Galvanometer final set adjustable saturation tolerance adaptive sliding mode control method and system

Abstract

The invention belongs to the technical field of galvanometer control, and provides a final set adjustable saturation tolerance adaptive sliding mode control method and system for galvanometers. The method comprises the following steps: constructing a saturation system model with parameter uncertainty and external interference based on a system model of a galvanometer; controlling an input variable of the saturation system model by using a final set adjustable saturation predetermined space-time adaptive sliding mode control algorithm, and further adjusting an angle and an angular velocity vector of a galvanometer; wherein the input variable is the voltage of the input galvanometer; the final set adjustable saturation predetermined space-time adaptive sliding mode control algorithm comprises a boundary saturation tolerance index, and when the controlled voltage input into the galvanometer is larger than the maximum voltage limited by galvanometer hardware, the boundary saturation tolerance index adjusts the voltage input into the galvanometer according to the input saturation degree, and the predetermined precision is reduced; and when the voltage input into the galvanometer is saturated and disappears, the boundary saturation tolerance index is 0, and the preset precision is recovered to the initially set precision.

Description

Technical Field

[0001] The present invention belongs to the technical field of galvanometer control, and in particular relates to a final set adjustable saturation tolerance adaptive sliding mode control method and system for a galvanometer. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] A galvanometer is an optical element driven by electrical signals that enables fast and accurate beam deflection. Currently, galvanometer systems are prone to parameter uncertainty and nonlinear interference, which can cause disturbances in the galvanometer. Furthermore, the input voltage to the galvanometer is usually limited, making input saturation a common occurrence in practical applications, leading to system crashes. While sliding mode control can effectively combat lumped disturbances caused by external factors and system uncertainties, galvanometers controlled by sliding mode still experience chattering, which not only leads to unnecessary energy consumption but also accelerates wear on the galvanometer system.

[0004] To address the chattering phenomenon in galvanometer systems, the currently proposed adaptive sliding mode control method based on a barrier function can reduce chattering while converging the sliding mode variables within a predetermined range. However, in this barrier function-based adaptive sliding mode control method, the final set is affected by the upper bound of the disturbance and cannot be adjusted. The convergence time of the sliding mode variables is finite and cannot be set by the user in advance. Furthermore, input saturation is not considered. This results in complex parameter adjustment during galvanometer control and the galvanometer's adjustment accuracy cannot reach the preset small precision range. Summary of the Invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a final set of adjustable saturation tolerance adaptive sliding mode control method and system for the galvanometer, which can dynamically adjust the predetermined accuracy to achieve a smaller and adjustable final accuracy of the galvanometer.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A first aspect of the present invention provides a final set adjustable saturation tolerance adaptive sliding mode control method for a galvanometer.

[0007] A final set of adjustable saturation tolerance adaptive sliding mode control method for a galvanometer, comprising: Based on the system model of the galvanometer, a saturated system model with parameter uncertainty and external interference is constructed; The input variables of the saturated system model are controlled by using a final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

[0008] As an implementation method, the final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm is expressed as: ; ; ; ; In the formula 、 is a positive constant; To improve the barrier function; and is the adaptive gain; s ( t ) = Cx ( t ) represents the sliding mode variable, C is the gain vector; Indicates intermediate parameters; ε Indicates a reserved space; Indicates scheduled time; N ( t ) represents the boundary saturation tolerance index; B represents the input vector ; J is the moment of inertia of the galvanometer motor rotor, and R is the resistance of the galvanometer motor.

[0009] As an implementation method, the expression of the boundary saturation tolerance index is: ; Where z is an adjustable parameter used to change the response of the auxiliary system to input saturation; sat( u ( t )) represents the input saturation function, so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; for N ( t ) is the derivative of .

[0010] As an implementation method, the expression of the saturated system model is: ; ; in ; In the formula, sat( u ( t )) represents the input saturation function so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; x ( t ) represents the angle and angular velocity vector of the galvanometer ; u ( t ) represents the voltage input to the galvanometer; A Represents the system parameter matrix ; represents the external interference vector ; B Represents the input vector ; J is the moment of inertia of the galvanometer motor rotor; 、 are angular velocity and angular acceleration, respectively. is the torque coefficient of the galvanometer motor, is the back EMF coefficient of the galvanometer motor, is friction, D It's external interference. u is the galvanometer control input voltage, R is the resistance of the galvanometer motor.

[0011] As an implementation method, the system model of the galvanometer is expressed as follows: ; in J is the moment of inertia of the galvanometer motor rotor; 、 、 are angle, angular velocity and angular acceleration respectively, K t is the torque coefficient of the galvanometer motor, K e is the back EMF coefficient of the galvanometer motor, F f is friction, D It's external interference. u is the galvanometer control input voltage, R is the resistance of the galvanometer motor.

[0012] A second aspect of the present invention provides a final set adjustable saturation tolerant adaptive sliding mode control system.

[0013] A final set of adjustable saturation tolerance adaptive sliding mode control systems for galvanometers, comprising: A model building module is used to build a saturated system model with parameter uncertainty and external interference based on the galvanometer-based system model; A variable control module, which is used to control the input variables of the saturation system model using a final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

[0014] A third aspect of the present invention provides a computer-readable storage medium.

[0015] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for adaptive sliding mode control of a final set of galvanometer mirrors with adjustable saturation tolerance.

[0016] A fourth aspect of the present invention provides a computer device.

[0017] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the above-mentioned method for adaptive sliding mode control of a final set of galvanometers with adjustable saturation tolerance are implemented.

[0018] Compared with the prior art, the present invention has the following beneficial effects: Compared with existing methods, the method proposed in the present invention achieves a smaller and adjustable final set. Under the condition of no input saturation, this method can ensure that the sliding variable converges to the predefined space within a predefined time. Under the condition of input saturation, it can converge to the saturation tolerance space within a predefined time. When controlling the galvanometer, the control accuracy of the galvanometer and the time to converge to the predetermined accuracy can be set in advance by the user, and are not affected by initial conditions and external interference. Even if input saturation occurs due to hardware limitations of the galvanometer, the galvanometer can still converge the system state to the predetermined accuracy after adjustment by the boundary saturation tolerance index within a predetermined time. The sliding mode control based on the barrier function can make the final system state of the galvanometer be at a value smaller than the predetermined accuracy, but its value cannot be adjusted and is related to the upper limit of the interference. The algorithm proposed in the present invention achieves a smaller and adjustable final accuracy of the galvanometer.

[0019] The present invention designs an auxiliary system with only one adjustable parameter to generate a boundary saturation tolerance index. This index can dynamically adjust the saturation tolerance space and the final set according to the saturation level. When controlling the galvanometer, when the control input is greater than the voltage of the hardware limit, it is easy to cause the galvanometer system to become unstable. At this time, the value of the boundary saturation tolerance index is greater than 0, and the predetermined accuracy can be dynamically adjusted to maintain the stability of the system. And because this auxiliary system contains only one adjustable parameter, the complex parameter adjustment process in practical applications is greatly reduced. The control method of the present invention reduces the overestimation of the control gain at the initial moment and avoids the segmentation of the control scheme.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1 This is a principle block diagram of a final set of galvanometer mirrors with adjustable saturation tolerance adaptive sliding mode control method according to an embodiment of the present invention; Figure 2 1 is a comparison diagram of the improved barrier function and the ordinary barrier function in an embodiment of the present invention; Figure 3 1 is a sliding mode variable simulation diagram of the control method according to the embodiment of the present invention and other control methods under two different initial conditions when there is no input saturation; Figure 4 When there is no input saturation, the control method of the embodiment of the present invention and other control methods control the input under the same initial conditions; Figure 5 is a simulation diagram of a boundary saturation tolerance index of the control method according to an embodiment of the present invention when there is no input saturation; Figure 6 The sliding mode variable simulation diagrams of the control method according to the embodiment of the present invention and other control methods under two different initial conditions when input saturation exists, and the control inputs of the control method according to the embodiment of the present invention and other control methods under the same initial conditions; Figure 7 is a simulation diagram of a boundary saturation tolerance index of a control method according to an embodiment of the present invention when input saturation exists; Figure 8 It is a simulation verification of the final set adjustability in the control method of the embodiment of the present invention; Figure 91 is a sliding mode variable experimental diagram of the control method according to the embodiment of the present invention and other control methods under two different initial conditions when there is no input saturation; Figure 10 When there is no input saturation, the control method of the embodiment of the present invention and other control methods control the input under the same initial conditions; Figure 11 is an experimental diagram of a boundary saturation tolerance index of the control method according to an embodiment of the present invention when input saturation exists; Figure 12 1 is a sliding mode variable experimental diagram of the control method according to the embodiment of the present invention and other control methods under two different initial conditions when input saturation exists; Figure 13 When input saturation occurs, the control method of the embodiment of the present invention and other control methods control the input under the same initial conditions; Figure 14 is an experimental diagram of a boundary saturation tolerance index of the control method according to an embodiment of the present invention when input saturation exists; Figure 15 This is an experimental verification of the final set adjustability in the control method of the embodiment of the present invention. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0025] 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 invention. As used herein, unless the context clearly indicates otherwise, the singular form is 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.

[0026] Galvanometers are widely used in laser marking and engraving, laser cutting and welding, biomedical applications and other fields due to their high-speed and high-precision beam scanning capabilities.

[0027] Example 1 according to Figure 1 A final set of adjustable saturation tolerance adaptive sliding mode control methods for galvanometers according to an embodiment of the present invention includes: Step 1: Based on the system model of the galvanometer, a saturated system model with parameter uncertainty and external interference is constructed.

[0028] Specifically, the expression of the system model of the galvanometer is: (1) in J is the moment of inertia of the galvanometer motor rotor; 、 、 are angle, angular velocity and angular acceleration respectively, is the torque coefficient of the galvanometer motor, is the back EMF coefficient of the galvanometer motor, is friction, D It's external interference. u is the galvanometer control input voltage, R is the resistance of the galvanometer motor.

[0029] The expression of the saturated system model is: (2) (3) in (4) In the formula, sat( u ( t )) represents the input saturation function so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; x ( t ) represents the angle and angular velocity vector of the galvanometer ; u ( t ) represents the voltage input to the galvanometer; A Represents the system parameter matrix ; represents the external interference vector ; B Represents the input vector .

[0030] Step 2: Using the final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm to control the input variables of the saturation system model, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

[0031] Among them, the expression of the boundary saturation tolerance index is: (5) Where z is an adjustable parameter used to change the response of the auxiliary system to input saturation; sat( u ( t )) represents the input saturation function, so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; for N ( t ) is the derivative of .

[0032] Specifically, the final expression of the set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm is: (6) (7) (8) (9) In the formula 、 is a positive constant; To improve the barrier function; and is the adaptive gain; s ( t ) = Cx ( t ) represents the sliding mode variable, C is the gain vector; Indicates intermediate parameters; ε Indicates a reserved space; Indicates scheduled time; N ( t ) represents the boundary saturation tolerance index; B represents the input vector ; J is the moment of inertia of the galvanometer motor rotor, and R is the resistance of the galvanometer motor.

[0033] The stability of the proposed algorithm is proved as follows: First, define the Lyapunov function: (10) Derivative of formula (10) yields: (11) The first-order derivative of formula (6) is (12) Substituting equations (6) and (12) into equation (11), we obtain: (13) Taking the derivative of the sliding mode variable, we get: (14) Assumption 1: d ( t ) is bounded and satisfies the following conditions: (15) From the previous formula, we can see that N ( t ) ≥ 0 and <0, according to assumption 1, substitute equations (3), (8) and (14) into (13) to obtain: (16) To simplify the expression, substitute formula (9) into (16) to obtain: (17) in (18) (19) It can be seen that Γ( t ) and Φ( t ) ≥ 0.

[0034] make σ ∈(0,1), transform Equation (17) into: (20) According to formula (20), we can get (twenty one) <0 is established.

[0035] And because 0< e -bp(s(t)) ≤1, let η = e -bp(s(t)) , formula (21) is expressed as (twenty two) make (twenty three) Substituting formula (23) into (22) yields: (twenty four) make , Substituting formula (6) into (24) we get (25) It is known that ( m ( t ) + N ( t ))<| s ( t )|< m ( t ) + N ( t )hour, <0 holds true; when t = 0, m ( t 0) approaches infinity, and because | s ( t 0)|< m ( t 0) + N ( t 0),| s ( t )| is continuously changing, and the following two situations occur: (1) ( m ( t ) + N ( t )) ≤ | s ( t )|< m ( t ) + N ( t )hour, <0, so V ( t ) and | s ( t )|decrease,| s ( t )| will not exceed m ( t ) + N ( t ); (2) | s ( t )|< ( m ( t ) + N ( t ))< m ( t ) + N ( t )hour, It can be positive or negative. Consider the worst case, when When >0, | s ( t )|Increase but not exceed| s ( t )| = ( m ( t ) + N ( t )).

[0036] In summary, when t ≥ 0, | s ( t )|< m ( t ) + N ( t ) is established. And because t = t c hour, m ( t ) = ε , when input saturation occurs, N ( t )>0, when t ≥ t c The convergence space is ε + N ( t ). When there is no input saturation, N ( t ) = 0, when t ≥ t c The convergence space is ε ,Therefore, the saturation tolerance of the algorithm to the predetermined ,spatiotemporal function is proved.

[0037] If | s ( t )|> , from formula (20) we can get: (26) make , formula (26) can be rewritten as (27) Let Z = [| s ( t )| p ( s ( t ))], the Lyapunov function (10) can be written as (28) According to the properties of the norm, we get

[0038] where ||Z||1| and |Z||2 are the L1 norm and L2 norm respectively.

[0039] Therefore | s ( t )|can be used in a limited time T Enter the final set | s ( t )| ≤ .

[0040] when t ≥ t c When , the final set of this algorithm is (29) When there is no input saturation, γ ( u ) = 1, Φ( t ) = 0, the final set is: (30) The final set of compared algorithms is: (31) Obviously, 0< η ≤1, when η = 1 o'clock, | s ( t )| = 0, then the final set is 0, which has reached the minimum. η ≠ 1, (Ω + σ ) η< (Ω + σ ), we can get: (32) Obviously, the final set of the algorithm of the present invention can be obtained by parameter a and b The final set is smaller than that of the comparison algorithm.

[0041] Figure 2 The superiority of the improved barrier function is demonstrated: it can make the sliding mode variable converge to the saturation tolerance space within the predetermined time.

[0042] Figure 3-Figure 5 The algorithm of the present invention shows the boundary saturation tolerance index when no saturation input occurs. N ( t ) = 0, and the sliding mode variable can be adjusted at the predetermined time regardless of the initial conditions. t c Converge to the predetermined space ε, and the final set is smaller. Because the control scheme segmentation is avoided, the control input of the algorithm of the present invention is smoother and has no sharp turning points. Figure 6-Figure 7 It shows that when saturated input occurs, the boundary saturation tolerance index N ( t )>0, the algorithm of the present invention can be used within a predetermined time t c Make the sliding mode variable converge to the saturation tolerance space ε + N ( t ), and the contrasting algorithm crashes the system.

[0043] Figure 8 The simulation results show that the final set of the algorithm of the present invention is adjustable. b When a certain time, the final set is as a decreases with the decrease of a When a certain time, the final set is as b In addition, when a Reduced b As increases, the reduction in the final set is more pronounced. Figures 9-15 The simulation results were further verified by controlling the galvanometer.

[0044] Example 2 This embodiment provides a final set of adjustable saturation tolerance adaptive sliding mode control systems for galvanometers, including: A model building module is used to build a saturated system model with parameter uncertainty and external interference based on the galvanometer-based system model; A variable control module, which is used to control the input variables of the saturation system model using a final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

[0045] It should be noted here that the various modules in this embodiment correspond one-to-one to the various steps in the above-mentioned embodiment 1, and the specific processes are the same, which will not be described in detail here.

[0046] Example 3 This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps in the above-mentioned method for adaptive sliding mode control of a final set of galvanometer mirrors with adjustable saturation tolerance are implemented.

[0047] Example 4 This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the final set of adjustable saturation tolerance adaptive sliding mode control method for the galvanometer are implemented as described above.

[0048] 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 hardware embodiments, software embodiments, or embodiments combining software and hardware. 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 and optical storage, etc.) containing computer-usable program code.

[0049] 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.

[0050] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0051] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A final set of adjustable saturation tolerance adaptive sliding mode control method for galvanometers, characterized in that: include: Based on the system model of the galvanometer, a saturated system model with parameter uncertainty and external interference is constructed; The input variables of the saturated system model are controlled by using a final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

2. The method for controlling the final set of galvanometers with adjustable saturation tolerance and adaptive sliding mode control according to claim 1, wherein: The final expression of the set adjustable saturation scheduled spatiotemporal adaptive sliding mode control algorithm is: ； ； ； ； In the formula 、 is a positive constant; To improve the barrier function; and is the adaptive gain; s ( t )= Cx ( t ) represents the sliding mode variable, C is the gain vector; Indicates intermediate parameters; ε Indicates a reserved space; Indicates scheduled time; N ( t ) represents the boundary saturation tolerance index; B represents the input vector ; J is the moment of inertia of the galvanometer motor rotor, and R is the resistance of the galvanometer motor.

3. The method for controlling the final set of galvanometers with adjustable saturation tolerance and adaptive sliding mode control according to claim 2, wherein: The expression of the boundary saturation tolerance index is: ； Where z is an adjustable parameter used to change the response of the auxiliary system to input saturation; sat( u ( t )) represents the input saturation function, so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; for N ( t ) is the derivative of .

4. The method for controlling the final set of galvanometers with adjustable saturation tolerance and adaptive sliding mode control according to claim 1, wherein: The expression of the saturated system model is: ； ； in ; In the formula, sat( u ( t )) represents the input saturation function so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; x ( t ) represents the angle and angular velocity vector of the galvanometer ; u ( t ) represents the voltage input to the galvanometer; A Represents the system parameter matrix ; represents the external interference vector ; B Represents the input vector ; J is the moment of inertia of the galvanometer motor rotor; 、 are angular velocity and angular acceleration, respectively. is the torque coefficient of the galvanometer motor, is the back EMF coefficient of the galvanometer motor, is friction, D It's external interference. u is the galvanometer control input voltage, R is the resistance of the galvanometer motor.

5. The method for controlling the final set of galvanometers with adjustable saturation tolerance and adaptive sliding mode control according to claim 1, wherein: The expression of the system model of the galvanometer is: ； in J is the moment of inertia of the galvanometer motor rotor; 、 、 are angle, angular velocity and angular acceleration respectively, is the torque coefficient of the galvanometer motor, is the back EMF coefficient of the galvanometer motor, is friction, D It's external interference. u is the galvanometer control input voltage, R is the resistance of the galvanometer motor.

6. A galvanometer final set adjustable saturation tolerance adaptive sliding mode control system, characterized in that: include: A model building module is used to build a saturated system model with parameter uncertainty and external interference based on the galvanometer-based system model; A variable control module, which is used to control the input variables of the saturation system model using a final set adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm, thereby adjusting the angle and angular velocity vector of the galvanometer; wherein the input variable is the voltage input to the galvanometer; Among them, the final set of adjustable saturation predetermined spatiotemporal adaptive sliding mode control algorithm includes a boundary saturation tolerance index. When the voltage of the controlled input galvanometer is greater than the maximum voltage limited by the galvanometer hardware, the boundary saturation tolerance index adjusts the voltage of the input galvanometer according to the degree of input saturation, thereby reducing the predetermined accuracy. When the voltage saturation of the input galvanometer disappears, the boundary saturation tolerance index is 0, and the predetermined accuracy is restored to the initial set accuracy.

7. The final set of galvanometers with adjustable saturation tolerance adaptive sliding mode control system according to claim 6, characterized in that: The final expression of the set adjustable saturation scheduled spatiotemporal adaptive sliding mode control algorithm is: ； ； ； ； In the formula 、 is a positive constant; To improve the barrier function; and is the adaptive gain; s ( t )= Cx ( t ) represents the sliding mode variable, C is the gain vector; Indicates intermediate parameters; ε Indicates a reserved space; Indicates the scheduled time; N ( t ) represents the boundary saturation tolerance index; B represents the input vector ; J is the moment of inertia of the galvanometer motor rotor, and R is the resistance of the galvanometer motor.

8. The final set of galvanometers with adjustable saturation tolerance adaptive sliding mode control system according to claim 7, characterized in that: The expression of the boundary saturation tolerance index is: ； Where z is an adjustable parameter used to change the response of the auxiliary system to input saturation; sat( u ( t )) represents the input saturation function, so that the control input does not exceed the input upper limit u m ,and u m Determined by the hardware configuration of the galvanometer itself; for N ( t ) is the derivative of .

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the final set adjustable saturation tolerance adaptive sliding mode control method of the galvanometer according to any one of claims 1 to 5 are implemented.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the final set adjustable saturation tolerance adaptive sliding mode control method for the galvanometer according to any one of claims 1 to 5 are implemented.

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