基于扰动观测器的激光供能高精度跟踪系统研究  

Research on high precision tracking system for laser energy remote transmission based on disturbance observer

作　　者：刘占元 牛晓晨 黄杰 LIU Zhanyuan;NIU Xiaochen;HUANG Jie(State Grid Smart Grid Research Institute Co.,Ltd.,Beijing 102209,China)

机构地区：[1]国网智能电网研究院有限公司,北京102209

出　　处：《自动化与仪器仪表》2022年第12期268-272,共5页Automation & Instrumentation

基　　金：2022年国家电网公司科技项目《基于高性能磁阻器件的高压交直流测量用千安级电流传感装置研制》(5700-202258362A-2-0-HW)。

摘　　要：在远距离激光供能时,微小的扰动会使得激光光斑偏离接收端的太阳能板,造成传能失效或者效率下降,因此,跟踪瞄准系统的稳定性和抗扰能力至关重要。提出了一种高精度跟踪系统,分别用MEMS加速度计和CCD相机采集快速反射镜的加速度和视轴位置信息,构建了加速度和位置双闭环控制系统,以稳定快反镜的视轴,实现跟踪系统的低成本轻量化。然而MEMS加速度计低频信号弱,易受干扰,严重影响控制器稳定性。为此提出了基于加速度计的扰动观测器控制方法。从理论上分析了双闭环控制系统在添加观测器前后的扰动传递函数,通过敏感性传递函的分析,得到添加观测器后,系统鲁棒性更好。最后搭建了实验验证平台,结果表明,与单纯的加速度位置双环控制系统相比,扰动观测器方法能够显著提升系统的低频扰动抑制能力,达到高精度跟踪瞄准的目的。For long-distance laser energy supply system, small disturbance will make the laser dot deviate from the solar panel at the receiving end, resulting in energy transmission failure or efficiency reduction. Therefore, the stability and anti-interference ability of tracking and aiming system are very important. In this paper, a high-precision tracking system was proposed. MEMS accelerometer and CCD camera were used to measure the acceleration and position of the fast mirror respectively, and a double closed-loop control system of acceleration and position was constructed to stabilize the optic axis of the fast mirror. Finally, the low cost and lightweight of the tracking system was realized. However, the low-frequency signal of MEMS accelerometer is weak and easy to be disturbed, which seriously affects the stability of the controller. Therefore, a disturbance observer(DOB) control method based on accelerometer is proposed. This paper theoretically analyzed the disturbance transfer function of the double closed-loop control system with and without the observer. Through the analysis of the sensitivity transfer function, it is concluded that the system with DOB is more robust. Finally, the experimental verification platform is built. The results show that compared with the simple acceleration position double loop control system, the DOB method can significantly improve the low-frequency disturbance suppression ability of the system and achieve the purpose of high-precision tracking and aiming.

关 键 词：快反镜 激光供能 目标跟踪 扰动观测器 

分 类 号：TN249[电子电信—物理电子学]