大惯量扫描镜的滑模自抗扰控制

Sliding mode active disturbance rejection control of large inertia scanning mirror

针对大惯量扫描镜伺服系统中因柔性连接所导致的机械谐振问题,本文提出一种非线性滑模自抗扰控制方法对机械谐振加以抑制.首先建立了伺服系统谐振数学模型,并分析了自抗扰控制抑制谐振的原理;然后建立了速度环滑模自抗扰控制器,并在计算机仿真软件中针对连续-离散混合模型进行仿真;最后在大惯量扫描镜机构上进行控制实验.仿真结果表明,采用滑模自抗扰控制后,机械谐振得到了抑制,系统的动态性能得到了提高,系统更接近于刚性连接系统.实验结果表明,扫描镜摆动过程中匀速段及反向加速段的机械谐振得到了有效抑制,位置跟踪精度得到了有效提高,达到了设计要求(<1′′).

A nonlinear sliding mode active disturbance rejection control method is proposed to suppress the mechanical resonance caused by the flexible connection in large inertia scanning mirror servo system.Firstly,the resonance mathematical model of servo system is established,and the principle of active disturbance rejection control is analyzed.Then,the sliding mode active disturbance rejection controller of the speed loop is established and simulated in the computer simulation software for the continuous-discrete mixed model.Finally,the control experiment is carried out on the large inertia scanning mirror mechanism.The simulation results show that after the sliding mode active disturbance rejection controller is adopted,the mechanical resonance is suppressed,the dynamic performance of the system is improved,and the system is closer to the rigid connection system.The experimental results show that the mechanical resonance of the scanning mirror in the period of uniform velocity and reverse acceleration is effectively suppressed and the position tracking accuracy is effectively improved,and meets the design requirements(<1′′).