结合卡尔曼滤波和离散滑模的振镜位置跟踪研究

The Galvanometer Position Tracking Based on Kalman Filter and Discrete Sliding Mode

为解决外部扰动和噪声对振镜系统位置跟踪的影响,该文提出了一种结合卡尔曼滤波和离散滑模控制的振镜位置跟踪方法.首先,围绕振镜系统驱动电机的离散数学模型,构建卡尔曼滤波器来估计振镜系统真实的运动变化,降低外部扰动和噪声对系统的影响;其次,结合离散滑模控制对跟踪误差进行修正,使振镜系统位置量和速度量快速稳定,进一步提升系统的抗干扰能力和位置跟踪能力;最后,针对瞬时和连续性2种类型的外部扰动设计了对比仿真实验和振镜系统平台的验证实验.实验结果表明:在这2种不同类型的外部扰动下,该控制方法都能够使振镜的扫描反射镜快速、准确地跟踪给定期望值,且有效抑制离散滑模控制的抖振问题.

In order to solve the influence of external disturbance and noise imposed on the trajectory state of galvanometer scanning mirror,the control method combining Kalman filter and discrete sliding mode is proposed to tracking desired angular position.Firstly,around the discrete mathematical model of the driving motor of the galvanometer system,the Kalman filter is constructed to estimate the real motion change of the galvanometer system,so as to reduce the influence of external disturbance and noise on the system.Secondly,the tracking error is corrected by discrete sliding mode control,which makes the position and velocity of the galvanometer system stable quickly,and further improves the anti-interference ability and position tracking ability of the system.Finally,the comparative simulation experiment and the verification experiment of galvanometer system platform are designed for two both instantaneous and continuous types of external disturbances.The simulation and experimental results show that under two different types of external disturbances,the control method can not only make the scanning mirror of the galvanometer track the expected value quickly and accurately,but also suppress the chattering problem of discrete sliding mode control effectively.