激光雷达中扫描振镜控制研究  

Research on Galvanometer Scanner Control in Lidar

作　　者：任福汉 余红英[1] 刘琛 REN Fu-han;YU Hong-ying;LIU Chen(North University of China,Taiyuan 030051,China;The 6th Research Institute of China Electronics Corporation,Bejing 100083,China)

机构地区：[1]中北大学,太原030051 [2]中国电子信息产业集团第六研究所,北京100083

出　　处：《微特电机》2019年第11期60-64,共5页Small & Special Electrical Machines

基　　金：山西省自然科学基金资助项目(201601D102029)

摘　　要：针对激光雷达系统中扫描振镜周期性运动控制及滑模变结构控制算法存在抖振现象,提出了基于模糊滑模变结构算法扫描振镜控制方案。建立了激光雷达系统扫描振镜数学模型,在MATLAB/Simulink中针对扫描振镜PSD数据进行了模糊PID、滑模变结构控制和模糊滑模变结构控制仿真,并在原理样机中进行模糊滑模变结构控制测试。实验结果表明,扫描振镜应用模糊滑模变结构控制算法能有效抑制抖振现象,并有良好的动、静态特性,抗干扰能力提升。Aiming at the control of the galvanometer scanner’s periodic motion in the lidar system and the chattering of sliding mode control,a galvanometer scanner control scheme based on the fuzzy sliding mode control was proposed. The mathematical model of the galvanometer scanner of the lidar system was established. The fuzzy PID,sliding mode control and fuzzy sliding mode control were simulated for the data of galvanometer scanner’s PSD in MATLAB/Simulink. And the fuzzy sliding mode control was carried out in the theoretical test platform. The platform’s results indicated the fuzzy sliding mode control can effectively suppress the chattering,has good dynamic and static characteristics and anti-interference ability was improved.

关 键 词：激光雷达 扫描振镜 模糊滑模变结构控制 MATLAB/SIMULINK 

分 类 号：TM301[电气工程—电机]