] Dynamic configuration of the dominant pole position: Based on the acceleration saturation limit amax , 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;

[0010] State augmented robust controller design: Combining a servo compensator with a stabilizing compensator to construct a state feedback control law. Full state information is obtained through a state observer to achieve pole placement and disturbance rejection for a fast mirror closed-loop system.

[0011] 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.

[0012] Furthermore, the acceleration saturation limit is determined by:

[0013] Input a sinusoidal signal with increasing amplitude to the voice coil motor, and monitor the output response in real time through a position sensor (which can be an eddy current sensor, a capacitive sensor, etc.);

[0014] 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 .

[0015] Furthermore, determining the acceleration saturation limit of the fast reflector system further includes calculating a theoretical acceleration saturation value through the peak output, moment of inertia, and rotation radius of the voice coil motor.

[0016] Furthermore, the dynamic configuration method of the dominant pole is:

[0017] 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;

[0018] By simulating and analyzing the dynamic response of the fast mirror system under the acceleration saturation limit, when the acceleration response exceeds the acceleration saturation limit, adjusting the real part value of the dominant pole to move to the right of the complex plane; when the acceleration response does not reach the saturation limit, adjusting the real part value of the dominant pole to move to the left of the complex plane;

[0019] Step signals of different amplitudes are input, the pole positions are repeatedly adjusted, 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.

[0020] Furthermore, the structure of the state augmented robust controller includes:

[0021] Servo compensator: Based on the external action model, an integral link is constructed to achieve disturbance suppression and asymptotic adjustment to ensure that the system response has no static error;

[0022] Stabilizing compensator: contains the state feedback matrix K, which enhances the robustness of the system by introducing an integral link;

[0023] State observer: used to estimate the system state that is not directly measured, including noise characteristics and nonlinear coupling information.

[0024] Furthermore, the equivalent order reduction of the state augmented robust controller model is specifically:

[0025] By using 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;

[0026] Co-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.

[0027] Furthermore, the engineering implementation of the controller includes:

[0028] Analog circuit implementation: decomposing the reduced-order transfer function into a hardware circuit combination of a notch filter and an integral lead module;

[0029] Digital controller implementation: Generate real-time control law by discretizing the transfer function, sampling time T s ≤0.25ms to ensure system bandwidth requirements.

[0030] And, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the program.

[0031] A non-transitory computer-readable storage medium stores a computer program, which implements the steps of the method described above when executed by a processor.

[0032] Compared with the prior art, the present invention and its preferred embodiments have at least the following beneficial effects:

[0033] 1. Dynamic performance optimization that transcends physical saturation constraints: By combining experimental calibration with theoretical calculations, the acceleration saturation limit is determined. This is used as a boundary to dynamically adjust the dominant pole position. This maximizes the linear dynamic bandwidth while preventing the system from entering the nonlinear region. This solves the performance limitations or instability issues that traditional controllers face due to ignoring physical limits.

[0034] 2. Enhanced robustness and anti-interference capabilities: Based on state augmentation, the robust controller design uses a servo compensator to suppress disturbances, a stabilization compensator to configure closed-loop poles, and a state observer to obtain full state information, significantly enhancing the system's adaptability to parameter perturbations, noise interference, and environmental changes.

[0035] 3. A breakthrough in the engineering feasibility of high-order controllers: This paper proposes an equivalent order reduction method using zero-pole cancellation and similar position matching, simplifying complex high-order controllers into a combination of series modules in classical control theory. This approach combines the advantages of modern control theory with the ease of engineering implementation.

[0036] 4. Multi-scenario deployment flexibility: The system provides a dual-mode implementation of analog circuits and digital controllers, supporting rapid hardware circuit deployment or real-time software algorithm updates, adapting to different accuracy, cost, and response speed requirements. The sampling period of ≤ 0.25ms further ensures performance in highly dynamic scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0038] Figure 1 The speed and acceleration saturation limit response diagram of the voice coil motor tested in accordance with the embodiment of the present invention is shown;

[0039] Figure 2 This is the initial search result diagram when the dominant pole is -3000±3000i according to an embodiment of the present invention;

[0040] Figure 3 This is a graph of expected dominant point search results according to an embodiment of the present invention;

[0041] Figure 4 The acceleration of the embodiment of the present invention is 300m / s 2 Relationship diagram between the input signal of the limited system and the corresponding bandwidth of each key point;

[0042] Figure 5 This is a joint simulation diagram of a multi-model controller according to an embodiment of the present invention;

[0043] Figure 6 1. A comparison of step (upper graph) and sine (lower graph) input responses for an embodiment of the present invention.

[0044] Figure 7 This is a hardware circuit diagram of a controller according to an embodiment of the present invention;

[0045] Figure 8 This is a flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the features and advantages of the present invention more clearly understood, the following embodiments are given for detailed description:

[0047] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this application belongs.

[0048] 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.

[0049] In response to the shortcomings and deficiencies of existing technologies, embodiments of the present invention consider that state variable feedback offers superior control effects compared to output feedback. Full state feedback is essential for achieving any configuration of closed-loop poles or system decoupling. The state observer can obtain all key characteristics and information about the controlled object, including noise. Therefore, an innovative approach based on state variable feedback is employed to address these issues, enabling the controller to approach the physical limits of the system. The state augmentation robust controller consists of a servo compensator and a stabilization compensator. The servo compensator is used for disturbance suppression and asymptotic regulation and is constructed based on an external action model. The stabilization compensator is used for closed-loop system stabilization and includes a state feedback K matrix. By introducing an augmented integral link, the system step response is free of static error.

[0050] However, the engineering implementation of the state-augmented robust controller urgently needs to solve two key problems: first, how to obtain the optimal dominant and auxiliary poles by arbitrarily configuring the closed-loop system poles using state feedback is the core of achieving high dynamic quality and strong robust control; second, for complex systems after the introduction of state observers, how to simplify and equate complex high-order controller models to facilitate engineering implementation.

[0051] To this end, the present invention further provides an engineering implementation method for a fast mirror state augmentation robust controller, focusing on solving the problems of traditional controllers that are difficult to approach the real physical limits of FSM systems, have poor robustness, and poor environmental applicability.

[0052] The basic process of the solution provided by the present invention is as follows Figure 8 Shown, including:

[0053] Determine the acceleration saturation limit of the fast reflector system: By experimentally inputting excitation signals of different frequencies and amplitudes and combining the dynamic response curve of the sensor, the acceleration saturation limit a of the voice coil motor is determined. max ;

[0054] Dynamic configuration of 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;

[0055] State augmented robust controller design: Combining a servo compensator with a stabilizing compensator to construct a state feedback control law. Full state information is obtained through a state observer to achieve pole placement and disturbance rejection for a fast mirror closed-loop system.

[0056] 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.

[0057] The design and implementation method of the state augmentation robust controller was verified in a self-developed fast mirror system (a two-axis FSM driven by a voice coil motor and using eddy current position sensing), and it has the advantages of high dynamic quality and good robustness.

[0058] The specific process of implementation verification includes:

[0059] (1) Analysis and determination of the physical saturation limit of the controlled object

[0060] Once the controlled object is determined, its physical limits are also determined, and the control system's performance cannot exceed these physical limits. The acceleration and velocity saturation limits of the voice coil motor in this system directly determine the dynamic quality of the control. First, we need to determine which physical limit the system is most sensitive to and determine which limit saturates first. The performance exhibited by the system when the first limit saturates is the physically achievable limit of the system. The acceleration saturation limit is determined through a combination of theoretical calculations and experiments.

[0061] ① Theoretical calculation of the acceleration saturation limit of the voice coil motor

[0062] From the existing FSM system design, we know that the moment of inertia and rotation radius of the X and Y axes are:

[0063]

[0064]

[0065] The motion on each axis is composed of two voice coil motors pushing and pulling, and the load mass borne by a single motor is:

[0066]

[0067] The peak output of the voice coil motor is 30 F. N

[0068]

[0069] Therefore, the theoretical acceleration saturation limit of the voice coil motor is 312.82m / s 2

[0070] ② Theoretical calculation of the speed saturation limit of the voice coil motor:

[0071] The voice coil motor has a rated power of P=70.1W and a peak output force F of 30N.

[0072] Therefore, the theoretical speed saturation limit of the voice coil motor is approximately:

[0073] ③ Actual test of speed and acceleration saturation limit:

[0074] Sinusoidal signals of varying frequencies were input, and the voice coil motor's response was converted into a voltage signal using an eddy-current sensor. The dynamic curve was observed on an oscilloscope. During the dynamic process, the input signal amplitude was continuously increased until the motor reached its limit of deflection (maximum output of the eddy-current sensor: 8V). The maximum velocity and acceleration saturation values ​​were obtained by searching multiple frequency points (sensor output: 7.5V amplitude, 200Hz frequency sinusoidal signal).

[0075] Depend on Figure 1 It can be seen that the maximum response speed Vmax: 4870V / s, the maximum response acceleration Amax: 6.12×10 6 V / s 2 .

[0076]

[0077]

[0078] Using the above formula (where K45° and Ksensor are the sensor installation position conversion coefficient and the eddy current sensor conversion coefficient respectively), the maximum speed of the voice coil motor is converted to 0.244m / s and the maximum acceleration is 332.8m / s. 2 .

[0079] Since the system stroke is short, experiments show that the voice coil motor does not reach its speed limit within the stroke, so 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 The medium acceleration response curve is still a standard sine curve. Although the system has not reached the acceleration saturation limit, it is close to the critical value. Combined with the theoretical calculation results of the design, it can be determined that the acceleration saturation value of the system is 300m / s 2 .

[0080] (2) A method for finding the desired extreme point based on the acceleration saturation region

[0081] Firstly, based on the expected indicators such as overshoot and adjustment time of a typical second-order system, the approximate starting position of the dominant pole of the control system is determined according to the empirical formula.

[0082]

[0083]

[0084] The coordinates of the dominant pole of the starting point are -3000±3000i, and the simulation analysis is carried out at an acceleration limit of 300m / s 2 Dynamic response of acceleration under different amplitude input signals under different conditions.

[0085] Figure 2 The following plots the response of each nonlinear limit port to a 1V step input signal. The figure shows that the acceleration port has saturated, and the system has entered a nonlinear state. At this point, the pole needs to be shifted to the right. Conversely, if there is still room to reach the acceleration saturation limit, the pole should be shifted to the left. After multiple iterations, when the dominant pole is -2690±2690i, the system is completely in the linear operating region, as shown in Figure 1. Figure 3 As shown. Figure (a) corresponds to the step response, showing the position tracking dynamics of the system. Figure 2 In the case of the inappropriate pole position, the response exhibits overshoot and oscillation. Figure 3 In the figure, the response tends to be stable, the overshoot is reduced, and the adjustment time is shortened. Figure (b) corresponds to the control input U to show the driving signal of the voice coil motor. Figure 2 In the figure, it reflects the saturation state of the controller output. Figure 3 The dynamic range of the driving 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, which records the dynamic curve of the system acceleration. Figure 2 The acceleration port is saturated (the amplitude exceeds the linear region), indicating that the system has entered a nonlinear state. Figure 3 In the test, the acceleration signal maintains a standard sinusoidal waveform and the amplitude does not exceed the saturation limit.

[0086] By changing the amplitude of the step signal input and repeating the above steps, you can get an acceleration of 300m / s 2 The relationship between the input signal amplitude of the time-limited system and the corresponding bandwidth of each key point, such as Figure 4 shown.

[0087] Depend on Figure 4It can be seen that the nonlinear bandwidth of the FSM system is greater than the linear bandwidth of the system. The maximum linear bandwidth and the nonlinear system bandwidth increase as the input signal decreases. When the input signal amplitude is different, the maximum linear bandwidth that the system can achieve is different, and its optimal pole position and the controller parameter K matrix will also change. The acceleration limit is 300m / s 2 The optimal poles, maximum linear bandwidth and controller parameters of the system at different inputs are shown in Table 1:

[0088] Table 1 Acceleration limit 300m / s 2 The optimal pole, maximum linear bandwidth and controller parameter K matrix

[0089]

[0090] (3) Equivalent design method of state augmented robust controller based on multi-model joint simulation

[0091] First, the obtained state augmented robust controller model with observer is equivalent to the classical model with series-parallel controller (the equivalent method is a well-known technique). The transfer function of this system is the following 9th-order system:

[0092]

[0093] The MATLAB program is used to obtain the zeros and poles of G5, including 9 zeros and 9 poles. The order reduction of the series model of the classical model is achieved by the method of zero-pole cancellation at similar positions. The equivalent and reduced-order transfer function is expressed as:

[0094]

[0095] 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 classical model after observer pole selection and equivalent order reduction, and the consistency of the system with and without observer, the control performance of three models, including state feedback with observer, state feedback without observer, and equivalent series closed-loop system, are compared using the joint simulation method. Figure 5 shown (Note: Figure 5 It is only a schematic diagram of the simulation software interface to show the simulation process. It does not contain any key technical information. The parameters shown are for illustration only and have nothing to do with the main design points of this solution.

[0096] Through multiple iterations of simulation and parameter optimization, the experimental results show that for the existing fast mirror system, regardless of large or small signal input, its control effect can be infinitely close to the designed state augmented robust controller, such as Figure 6 shown.

[0097] Therefore, for complex objects that are difficult to control, the method provided in this embodiment provides a new idea for control system design and engineering implementation: that is, using modern control theory to design a state augmented robust controller control system, then using a state observer to perform model equivalence on the state augmented robust controller, and through joint simulation to analyze and correct the classical controller, finally implementing it in engineering.

[0098] (4) Project implementation method

[0099] ① Controller analog circuit implementation method

[0100] The controller transfer function is shown below:

[0101]

[0102] in:

[0103] The notch controller is:

[0104]

[0105] The high-pass filter is:

[0106]

[0107] The low-pass filter is:

[0108]

[0109] The bandpass filter is:

[0110]

[0111] The integral lead filter is:

[0112]

[0113] Put the designed circuit diagrams of each module together, and the hardware circuit of the notch integral advance controller is as follows: Figure 7 shown.

[0114] ②Digital controller implementation method

[0115] The discretized difference equation is:

[0116]

[0117] Sampling time: T s =0.00025s

[0118] The coefficients of the difference equation are: num =[ 0 6.2395 -16.1793 14.1215 -4.1295]

[0119] den = [1.0000 -1.8249 1.0966 -0.2717 0.00001233]

[0120] The control law equation of the final controller is shown in the following formula:

[0121]

[0122] At this point, the engineering implementation of the controller based on the solution provided in this embodiment is completed.

[0123] In order to achieve 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 other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) 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 for loading and executing one or more instructions in a computer storage medium to implement the above-mentioned method.

[0124] It should be further explained that, based on the same inventive concept, the present invention also provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, performs the above-described method. The storage medium may be any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electrical, magnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0125] It should be noted that, unless otherwise defined, the technical or scientific terms used in the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0126] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other manner. Any person skilled in the art may utilize the above-disclosed technical content to modify or modify the present invention into equivalent embodiments. However, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the technical content of the present invention and are based on the technical essence of the present invention remain within the scope of protection of the present invention.

[0127] The present invention is not limited to the above-mentioned optimal implementation mode. Anyone can derive other forms of engineering implementation methods of a fast reflector state augmented robust controller under the inspiration of the present invention. All equal changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of 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 and combining the dynamic response curve of the sensor, the acceleration saturation limit a of the voice coil motor is determined. max , specifically: Input a sinusoidal signal with increasing amplitude to the voice coil motor, and monitor the output response in real time through a 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 ; Dynamic configuration of the dominant pole position: Based on the acceleration saturation limit a max , the real and imaginary parts of the dominant poles are adjusted by iterative simulation to maximize the dynamic bandwidth of the fast mirror system while avoiding nonlinear saturation; the dynamic configuration method of the dominant poles 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 mirror system under the acceleration saturation limit, when the acceleration response exceeds the acceleration saturation limit, adjusting the real part value of the dominant pole to move to the right of the complex plane; when the acceleration response does not reach the saturation limit, adjusting the real part value of the dominant pole to move to the left of the complex plane; Input step signals of different amplitudes, repeatedly adjust the pole positions, establish a 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; State augmented robust controller design: Combining a servo compensator with a stabilizing compensator to construct a state feedback control law. Full state information is obtained through a state observer to achieve pole placement and disturbance rejection for a 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-time elements through zero-pole cancellation and similar position matching. Co-simulation is then used to verify the consistency with control performance. The equivalent order reduction of the state augmented robust controller model is specifically: By using 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; Co-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.

2. 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.

3. 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: Based on the external action model, an integral link is constructed to achieve disturbance suppression and asymptotic adjustment to ensure that the system response has no 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 the system state that is not directly measured, including noise characteristics and nonlinear coupling information.

4. 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.

5. 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 the method according to any one of claims 1 to 4 when executing the program.

6. 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 4 are implemented.

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