快速反射镜的复合快速非奇异终端滑模控制

李智斌; 李亮; 张建强

doi:10.37188/CO.2023-0203

快速反射镜的复合快速非奇异终端滑模控制

doi: 10.37188/CO.2023-0203

李智斌^1,,
李亮^1,,
张建强^2, ,

1.
山东科技大学电气与自动化工程学院, 山东青岛 266590
2.
南京大学高端控制与智能运维研发中心, 江苏苏州 215163

基金项目: 国家自然科学基金项目（No. 52227811，No. 61733017）；山东省自然科学基金项目（No. ZR2021QF117，No. ZR2021QF140）

详细信息

作者简介:
李智斌（1965—），男，四川巴中人，博士，教授，博士生导师，2003年于清华大学获得博士学位，主要从事复杂系统动力学建模与控制等方面的研究。E-mail：zhibin.li@sdust.edu.cn

李　亮（2000—），男，山东滕州人，硕士研究生，2022年于山东科技大学获得学士学位，主要从事系统辨识、模型降阶、滑模控制等方面的研究。E-mail：lil_sdust@163.com

张建强（1992—），男，山东青州人，博士后，助理教授，2020年于中国科学院大学长春光学精密机械与物理研究所获得博士学位，主要从事激光通信伺服系统、鲁棒控制、模型辨识等方面的研究。E-mail：zhangjg7170@163.com

中图分类号: TP394.1;TH691.9
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出版历程
- 收稿日期: 2023-11-11
- 录用日期: 2024-01-17
- 网络出版日期: 2024-01-31

Composite fast nonsingular terminal sliding mode control of fast steering mirror

1.
College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China
2.
Center for Advanced Control and Smart Operations, Nanjing University, Suzhou 215163, China

Funds: Supported by National Natural Science Foundation of China (No. 52227811, No. 61733017); National Natural Science Foundation of Shandong Province (No. ZR2021QF117, No. ZR2021QF140)

More Information

Corresponding author: zhangjg7170@163.com

摘要

摘要:
为进一步提升激光通信精跟踪系统的控制性能，本文对音圈电机驱动的快速反射镜（Fast Steering Mirror，FSM）控制方法进行了研究。针对FSM中存在的强轴间耦合与外部扰动问题，提出了融合前馈解耦补偿与固定时间扩张状态观测器的复合快速非奇异终端滑模控制策略。首先，采用系统辨识方法建立FSM的双输入双输出耦合传递函数矩阵模型，并设计前馈解耦补偿器补偿耦合分量，以实现X轴和Y轴之间的运动解耦。其次，针对解耦后的各单轴模型，设计固定时间扩张状态观测器，同时实现对角速度和外部干扰的固定时间估计。随后，构建快速非奇异终端滑模面，并在控制律设计中采用指数幂函数取代符号函数，以提高系统收敛速度并抑制控制抖振，基于Lyapunov方法证明所提控制系统的稳定性和跟踪误差有限时间内收敛。最后，通过对比实验，验证提出的复合控制策略的有效性。实验结果表明，FSM在100 Hz强扰动存在的情况下，跟踪60 Hz和120 Hz圆形轨迹，其轨迹跟踪误差的平均绝对值分别为0.0036°和0.0131°，系统能够保持良好的跟踪性能，验证了所提复合控制策略是有效的，满足激光通信FSM的高精度和强抗扰等要求。
- 激光通信 /
- 快速反射镜 /
- 前馈解耦 /
- 扩张状态观测器 /
- 终端滑模
Abstract:
To further enhance the control performance of the precision tracking system for laser communication, this paper studies the control method of the fast steering mirror (FSM) driven by voice coil motor. Aiming at the problems of strong cross coupling characteristics and external disturbances in the FSM, a composite fast nonsingular terminal sliding mode control strategy integrating feedforward decoupling compensation and fixed-time extended state observer is proposed. Firstly, the coupling transfer function matrix model of the FSM with double inputs and double outputs is established by using system identification method, and the feedforward decoupling compensator is designed to compensate for the coupling components and achieve motion decoupling between the X-axis and Y-axis. Secondly, the fixed-time extended state observer is designed for each decoupled single-axis model, to achieve fixed-time estimation of angular velocity and external disturbances simultaneously. Then, the fast nonsingular terminal sliding mode surface is constructed, and the exponential power function is adopted to replace the sign function in control law design, so as to improve the convergence speed of the system and suppress the chattering of sliding mode, the stability of the proposed control system and the finite-time convergence of tracking error are proved based on Lyapunov stability analysis method. Finally, the effectiveness of the proposed composite control strategy is verified by comparative experiments. The experimental results show that under the 100 Hz strong disturbances, the FSM tracking 60 Hz and 120 Hz circular trajectories, the average absolute values of its trajectory tracking error are 0.0036° and 0.0131° respectively, indicating that the system can maintain good tracking performance. The proposed composite control strategy is validated to be effective in meeting the high-precision and strong anti-disturbance requirements of the FSM for laser communication.
- laser communication /
- fast steering mirror /
- feedforward decoupling /
- extended state observer /
- terminal sliding mode

HTML全文

图 1 快速反射镜实物

Figure 1. Physical picture of the FSM

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图 2 实验平台

Figure 2. Experimental platform

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图 3 快速反射镜耦合模型

Figure 3. Coupling model of the FSM

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图 4 开环阶跃响应（解耦前）

Figure 4. Open-loop step responses (before decoupling)

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图 5 前馈解耦控制系统方框图

Figure 5. Feedforward decoupling control system block diagram

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图 6 开环阶跃响应（解耦后）

Figure 6. Open-loop step responses (after decoupling)

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图 7 复合滑模控制结构框图

Figure 7. Composite sliding mode control structure diagram

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图 8 不同σ值时的控制量

Figure 8. The control voltage for different values of σ

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图 9 解耦和未解耦条件下的响应曲线

Figure 9. Response curves under decoupling and un-decoupling

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图 10 扰动估计

Figure 10. The estimated disturbance

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图 11 外部干扰作用下的X轴响应

Figure 11. X-axis responses under external disturbance

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图 12 X轴偏转角度

Figure 12. X-axis deflection angles

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图 13 60 Hz圆轨迹跟踪结果

Figure 13. 60 Hz circular trajectory tracking result

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图 14 120 Hz圆轨迹跟踪结果

Figure 14. 120 Hz circular trajectory tracking result

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