基于DOB和ZPETC的PWM驱动快速反射镜控制方法研究  

Control of fast-steering mirror driven by PWM based on DOB and ZPETC

作　　者：王福超[1] 田大鹏[1] 王昱棠[1] 

机构地区：[1]中国科学院航空光学成像与测量重点实验室中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《机电工程》2015年第7期903-908,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(61304032)

摘　　要：针对高精度音圈电机快速反射镜PWM驱动方法存在的问题,对快速反射镜控制方法进行了研究。设计了基于干扰观测器(disturbance observer,DOB)和零相差跟踪控制器(zero phase error tracking controller,ZPETC)相结合的鲁棒控制方法。通过系统辨识实验建立了音圈电机快速反射镜的动态模型,利用半实物仿真平台对控制系统的动态性能进行了测试,给出了被控对象的实验记录测量数据及其开环幅频特性曲线bode图。研究结果表明,基于干扰观测器和零相差跟踪控制器的控制方法补偿了外部扰动、模型不确定性以及机械非线性等因素对控制系统性能的影响,系统带宽达到150 Hz以上,快速反射镜伺服系统能够满足光电跟踪系统对快速反射镜的快速性和高精度要求,新方法在性能上有显著的提高,在实际工程中具有较高的应用价值。Aiming at the control method for the high precision fast steering mirror PWM-drive servo system,the fast steering mirror control method was researched,and a robust control strategy based on the combination of disturbance observer（ DOB） with the zero phase error tracking controller（ ZPETC） was proposed. The dynamic models of fast steering mirror were established through system identification experiments. The dynamic performance of fast steering mirror system were tested by semi-physical simulation test platform,the experimental measure data and bode diagram of the control system were provided. The results indicate that the control method based on DOB and ZPETC reduces the influences of the uncertainties,such as parameters perturbation,external load disturbances and mechanical nonlinearity. It enhances the robust performance of the controlled system,and the influence of imbalance torque is restrained,the proposed control algorithm reached more than 150 Hz bandwidth. The servo system for the fast-steering mirror can satisfy the system requirements of high precision and fast response for the photoelectric tracking system,and the test results with new algorithm has an obviously improvement on the performance and has high application value in practical engineer.

关 键 词：快速反射镜 音圈电机 干扰观测器 零相差跟踪控制器 

分 类 号：TH74[机械工程—光学工程] TP273[机械工程—仪器科学与技术]