振镜激光跟踪系统的鲁棒复合控制方法

Robust compound control method for laser tracking system of galvanometer

摘要:

为了提高振镜激光跟踪系统的跟踪性能，针对振镜系统在使用过程中存在不确定性的问题，设计了一种基于前馈与反馈的复合控制方法；该控制方法通过零相差跟踪控制器(ZPETC)提高了振镜系统的跟踪性能，并采用了加性分解输出器抑制由系统的不确定性所带来的干扰，然后再通过差分进化算法设计无超调PID控制器来补偿剩余误差；在振镜系统辨识的基础上进行Matlab仿真实验，给辨识模型加入扰动模拟系统参数摄动，通过比较不同控制器下系统的跟踪误差，验证各控制器的作用。仿真结果表明，组合控制器在跟踪过程中能有效降低系统不确定性带来的影响，确保振镜系统拥有良好的跟踪性能。

Abstract:

In order to improve the tracking performance of the galvanometer laser tracking system. A combined control strategy based on feedforward and feedback is designed to solve the problem of uncertainty of the galvanometer motor. This control strategy improves the tracking performance of the galvanometer system through the Zero Phase Error Tracking Controller(ZPETC), additional it uses additive output decomposition to suppress the interference caused by the uncertainty of the system,Then, the residual error can be compensated by the no overshoot PID controller which drived from differential evolution. On the basis of the identification of the galvanometer system and the simulation experiment on Matlab. The system parameter perturbation is simulated by adding disturbance to the identification model. By comparing the tracking error of different controller systems, the function of each controller is verified.Simulation results show that the combined controller can effectively reduce the influence of system uncertainty and ensure the good tracking performance of the galvanometer system.