Feedforward-feedback coordinated fast reflector beam pointing control method and related device

Abstract

The present invention provides a feedforward-feedback coordinated fast reflector light beam pointing control method and related devices, belonging to the field of precision machinery control technology. The method of the present invention constructs a Preisach inverse model, uses the Preisach inverse model to compensate for the hysteresis effect of the fast reflector, and generates a feedforward control signal; monitors the disturbance signal of the fast reflector, compensates the disturbance signal of the fast reflector, and obtains a compensation signal; sets weight coefficients for the feedback control signal and the feedforward control signal respectively, and obtains a final feedback control signal and a final feedforward control signal; fuses the final feedback control signal, the final feedforward control signal and the compensation signal to obtain a final control signal; and inputs the final control signal into the fast reflector to realize the light beam pointing control of the fast reflector. The present invention solves the problem of low precision of the light beam pointing control of the fast reflector.

Description

Technical Field

[0001] The present invention belongs to the technical field of precision mechanical control, and in particular relates to a feedforward-feedback coordinated fast reflector light beam pointing control method and related devices. Background Art

[0002] Traditional FSM (Fast Steering Mirror) control relies on the PID (Proportional Integral-Derivative) algorithm, which has difficulty coping with nonlinear disturbances (such as mechanical hysteresis and environmental vibration).

[0003] In high-speed dynamic scenarios, beam pointing accuracy is limited by sensor sampling frequency and control latency. Single sensor feedback is susceptible to noise, leading to steady-state error accumulation. Nonlinear hysteresis in piezoelectric ceramics and voice coil motor drivers can cause positioning errors. External vibration and load disturbances can also affect beam stability. A single closed-loop control system (such as PID) cannot achieve both high-speed response and sub-microradian accuracy.

[0004] In summary, the existing fast reflector beam pointing control method has low control accuracy. Summary of the Invention

[0005] The object of the present invention is to provide a feedforward-feedback coordinated fast reflector beam pointing control method and related devices, which are used to solve the problem of low precision of fast reflector beam pointing control in the prior art.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a feedforward-feedback coordinated fast reflector beam pointing control method, comprising the following steps:

[0008] Obtaining an expected position signal, and calculating an error between the expected position and the actual position and a rate of change of the error between the expected position and the actual position based on the obtained expected position signal;

[0009] 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 to generate a feedback control signal;

[0010] Constructing a Preisach (Preisach is a person's name) inverse model, using the Preisach inverse model to compensate for the hysteresis effect of the fast reflector and generate a feedforward control signal;

[0011] monitoring a disturbance signal of the fast reflection mirror, compensating the disturbance signal of the fast reflection mirror, and obtaining a compensation signal;

[0012] Setting weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal;

[0013] The final feedback control signal, the final feedforward control signal and the compensation signal are integrated to obtain the final control signal;

[0014] The final control signal is input into the fast reflector to realize the fast reflector beam pointing control.

[0015] A further improvement of the present invention is 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, and the proportional gain, integral gain and differential gain of the fuzzy PID controller are dynamically adjusted to generate a feedback control signal, specifically including:

[0016] 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.

[0017] A further improvement of the present invention is that, in the step of constructing a Preisach inverse model, using the Preisach inverse model to compensate for the hysteresis effect of the fast reflector, and generating a feedforward control signal, the specific process of constructing the Preisach inverse model is as follows:

[0018] Applying a periodic voltage signal to the fast reflecting mirror to obtain a displacement corresponding to the periodic voltage signal;

[0019] Discretize the Preisach plane into several grid points, each grid point corresponds to a hysteresis operator;

[0020] Fitting the displacement corresponding to the periodic voltage signal to obtain a weight function;

[0021] The Preisach model is constructed based on the displacement, weight function and hysteresis operator corresponding to the periodic voltage signal;

[0022] The constructed Preisach model is inverted to obtain the Preisach inverse model.

[0023] A further improvement of the present invention is that, in the step of fitting the displacement corresponding to the periodic voltage signal to obtain the weight function, the least squares method is specifically used to fit the displacement corresponding to the periodic voltage signal to obtain the weight function.

[0024] A further improvement of the present invention is that the calculation formula of the Preisach model is:

[0025]

[0026] in, for The displacement corresponding to the periodic voltage signal at each moment, for Time hysteresis operator, is the weight function, is the switching threshold, for Feed forward control signal at all times.

[0027] A further improvement of the present invention is that the calculation formula of the final control signal is:

[0028]

[0029] in, for The final control signal at the moment, for Feedforward control signal at all times, for Feedback control signal at all times, for Time weight coefficient, for Time compensation signal;

[0030] Time weight coefficient The calculation formula is:

[0031]

[0032] in, is the smoothing coefficient, is the threshold speed, is the absolute value of the rate of change of a given angle;

[0033] Time feedforward control signal The calculation formula is:

[0034]

[0035] in, for Feedback angle at all times, To perform the inverse operation on the Preisach model;

[0036] Feedback control signal The calculation formula is:

[0037]

[0038] in, for The error between the expected position and the actual position at any moment, for The error rate of change between the expected position and the actual position at each moment, 、 and are the proportional gain, integral gain and differential gain of the fuzzy PID controller respectively;

[0039] Time compensation signal The calculation formula is:

[0040]

[0041] in, is a second-order compensation filter, for Accelerometer signal at every moment;

[0042] Second-order compensation filter The calculation formula is:

[0043]

[0044] in, is the angular frequency, is the quality factor, is a complex variable, angular frequency The calculation formula is:

[0045]

[0046] in, is the frequency.

[0047] In a second aspect, the present invention provides a feedforward-feedback collaborative fast reflector beam pointing control system, comprising 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 reflector beam pointing control module;

[0048] The data acquisition module is used to obtain the 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 based on the obtained expected position signal;

[0049] The feedback control signal acquisition module is used to input the error between the desired position and the actual position and the error change rate between the desired position and the actual position into the fuzzy PID controller, dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generate a feedback control signal;

[0050] The feedforward control signal is used to obtain a module to construct a Preisach inverse model, and the Preisach inverse model is used to compensate for the hysteresis effect of the fast reflector to generate a feedforward control signal;

[0051] The compensation signal acquisition module is used to monitor the disturbance signal of the fast reflection mirror, compensate the disturbance signal of the fast reflection mirror, and obtain a compensation signal;

[0052] The weight coefficient setting module is used to set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal;

[0053] The signal fusion module is used to fuse the final feedback control signal, the final feedforward control signal and the compensation signal to obtain the final control signal;

[0054] The fast reflection mirror beam pointing control module is used to input the final control signal into the fast reflection mirror to achieve fast reflection mirror beam pointing control.

[0055] A further improvement of the present invention is that the specific construction process of the Preisach inverse model is:

[0056] Applying a periodic voltage signal to the fast reflecting mirror to obtain a displacement corresponding to the periodic voltage signal;

[0057] Discretize the Preisach plane into several grid points, each grid point corresponds to a hysteresis operator;

[0058] Fitting the displacement corresponding to the periodic voltage signal to obtain a weight function;

[0059] The Preisach model is constructed based on the displacement, weight function and hysteresis operator corresponding to the periodic voltage signal;

[0060] The constructed Preisach model is inverted to obtain the Preisach inverse model.

[0061] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the feedforward-feedback collaborative fast reflector beam pointing control method introduced above are implemented.

[0062] In a fourth aspect, the present invention provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the feedforward-feedback coordinated fast reflector beam pointing control method introduced above.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] This invention is an improvement. Compared with existing methods for controlling the beam pointing of a fast reflector, the present invention simultaneously considers feedback control signals, feedforward control signals, and compensation signals in controlling the beam pointing of the fast reflector, taking into account diverse factors. Furthermore, the present invention inputs the error between the desired and actual positions, as well as the rate of change of the error between the desired and actual positions, into a fuzzy PID controller, dynamically adjusting the proportional gain, integral gain, and differential gain of the fuzzy PID controller to generate a feedback control signal. The fuzzy PID controller can flexibly adjust its parameters (proportional gain, integral gain, and differential gain) based on the real-time operating status and error changes of the fast reflector, making the fuzzy PID controller output more precise, thereby improving the accuracy of the fast reflector's beam pointing control and reducing steady-state error. Furthermore, the present invention utilizes the Preisach inverse model to compensate for the hysteresis effect of the fast reflector and generate a feedforward control signal. The Preisach inverse model accurately describes the hysteresis effect of the fast reflector. By generating a feedforward control signal, this hysteresis effect can be compensated for, thereby reducing output deviation caused by the hysteresis effect and improving the control accuracy of the fast reflector's beam pointing control. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 This is a flow chart of the feedforward-feedback coordinated fast reflector beam pointing control method of the present invention;

[0066] Figure 2 Schematic diagram of the feedforward-feedback coordinated fast reflector beam pointing control system of the present invention;

[0067] Figure 3 This is a flow chart of the feedforward-feedback coordinated fast reflector beam pointing control method in Example 3 of the present invention;

[0068] Figure 4 Schematic diagram of the structure of the electronic device of the present invention. DETAILED DESCRIPTION

[0069] In order to further understand the content of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0070] The feedforward-feedback coordinated rapid reflector beam pointing control method proposed in this invention sets weight coefficients for the feedback control signal and the feedforward control signal to obtain a final feedback control signal and a final feedforward control signal; the final feedback control signal, the final feedforward control signal, and the compensation signal are then fused to obtain a final control signal; and the final control signal is input into the rapid reflector to achieve rapid reflector beam pointing control. Compared to the prior art, this invention effectively solves the problem of low precision in rapid reflector beam pointing control in the prior art.

[0071] Example 1:

[0072] The flow chart of the feedforward-feedback coordinated fast reflector beam pointing control method of the present invention is as follows: Figure 1 As shown, the feedforward-feedback coordinated fast reflector beam pointing control method of the present invention includes the following steps:

[0073] 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 based on the obtained expected position signal.

[0074] 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 the fuzzy PID controller, dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generate a feedback control signal.

[0075] S3. Construct a Preisach inverse model, use the Preisach inverse model to compensate for the hysteresis effect of the fast reflector, and generate a feedforward control signal.

[0076] S4. Monitor the disturbance signal of the fast reflection mirror, compensate for the disturbance signal of the fast reflection mirror, and obtain a compensation signal.

[0077] S5. Set weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal.

[0078] S6. Fusing the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain a final control signal.

[0079] S7. Input the final control signal into the fast reflection mirror to realize the beam pointing control of the fast reflection mirror.

[0080] Example 2:

[0081] The schematic diagram of the feedforward-feedback coordinated fast reflector beam pointing control system of the present invention is shown in FIG. Figure 2As shown, the feedforward-feedback collaborative fast reflector beam pointing control system of 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 reflector beam pointing control module.

[0082] The data acquisition module is used to obtain the 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 based on the obtained expected position signal.

[0083] 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 the fuzzy PID controller, dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generate a feedback control signal.

[0084] The feedforward control signal is used to obtain a module to construct a Preisach inverse model, and the Preisach inverse model is used to compensate for the hysteresis effect of the fast reflector to generate a feedforward control signal.

[0085] The compensation signal acquisition module is used for monitoring the disturbance signal of the fast reflection mirror, compensating the disturbance signal of the fast reflection mirror, and obtaining a compensation signal.

[0086] 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.

[0087] The signal fusion module is used to fuse the final feedback control signal, the final feedforward control signal and the compensation signal to obtain the final control signal.

[0088] The fast reflector beam pointing control module is used to input the final control signal into the fast reflector to achieve the fast reflector beam pointing control.

[0089] Example 3:

[0090] The feedforward-feedback coordinated fast reflector beam pointing control method of the present invention comprises the following steps:

[0091] 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 based on the obtained expected position signal.

[0092] Obtain the expected position signal and calculate the error between the expected position and the actual position based on the expected position signal and the error rate between the expected position and the actual position .

[0093] 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 the fuzzy PID controller, dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generate a feedback control signal.

[0094] The step of generating the feedback control signal specifically includes:

[0095] The error between the desired position and the actual position and the error change rate between the desired position and the actual position are input into the fuzzy PID controller, and the proportional gain of the fuzzy PID controller is dynamically adjusted based on the fuzzy rules. , integral gain and differential gain , generating a feedback control signal.

[0096] The fuzzy rules are described in detail below. The fuzzy rules are shown in Table 1.

[0097] Table 1 Fuzzy rules

[0098]

[0099] Table 1 represents the error between the expected position and the actual position, Indicates the error change rate between the expected position and the actual position. express The dynamic adjustment amount, express The dynamic adjustment amount, express The dynamic adjustment amount. Indicates a significant increase (e.g. ), indicates a moderate increase (e.g. ), Maintain (no adjustment), indicates a moderate reduction (e.g. ), Indicates a significant reduction (e.g. ).

[0100] In Table 1, Negative Big (NB) indicates that the input variable (the error between the expected and actual positions, or the error between the actual positions, or the rate of change of the error between the expected and actual positions) deviates significantly in the negative direction (for example, the error between the expected and actual positions is significantly lower than the target value). Negative Medium (NM) indicates that the input variable deviates moderately in the negative direction. Zero (Z) indicates that the input variable is close to the ideal state (for example, the error between the expected and actual positions approaches zero). Positive Medium (PM) indicates that the input variable deviates moderately in the positive direction. Positive Big (PB) indicates that the input variable deviates significantly in the positive direction (for example, the error between the expected and actual positions is significantly higher than the target value).

[0101] Specifically, this embodiment uses a triangle membership function to calculate whether the membership of the error between the expected position and the actual position and the error change rate between the expected position and the actual position belongs to the range of negative large, negative medium, zero, positive medium and positive large.

[0102] Among them, the triangle membership function expression is:

[0103]

[0104] in, 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 triangle membership function, is the input variable (the error between the expected position and the actual position or the error between the actual position and the rate of change of the error between the expected position and the actual position), To calculate the maximum value, To calculate the minimum value.

[0105] S3. Construct a Preisach inverse model, use the Preisach inverse model to compensate for the hysteresis effect of the fast reflector, and generate a feedforward control signal.

[0106] The specific construction process of the Preisach inverse model in this step is:

[0107] A. Apply a periodic voltage signal (e.g., a triangular wave with an amplitude of 3 mrad and a frequency of 10 Hz) to the fast reflector to obtain the displacement corresponding to the periodic voltage signal.

[0108] B. Discretize the Preisach plane into several grid points, each grid point corresponds to a hysteresis operator;

[0109] C. Fitting the displacement corresponding to the periodic voltage signal (this embodiment uses the least squares method to fit the displacement corresponding to the periodic voltage signal) to obtain a weight function;

[0110] D. Constructing the Preisach model based on the displacement, weight function and hysteresis operator corresponding to the periodic voltage signal;

[0111] E. Perform an inverse operation on the constructed Preisach model to obtain the Preisach inverse model.

[0112] The calculation formula of the Preisach model is:

[0113]

[0114] in, for The displacement corresponding to the periodic voltage signal at each moment, for Time hysteresis operator, when hour, for ,when hour, for , is the weight function, is the switching threshold, for Feedforward control signal at all times.

[0115] S4. Monitor the disturbance signal of the fast reflection mirror, compensate for the disturbance signal of the fast reflection mirror, and obtain a compensation signal.

[0116] The disturbance signal of the fast reflection mirror is monitored, and the disturbance signal of the fast reflection mirror is compensated (in this embodiment, second-order disturbance compensation is specifically adopted) to obtain a compensation signal.

[0117] S5. Set weights for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal.

[0118] S6. Fusing the final feedback control signal, the final feedforward control signal, and the compensation signal to obtain a final control signal.

[0119] The calculation formula of the final control signal in this step is:

[0120]

[0121] in, for The final control signal at the moment, for Feedforward control signal at all times, for Feedback control signal at all times, for Time weight coefficient, for Compensate the signal at all times.

[0122] Time weight coefficient The calculation formula is:

[0123]

[0124] in, is the smoothing coefficient, is the threshold speed, is the absolute value of the rate of change of a given angle.

[0125] Time feedforward control signal The calculation formula is:

[0126]

[0127] in, for Feedback angle at all times, To perform the inverse operation on the Preisach model.

[0128] Constant feedback control signal The calculation formula is.

[0129]

[0130] in, for The error between the expected position and the actual position at any moment, for The error rate of change between the expected position and the actual position at each moment, 、 and They are the proportional gain, integral gain and differential gain of the fuzzy PID controller respectively.

[0131] Time compensation signal The calculation formula is:

[0132]

[0133] in, is a second-order compensation filter, for Accelerometer signal at every moment.

[0134] Second-order compensation filter The calculation formula is:

[0135]

[0136] in, is the angular frequency, is the quality factor, is a complex variable, angular frequency The calculation formula is:

[0137]

[0138] in, is the frequency.

[0139] S7. Input the final control signal into the fast reflection mirror to realize the beam pointing control of the fast reflection mirror.

[0140] Example 4:

[0141] See also Figure 4 As shown, the present invention also provides an electronic device 100 for a feedforward-feedback collaborative fast reflector 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.

[0142] The memory 101 can be used to store the computer program 103. The processor 102 implements the steps of the feedforward-feedback coordinated fast reflector beam pointing control method described in Example 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 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data (such as audio data) created based on the use of the electronic device 100. In addition, the memory 101 can include a 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 disk storage device, a flash memory device, or other non-volatile solid-state storage device.

[0143] The at least one processor 102 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. The processor 102 may be a microprocessor or 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 using various interfaces and lines.

[0144] The memory 101 in the electronic device 100 stores a plurality of instructions to implement a feedforward-feedback coordinated fast reflector beam pointing control method, and the processor 102 can execute the plurality of instructions to implement:

[0145] Obtaining an expected position signal, and calculating an error between the expected position and the actual position and a rate of change of the error between the expected position and the actual position based on the obtained expected position signal;

[0146] 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 to generate a feedback control signal;

[0147] Constructing the Preisach inverse model, using the Preisach inverse model to compensate for the hysteresis effect of the fast reflector and generate a feedforward control signal;

[0148] monitoring a disturbance signal of the fast reflection mirror, compensating the disturbance signal of the fast reflection mirror, and obtaining a compensation signal;

[0149] Setting weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal;

[0150] The final feedback control signal, the final feedforward control signal and the compensation signal are integrated to obtain the final control signal;

[0151] The final control signal is input into the fast reflector to realize the fast reflector beam pointing control.

[0152] Example 5:

[0153] If the module / unit integrated in the electronic device 100 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory and read-only memory (ROM, Read-Only Memory).

[0154] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes 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 a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0156] These computer program instructions may 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, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0158] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A feedforward-feedback coordinated fast reflector beam pointing control method, characterized in that: The following steps are involved: Obtaining an expected position signal, and calculating an error between the expected position and the actual position and a rate of change of the error between the expected position and the actual position based on the obtained expected position signal; 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 to generate a feedback control signal; Constructing the Preisach inverse model, using the Preisach inverse model to compensate for the hysteresis effect of the fast reflector and generate a feedforward control signal; monitoring a disturbance signal of the fast reflection mirror, compensating the disturbance signal of the fast reflection mirror, and obtaining a compensation signal; Setting weight coefficients for the feedback control signal and the feedforward control signal respectively to obtain a final feedback control signal and a final feedforward control signal; The final feedback control signal, the final feedforward control signal and the compensation signal are integrated to obtain the final control signal; The final control signal calculation formula is: in, for The final control signal at the moment, for Feedforward control signal at all times, for Feedback control signal at all times, for Time weight coefficient, for Time compensation signal; Time weight coefficient The calculation formula is: in, is the smoothing coefficient, is the threshold speed, is the absolute value of the rate of change of a given angle; Time feedforward control signal The calculation formula is: in, for Feedback angle at all times, To perform the inverse operation on the Preisach model; Constant feedback control signal The calculation formula is: in, for The error between the expected position and the actual position at any moment, for The error rate of change between the expected position and the actual position at each moment, 、 and are the proportional gain, integral gain and differential gain of the fuzzy PID controller respectively; Time compensation signal The calculation formula is: in, is a second-order compensation filter, for Accelerometer signal at every moment; Second-order compensation filter The calculation formula is: in, is the angular frequency, is the quality factor, is a complex variable, angular frequency The calculation formula is: in, is the frequency; The final control signal is input into the fast reflector to realize the fast reflector beam pointing control.

2. The feedforward-feedback coordinated fast mirror beam pointing control method according to claim 1, characterized 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, and the proportional gain, integral gain and differential gain of the fuzzy PID controller are dynamically adjusted to generate a feedback control signal, 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.

3. The feedforward-feedback coordinated fast mirror beam pointing control method according to claim 1, characterized in that: In the step of constructing the Preisach inverse model, compensating the hysteresis effect of the fast reflector using the Preisach inverse model, and generating a feedforward control signal, the specific construction process of the Preisach inverse model is as follows: Applying a periodic voltage signal to the fast reflecting mirror to obtain a displacement corresponding to the periodic voltage signal; Discretize the Preisach plane into several grid points, each grid point corresponds to a hysteresis operator; Fitting the displacement corresponding to the periodic voltage signal to obtain a weight function; The Preisach model is constructed based on the displacement, weight function and hysteresis operator corresponding to the periodic voltage signal; The constructed Preisach model is inverted to obtain the Preisach inverse model.

4. The feedforward-feedback coordinated fast mirror beam pointing control method according to claim 3, characterized in that: In the step of fitting the displacement corresponding to the periodic voltage signal to obtain the weight function, the least square method is specifically used to fit the displacement corresponding to the periodic voltage signal to obtain the weight function.

5. The feedforward-feedback coordinated fast mirror beam pointing control method according to claim 3, characterized in that: The calculation formula of the Preisach model is: in, for The displacement corresponding to the periodic voltage signal at each moment, for Time hysteresis operator, is the weight function, is the switching threshold, for Feed forward control signal at all times.

6. A feedforward-feedback coordinated fast reflector 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 reflector beam pointing control module; The data acquisition module is used to obtain the 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 based on the obtained expected position signal; The feedback control signal acquisition module is used to input the error between the desired position and the actual position and the error change rate between the desired position and the actual position into the fuzzy PID controller, dynamically adjust the proportional gain, integral gain and differential gain of the fuzzy PID controller, and generate a feedback control signal; The feedforward control signal is used to obtain a module to construct a Preisach inverse model, and the Preisach inverse model is used to compensate for the hysteresis effect of the fast reflector to generate a feedforward control signal; The compensation signal acquisition module is used to monitor the disturbance signal of the fast reflection mirror, compensate the disturbance signal of the fast reflection mirror, and obtain the 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 a final feedback control signal and a 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 the final control signal; The final control signal calculation formula is: in, for The final control signal at the moment, for Feedforward control signal at all times, for Feedback control signal at all times, for Time weight coefficient, for Time compensation signal; Time weight coefficient The calculation formula is: in, is the smoothing coefficient, is the threshold speed, is the absolute value of the rate of change of a given angle; Time feedforward control signal The calculation formula is: in, for Feedback angle at all times, To perform the inverse operation on the Preisach model; Constant feedback control signal The calculation formula is: in, for The error between the expected position and the actual position at any moment, for The error rate of change between the expected position and the actual position at each moment, 、 and are the proportional gain, integral gain and differential gain of the fuzzy PID controller respectively; Time compensation signal The calculation formula is: in, is a second-order compensation filter, for Accelerometer signal at every moment; Second-order compensation filter The calculation formula is: in, is the angular frequency, is the quality factor, is a complex variable, angular frequency The calculation formula is: in, is the frequency; The fast reflection mirror beam pointing control module is used to input the final control signal into the fast reflection mirror to achieve fast reflection mirror beam pointing control.

7. The feedforward-feedback coordinated fast reflector beam pointing control system according to claim 6, characterized in that: The specific construction process of the Preisach inverse model is: Applying a periodic voltage signal to the fast reflecting mirror to obtain a displacement corresponding to the periodic voltage signal; Discretize the Preisach plane into several grid points, each grid point corresponds to a hysteresis operator; Fitting the displacement corresponding to the periodic voltage signal to obtain a weight function; The Preisach model is constructed based on the displacement, weight function and hysteresis operator corresponding to the periodic voltage signal; The constructed Preisach model is inverted to obtain the Preisach inverse model.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the feedforward-feedback coordinated fast reflector beam pointing control method according to any one of claims 1 to 5 are implemented.

9. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the feedforward-feedback coordinated fast reflector beam pointing control method according to any one of claims 1 to 5 are implemented.

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