Feed-forward-feedback collaborative fast reflector light beam pointing control method and related device

Abstract

The invention provides a feedforward-feedback collaborative fast reflector light beam pointing control method and a related device, and belongs to the technical field of precision mechanical control. The method comprises the following steps: constructing a Preisach inverse model, and compensating the hysteresis effect of the fast reflector by using the Preisach inverse model to generate a feedforward control signal; monitoring a disturbance signal of the fast reflector, and compensating the disturbance signal of the fast reflector to obtain a compensation signal; respectively setting weight coefficients for the feedback control signal and the feed-forward control signal to obtain a final feedback control signal and a final feed-forward control signal; fusing the final feedback control signal, the final feedforward control signal and the compensation signal to obtain a final control signal; and inputting the final control signal into the fast reflecting mirror so as to realize the light beam pointing control of the fast reflecting mirror. The problem that the light beam pointing control precision of the fast reflecting mirror is not high is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of precision mechanical control, and particularly relates to a feedforward-feedback collaborative fast steering mirror beam pointing control method and related device. Background Art

[0002] Traditional FSM (Fast Steering Mirror) control relies on the PID (Proportional Integral-Derivative) algorithm and is difficult to cope with non-linear disturbance situations (such as mechanical hysteresis and environmental vibration).

[0003] In a high-speed dynamic scenario, the beam pointing accuracy is limited by the sensor sampling frequency and control delay. Single-sensor feedback is vulnerable to noise interference, leading to the accumulation of steady-state errors. The non-linear hysteresis effects of piezoelectric ceramics and voice coil motor drivers can cause positioning errors. External vibration and load disturbance also affect beam stability. Single closed-loop control (such as PID) is difficult to achieve both high-speed response and sub-micro-radian-level accuracy simultaneously.

[0004] In summary, the existing fast steering mirror beam pointing control methods currently have low control accuracy. Summary of the Invention

[0005] The purpose of the present invention is to provide a feedforward-feedback collaborative fast steering mirror beam pointing control method and related device to solve the problem of low control accuracy of fast steering mirror beam pointing in the prior art.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: In the first aspect, the present invention provides a feedforward-feedback collaborative fast steering mirror beam pointing control method, including the following steps: Obtain the desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position based on the obtained desired position signal; Input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal; Construct a Preisach inverse model, and use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal; Monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal; Weight coefficients are respectively set for the feedback control signal and the feedforward control signal to obtain the final feedback control signal and the final feedforward control signal; The final feedback control signal, the final feedforward control signal and the compensation signal are fused to obtain the final control signal; The final control signal is input into the fast steering mirror to achieve the beam pointing control of the fast steering mirror.

[0007] A further improvement of the present invention lies in that the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position are input into the fuzzy PID controller to dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and a feedback control signal is generated, specifically including: The error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position are input into the fuzzy PID controller, and the proportional gain, integral gain and differential gain of the fuzzy PID controller are dynamically adjusted based on fuzzy rules to generate a feedback control signal.

[0008] A further improvement of the present invention lies in that in the step of constructing the Preisach inverse model and using the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal, the specific construction process of the Preisach inverse model is as follows: A periodic voltage signal is applied to the fast steering mirror to obtain the displacement corresponding to the periodic voltage signal; The Preisach plane is discretized into a number of grid points, and each grid point corresponds to a hysteresis operator; The displacement corresponding to the periodic voltage signal is fitted to obtain a weight function; A Preisach model is constructed based on the displacement corresponding to the periodic voltage signal, the weight function and the hysteresis operator; An inverse operation is performed on the constructed Preisach model to obtain the Preisach inverse model.

[0009] A further improvement of the present invention lies in that in the step of fitting the displacement corresponding to the periodic voltage signal to obtain a weight function, the least squares method is specifically used to fit the displacement corresponding to the periodic voltage signal to obtain a weight function.

[0010] A further improvement of the present invention lies in that the calculation formula of the Preisach model is:

[0011] Among them, is the displacement corresponding to the periodic voltage signal at time is Moment lag operator, is the weight function, is the switching threshold, is the moment feedforward control signal.

[0012] A further improvement of the present invention is that the calculation formula of the final control signal is:

[0013] wherein, is the final control signal at moment is the moment feedforward control signal, is the moment feedback control signal, is the moment weight coefficient, is the moment compensation signal; The calculation formula of the moment weight coefficient is:

[0014] wherein, is the smoothing coefficient, is the threshold speed, is the absolute value of the given angular rate of change; The calculation formula of the moment feedforward control signal is:

[0015] wherein, is the moment feedback angle, is the inverse operation on the Preisach model; The calculation formula of the feedback control signal is:

[0016] wherein, is the error between the desired position and the actual position at moment is the rate of change of the error between the desired position and the actual position at moment , and are the proportional gain, integral gain and derivative gain of the fuzzy PID controller respectively; The moment compensation signal The calculation formula is:

[0017] Among them, is a second-order compensation filter, is the accelerometer signal at time The second-order compensation filter The calculation formula is:

[0018] Among them, is the angular frequency, is the quality factor, is a complex variable, and the angular frequency The calculation formula is:

[0019] Among them, is the frequency.

[0020] In a second aspect, the present invention provides a feedforward-feedback collaborative fast steering mirror beam pointing control system, including a data acquisition module, a feedback control signal acquisition module, a feedforward control signal acquisition module, a compensation signal acquisition module, a weight coefficient setting module, a signal fusion module, and a fast steering mirror beam pointing control module; The data acquisition module is used to acquire an expected position signal, and calculate the error between the expected position and the actual position and the error change rate between the expected position and the actual position according to the obtained expected position signal; The feedback control signal acquisition module is used to input the error between the expected position and the actual position and the error change rate between the expected position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal; The feedforward control signal acquisition module is used to construct a Preisach inverse model, and use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal; The compensation signal acquisition module is used to monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal; The weight coefficient setting module is used to set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal; The signal fusion module is used to fuse the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain a final control signal; The fast steering mirror beam pointing control module is used to input the final control signal into the fast steering mirror to achieve fast steering mirror beam pointing control.

[0021] A further improvement of the present invention lies in that the specific construction process of the Preisach inverse model is as follows: Apply a periodic voltage signal to the fast steering mirror to obtain the displacement corresponding to the periodic voltage signal; Discretize the Preisach plane into a number of grid points, and each grid point corresponds to a hysteresis operator; Fit the displacement corresponding to the periodic voltage signal to obtain a weight function; Construct a Preisach model based on the displacement corresponding to the periodic voltage signal, the weight function, and the hysteresis operator; Perform an inverse operation on the constructed Preisach model to obtain a Preisach inverse model.

[0022] In a third aspect, the present invention provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the feedforward-feedback collaborative fast steering mirror beam pointing control method introduced above are implemented.

[0023] In a fourth aspect, the present invention provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the feedforward-feedback collaborative fast steering mirror beam pointing control method introduced above are implemented.

[0024] Compared with the prior art, the present invention has the following beneficial effects: The present invention belongs to an improved invention. Compared with the existing fast steering mirror beam pointing control method, on the one hand, the present invention considers the feedback control signal, the feedforward control signal and the compensation signal while controlling the fast steering mirror beam pointing, with diverse considerations. On the other hand, the present invention inputs the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into the fuzzy PID controller, dynamically adjusts the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generates a feedback control signal. The fuzzy PID controller can flexibly adjust the parameters (proportional gain, integral gain and differential gain) of the fuzzy PID controller according to the real-time operating state and error change of the fast steering mirror, making the output of the fuzzy PID controller more accurate, thereby improving the fast steering mirror beam pointing control accuracy and reducing the steady-state error. Moreover, the present invention uses the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror and generate a feedforward control signal. The Preisach inverse model can accurately describe the hysteresis effect of the fast steering mirror. By generating a feedforward control signal, this hysteresis effect can be compensated, and further, the output deviation caused by the hysteresis effect can be reduced, thereby improving the control accuracy of the fast steering mirror beam pointing control. Description of the Drawings

[0025] Figure 1 is a flowchart of the feedforward-feedback collaborative fast steering mirror beam pointing control method of the present invention; Figure 2 is a schematic diagram of the feedforward-feedback collaborative fast steering mirror beam pointing control system of the present invention; Figure 3 is a flowchart of the feedforward-feedback collaborative fast steering mirror beam pointing control method in Embodiment 3 of the present invention; Figure 4 is a schematic diagram of the structure of the electronic device of the present invention. Detailed Embodiments

[0026] To further understand the content of the present invention, the following describes the present invention in detail with reference to the drawings and specific embodiments. It should be understood that the embodiments are only for explaining the present invention and not for limiting it.

[0027] The feedforward-feedback collaborative fast steering mirror beam pointing control method proposed by the present invention sets weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal; fuses the final feedback control signal, the final feedforward control signal and the compensation signal to obtain the final control signal; inputs the final control signal into the fast steering mirror to achieve fast steering mirror beam pointing control. Compared with the prior art, the present invention effectively solves the problem of low control accuracy of the fast steering mirror beam pointing control in the prior art.

[0028] Embodiment 1: The flowchart of the feedforward-feedback collaborative beam pointing control method for a fast steering mirror according to the present invention is as follows Figure 1 As shown, the feedforward-feedback collaborative beam pointing control method for a fast steering mirror according to the present invention includes the following steps: S1. Obtain the desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position based on the obtained desired position signal.

[0029] S2. Input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal.

[0030] S3. Construct a Preisach inverse model, and use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal.

[0031] S4. Monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal.

[0032] S5. Set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal.

[0033] S6. Fuse the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain the final control signal.

[0034] S7. Input the final control signal into the fast steering mirror to achieve the beam pointing control of the fast steering mirror.

[0035] Embodiment 2: The schematic diagram of the feedforward-feedback collaborative beam pointing control system for a fast steering mirror according to the present invention is as follows Figure 2 As shown, the feedforward-feedback collaborative beam pointing control system for a fast steering mirror according to the present invention includes a data acquisition module, a feedback control signal acquisition module, a feedforward control signal acquisition module, a compensation signal acquisition module, a weight coefficient setting module, a signal fusion module, and a fast steering mirror beam pointing control module.

[0036] Among them, the data acquisition module is used to obtain the desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position based on the obtained desired position signal.

[0037] The feedback control signal acquisition module is used to input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal.

[0038] The feedforward control signal is used for the acquisition module to construct a Preisach inverse model, and the Preisach inverse model is used to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal.

[0039] The compensation signal acquisition module is used to monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal.

[0040] The weight coefficient setting module is used to set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal.

[0041] The signal fusion module is used to fuse the final feedback control signal, the final feedforward control signal and the compensation signal to obtain a final control signal.

[0042] The fast steering mirror beam pointing control module is used to input the final control signal into the fast steering mirror to achieve fast steering mirror beam pointing control.

[0043] Embodiment 3: The feedforward-feedback collaborative fast steering mirror beam pointing control method of the present invention includes the following steps: S1. Obtain an expected position signal, and calculate the error between the expected position and the actual position and the error change rate between the expected position and the actual position according to the obtained expected position signal.

[0044] Obtain an expected position signal, and calculate the error between the expected position and the actual position according to the obtained expected position signal and the error change rate between the expected position and the actual position .

[0045] S2. Input the error between the expected position and the actual position and the error change rate between the expected position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain and derivative gain of the fuzzy PID controller, and generate a feedback control signal.

[0046] The specific steps for generating the feedback control signal include: Input the error between the expected position and the actual position and the error change rate between the expected position and the actual position into a fuzzy PID controller, and dynamically adjust the proportional gain of the fuzzy PID controller based on fuzzy rules , integral gain and derivative gain to generate a feedback control signal.

[0047] The following details the fuzzy rules, and the fuzzy rules are shown in Table 1.

[0048] Table 1 Fuzzy Rules

[0049] In Table 1 represents the error between the desired position and the actual position, represents the rate of change of the error between the desired position and the actual position. In Table 1 represents the dynamic adjustment amount of represents the dynamic adjustment amount of represents the dynamic adjustment amount of. In Table 1 represents a large increase (e.g., ), represents a medium increase (e.g., ), maintains (no adjustment), represents a medium decrease (e.g., ), represents a large decrease (e.g., ).

[0050] In Table 1, Negative Big (NB) means that the input variable (the error between the desired position and the actual position or the error of the actual position and the rate of change of the error between the desired position and the actual position) deviates extremely in the negative direction (e.g., the error between the desired position and the actual position is much lower than the target value). Negative Medium (NM) means that the input variable deviates moderately in the negative direction. Zero (Z) means that the input variable is close to the ideal state (e.g., the error between the desired position and the actual position approaches zero). Positive Medium (PM) means that the input variable deviates moderately in the positive direction. Positive Big (PB) means that the input variable deviates extremely in the positive direction (e.g., the error between the desired position and the actual position is much higher than the target value).

[0051] Specifically, in this embodiment, the triangular membership function is used to calculate which range of Negative Big, Negative Medium, Zero, Positive Medium, and Positive Big the membership degrees of the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position belong to.

[0052] Among them, the expression of the triangular membership function is:

[0053] Among them, is the vertex parameter, , is the vertex of the triangle, a and c are the two endpoints of the base of the triangle, is the triangular membership function, is the input variable (the error between the desired position and the actual position, or the error of the actual position and the change rate of the error between the desired position and the actual position). is to calculate the maximum value. is to calculate the minimum value.

[0054] S3. Construct the Preisach inverse model, and use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror to generate a feedforward control signal.

[0055] The specific construction process of the Preisach inverse model in this step is as follows: A. Apply a periodic voltage signal (such as a triangular wave with an amplitude of 3 mrad and a frequency of 10 Hz) to the fast steering mirror to obtain the displacement corresponding to the periodic voltage signal. B. Discretize the Preisach plane into several grid points, and each grid point corresponds to a hysteresis operator. C. Fit the displacement corresponding to the periodic voltage signal (in this embodiment, the least squares method is used to fit the displacement corresponding to the periodic voltage signal) to obtain the weight function. D. Construct the Preisach model based on the displacement corresponding to the periodic voltage signal, the weight function, and the hysteresis operator. E. Perform an inverse operation on the constructed Preisach model to obtain the Preisach inverse model.

[0056] Among them, the calculation formula of the Preisach model is:

[0057] Among them, is the displacement corresponding to the periodic voltage signal at time is the hysteresis operator at time When is When is is , is the weight function, is the switching threshold, is the feedforward control signal at time

[0058] S4. Monitor the disturbance signal of the fast steering mirror, compensate the disturbance signal of the fast steering mirror, and obtain a compensation signal.

[0059] Monitor the disturbance signal of the fast steering mirror, compensate the disturbance signal of the fast steering mirror (specifically, second-order disturbance compensation is used in this embodiment), and obtain a compensation signal.

[0060] S5. Set weights for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal.

[0061] S6. Fuse the final feedback control signal, the final feedforward control signal and the compensation signal to obtain the final control signal.

[0062] The calculation formula for the final control signal in this step is:

[0063] where is the final control signal at time is the feedforward control signal at time is the feedback control signal at time is the weight coefficient at time is the compensation signal at time

[0064] The calculation formula for the weight coefficient at time

[0065] where is the smoothing coefficient, is the threshold speed, is the absolute value of the given angular rate of change.

[0066] The calculation formula for the feedforward control signal at time

[0067] where is the feedback angle at time is the inverse operation on the Preisach model.

[0068] The calculation formula for the feedback control signal at time

[0069]

[0070] where is the error between the desired position and the actual position at time is The error change rate between the momentary desired position and the actual position, , and are respectively the proportional gain, integral gain, and derivative gain of the fuzzy PID controller.

[0071] The compensation signal at a moment has the following calculation formula:

[0072] wherein, is a second-order compensation filter, is the accelerometer signal at a moment.

[0073] The second-order compensation filter has the following calculation formula:

[0074] wherein, is the angular frequency, is the quality factor, is a complex variable, and the angular frequency has the following calculation formula:

[0075] wherein, is the frequency.

[0076] S7. Input the final control signal into the fast steering mirror to achieve fast steering mirror beam pointing control.

[0077] Embodiment 4: Please refer to Figure 4 as shown. The present invention also provides an electronic device 100 for a feedforward-feedback collaborative fast steering mirror beam pointing control method; the electronic device 100 includes a memory 101, at least one processor 102, a computer program 103 stored in the memory 101 and executable on the at least one processor 102, and at least one communication bus 104.

[0078] The memory 101 can be used to store the computer program 103. The processor 102 realizes the steps of the feedforward-feedback collaborative fast steering mirror beam pointing control method described in Embodiment 1 by running or executing the computer program stored in the memory 101 and calling the data stored in the memory 101. The memory 101 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the electronic device 100 (such as audio data, etc.). In addition, the memory 101 may include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0079] The at least one processor 102 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. The processor 102 may be a microprocessor or the processor 102 may also be any conventional processor, etc. The processor 102 is the control center of the electronic device 100, and connects various parts of the entire electronic device 100 through various interfaces and lines.

[0080] The memory 101 in the electronic device 100 stores multiple instructions to implement the feedforward-feedback collaborative fast steering mirror beam pointing control method. The processor 102 can execute the multiple instructions to thereby implement: Obtain a desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position according to the obtained desired position signal; Input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into a fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal; Construct a Preisach inverse model, use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror, and generate a feedforward control signal; Monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal; Set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal; Fuse the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain the final control signal; Input the final control signal into the fast steering mirror to achieve the beam pointing control of the fast steering mirror.

[0081] Embodiment 5: If the modules / units integrated in the electronic device 100 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above embodiment methods of the present invention, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, and read-only memory (ROM, Read-Only Memory).

[0082] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices generate means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0084] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention, and any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. A feedforward-feedback collaborative fast steering mirror beam pointing control method, characterized in that It includes the following steps: Obtain the desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position according to the obtained desired position signal; Input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into the fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal; Construct a Preisach inverse model, use the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror, and generate a feedforward control signal; Monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal; Set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal; Fuse the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain the final control signal; Input the final control signal into the fast steering mirror to achieve the beam pointing control of the fast steering mirror.

2. The feedforward-feedback collaborative fast steering mirror beam pointing control method according to claim 1, wherein The step of inputting the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into the fuzzy PID controller, dynamically adjusting the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generating a feedback control signal specifically includes: Input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into the fuzzy PID controller, and dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller based on fuzzy rules to generate a feedback control signal.

3. The feedforward-feedback collaborative fast steering mirror beam pointing control method according to claim 1, characterized in that, In the step of constructing the Preisach inverse model, using the Preisach inverse model to compensate for the hysteresis effect of the fast steering mirror, and generating a feedforward control signal, the specific construction process of the Preisach inverse model is: Apply a periodic voltage signal to the fast steering mirror to obtain the displacement corresponding to the periodic voltage signal; Discretize the Preisach plane into several grid points, and each grid point corresponds to a hysteresis operator; Fit the displacement corresponding to the periodic voltage signal to obtain a weight function; Construct a Preisach model based on the displacement corresponding to the periodic voltage signal, the weight function, and the hysteresis operator; Perform an inverse operation on the constructed Preisach model to obtain the Preisach inverse model.

4. The feedforward-feedback collaborative fast steering mirror beam pointing control method according to claim 3, wherein In the step of fitting the displacement corresponding to the periodic voltage signal to obtain a weight function, the least squares method is specifically used to fit the displacement corresponding to the periodic voltage signal to obtain a weight function.

5. The feedforward-feedback collaborative fast steering mirror beam pointing control method according to claim 3, characterized in that The calculation formula of the Preisach model is: Among them, is the displacement corresponding to the periodic voltage signal at the moment, is the hysteresis operator at the moment, is the weight function, is the switching threshold, is the feedforward control signal at the moment.

6. The feedforward-feedback collaborative fast steering mirror beam pointing control method according to claim 1, wherein The calculation formula of the final control signal is: Among them, is the final control signal at time is the feedforward control signal at time is the feedback control signal at time is the weight coefficient at time is the compensation signal at time; Moment weight coefficient The calculation formula is as follows: Among them, is the smoothing coefficient, is the threshold speed, is the absolute value of the given angular rate of change; Moment feedforward control signal The calculation formula is as follows: Among them, is the moment feedback angle, which is the inverse operation of the Preisach model; Moment feedback control signal The calculation formula is as follows: Among them, is the error between the desired position and the actual position at a certain moment, is the rate of change of the error between the desired position and the actual position at a certain moment, , and are the proportional gain, integral gain and derivative gain of the fuzzy PID controller respectively; Time compensation signal The calculation formula is as follows: Among them, is a second-order compensation filter, is the accelerometer signal at the moment; Second-order compensation filter The calculation formula is as follows: Among them, is the angular frequency, is the quality factor, is a complex variable, and the calculation formula for the angular frequency is: Among them, is the frequency.

7. A feedforward-feedback collaborative fast steering mirror beam pointing control system, characterized in that, It includes a data acquisition module, a feedback control signal acquisition module, a feedforward control signal acquisition module, a compensation signal acquisition module, a weight coefficient setting module, a signal fusion module, and a fast steering mirror beam pointing control module; The data acquisition module is used to obtain the desired position signal, and calculate the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position according to the obtained desired position signal; The feedback control signal acquisition module is used to input the error between the desired position and the actual position and the rate of change of the error between the desired position and the actual position into the fuzzy PID controller, dynamically adjust the proportional gain, integral gain, and derivative gain of the fuzzy PID controller, and generate a feedback control signal; The feedforward control signal acquisition module is used to construct a Preisach inverse model, compensate for the hysteresis effect of the fast steering mirror using the Preisach inverse model, and generate a feedforward control signal; The compensation signal acquisition module is used to monitor the disturbance signal of the fast steering mirror, compensate for the disturbance signal of the fast steering mirror, and obtain a compensation signal; The weight coefficient setting module is used to set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain the final feedback control signal and the final feedforward control signal; The signal fusion module is used to fuse the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain a final control signal; The fast steering mirror beam pointing control module is used to input the final control signal into the fast steering mirror to achieve fast steering mirror beam pointing control.

8. The feedforward-feedback collaborative fast steering mirror beam pointing control system according to claim 7, characterized in that The specific process of constructing the Preisach inverse model is as follows: Apply a periodic voltage signal to the fast steering mirror to obtain the displacement corresponding to the periodic voltage signal; Discretize the Preisach plane into a number of grid points, and each grid point corresponds to a hysteresis operator; Fit the displacement corresponding to the periodic voltage signal to obtain a weight function; Construct a Preisach model based on the displacement corresponding to the periodic voltage signal, the weight function, and the hysteresis operator; Perform an inverse operation on the constructed Preisach model to obtain a Preisach inverse model.

9. An electronic device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the feedforward-feedback collaborative fast steering mirror beam pointing control method according to any one of claims 1 to 6.

10. A storage medium, on which a computer program is stored, characterized in that, When the computer program is executed by the processor, it implements the steps of the feedforward-feedback collaborative fast steering mirror beam pointing control method according to any one of claims 1 to 6.

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