宇航学报

宇航学报 ›› 2021, Vol. 42 ›› Issue (2): 220-229.doi: 10.3873/j.issn.1000-1328.2021.02.010

• 制导、导航、控制与电子 • 上一篇    下一篇

高精度低连接刚度大惯量扫描镜控制系统设计

闵溢龙，王淦泉   

  1. 1. 中国科学院大学，北京 100049；2. 中国科学院上海技术物理研究所，上海 200083；3. 中国科学院红外探测与成像技术重点实验室，上海 200083

  • 收稿日期:2020-02-05 修回日期:2020-05-03 出版日期:2021-02-15 发布日期:2021-02-15
  • 基金资助:
    中国科学院青年创新促进会人才计划（Y201951）

Design of High Accuracy Scanning Mirror Control System with Large Inertia and Low Stiffness Connection

MIN Yi long, WANG Gan quan   

  1. 1. University of Chinese Academy of Sciences, Beijing 100049, China; 2. Shanghai Institute of Technical Physics of the Chinese Academy of Sciences, Shanghai 200083, China; 3. CAS Key Laboratory of Infrared System Detection and Imaging Technology, Shanghai 200083, China
  • Received:2020-02-05 Revised:2020-05-03 Online:2021-02-15 Published:2021-02-15

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摘要： 针对三轴稳定卫星内低连接刚度条件下的大惯量扫描镜负载在低速摆动时易出现机械谐振的问题，基于电流-速度-位置三闭环控制结构，研究并提出一种有效的易于工程实现的优化控制方法，抑制机械谐振同时提高扫描镜系统的控制性能。首先，根据动力学关系对低刚度连接的电机与扫描镜控制对象建立理论的简化控制模型。然后，分析加速度反馈抑制谐振、提高系统控制性能的原因，并借助电流和位置反馈信号建立加速度观测器获取电机加速度并反馈，仿真分析该方法的优化效果。最后，在实际系统上进行实验检验，对比系统控制误差的变化。结果表明：提出的优化控制方法能够有效地抑制机械谐振，提高系统的控制带宽和动态精度。

关键词: 三轴稳定卫星, 大惯量负载, 扫描镜, 机械谐振, 运动控制, 控制性能, 加速度观测器

Abstract: For a three axis stabilized satellite, the mechanical resonance caused by high inertia load and low stiffness connection is easy to occur in its low speed scanning mirror motion control system. Based on the current speed position control structure, an optimized control method that is effective and easy to be implemented in engineering is investigated and proposed. The mechanical resonance is suppressed and the control performance is improved for the scanning mirror system. Firstly, a theoretical simplified control model is established based on the dynamic relationship between the low stiffness coupling system of the motor and the large inertia scanning mirror. Then, we analyze the reason that the acceleration feedback suppresses the resonance and improves the control ability of the system, use the current and position feedback signals to establish an acceleration observer to obtain the motor acceleration and feedback, and analyze the optimization effect of the method by simulation. Finally, we carry out the experimental verification on an actual system and compare the changes of the system control errors. The experimental results show that the proposed control method can effectively suppress the mechanical resonance, and increase the bandwidth and dynamic accuracy of the motion control system.

Key words:

Three axis stabilized satellite; Mechanical resonance, Large inertia load, Scanning mirror, Motion control, Control capability, Acceleration observer

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