激光精确跟踪平台控制系统的设计

Control System Design of Precise Laser Tracking Platform

通过研究以多自由度运动控制器为核心的高精度转台以及二维运动平台的控制系统,以编码器或光栅尺作为位置反馈信息,采用PID控制算法,实现了高精度转台及二维运动平台的全闭环控制。通过配有激光测距传感器的可水平、俯仰运动的转台作为基站,用可水平、竖直运动的二维运动平台模拟运动目标,利用CAN总线通讯构建激光跟踪系统,为激光跟踪方案的可行性研究提供可靠的实验验证平台。实验结果表明,上述激光精确跟踪平台,运行状态良好,能够达到较高的运动速度和精度,有很好的使用价值。

The control methods of high- precision turntable and the two- dimensional motion platform, with the multi - freedom motion controller as its core, were studied. Using encoder or grating ruler as the feedback of the posi- tion and with PID control algorithm, we can have a closed loop control of the high - precision turntable and the two - dimensional motion platform. The system used a turntable, which is equipped with a laser distance sensor and can horizontally rotate and tilt, as the location tracking base station, and used a two - dimensional motion platform which can ptay translational and vertical movement to simulat the moving target. Thus a laser tracking system was built based on CAN bus communication. Experiments show that the laser tracking system moves in good condition and can achieve high speed and precision and has an important value in use.