扫描镜伺服系统控制器设计和参数优化

Design and Parameters Optimization of Servo System Controller for Scanning Mirror

介绍了一种扫描镜伺服系统的结构组成及其工作原理 ,分析了系统中的耦合特性 ,设计了伺服控制器。首先采用硬件方法对力矩耦合进行解耦 ,推导出俯仰、方位系统的简化模型 ,然后应用扩张状态观测器估计每个方向上的角速度和系统的实时扰动并加以补偿。非线性控制方法的采用提高了系统性能。针对控制器存在较多可调参数的特点 ,将传统的遗传算法进行改进后 ,应用于控制器参数的优化。仿真结果表明 ,对于扫描镜伺服系统 ,所给的设计方法是可行的 ,并使得整体设计更加简单。

The structure formation and the operating principle of the servo system for a scanning mirror are introduced in the paper.The coupling property is analyzed and the controller is designed.The torque coupling is decoupled first with a hardware method.The simplified model for elevation and azimuth systems are derived,then the angular velocity in each direction and the real time disturbance of the system will be estimated by and extending state observer and compensated.The system property is improved by a nonlinear control method.In view of the property that the controller has more adjustable parameters,the improved traditional generic algorithm can be applied to the optimization of system parameters.The simulation results show that the given design method for the servo system of scanning mirror is feasible and it makes the integral design simpler.