CN100533325C - Computer control system for quick controlling reflector through magnetostriction - Google Patents
Computer control system for quick controlling reflector through magnetostriction Download PDFInfo
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- CN100533325C CN100533325C CNB2006101130474A CN200610113047A CN100533325C CN 100533325 C CN100533325 C CN 100533325C CN B2006101130474 A CNB2006101130474 A CN B2006101130474A CN 200610113047 A CN200610113047 A CN 200610113047A CN 100533325 C CN100533325 C CN 100533325C
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Abstract
A computer control system used on megnetostriction to quickly control reflector is prepared as using signal collection unit to collect two charge values from sensitive transducer and voltage value from environmental source in quick tilt lens of two freedom magnetostriction, amplifying and filtering collected data then sending them to industrial control computer for carrying out relevant calculation to convert them to be two analog control values being sent to signal regulation unit, sending two regulated values to lead wire plug end on said tilt lens for outputting control value of -10 - +10v from said computer.
Description
Technical field
The present invention relates to a kind of system that quick controlling reflector through magnetostriction is controlled, specifically, be meant a kind of real-time computing machine ACTIVE CONTROL system that is used for two degrees of freedom ultra-magnetic telescopic rapid control reflector, this system is applicable to the ACTIVE CONTROL to the vibration of high precision optical axis a little.
Background technology
In optical tracking and measuring system,,, require directly to realize that it is extremely difficult that quick high accuracy is followed the tracks of because its inertia is big, frequency band is narrow, low-response for a class heavy caliber telescope or similar optical system.Guarantee the acceleration target is carried out high-precision tracking and measurement, the tracker of a precision must be arranged.Rapid control reflector is a kind of precision tracking technological means that grew up in recent years,, the variation of light beam arrival direction is proofreaied and correct the correction of i.e. Beam Wave-Front distortion integral inclination in order to control the direction of launching and accepting optical axis.The response of the input of rapid control reflector and optical axis is measured in real time, on the basis of real-time testing, the control algolithm and the ultra-magnetic telescopic actuator that provide by computing machine make optical axis keep steady state (SS) in the environment of low frequency micro breadth oscillation.
As the key problem in the computing machine ACTIVE CONTROL, be a very important aspect in the control field about the research of control algolithm.Controlling achievement in research obtained in the field in recent years can obtain to use in optical axis stable control, and these algorithms mainly comprise two big class, i.e. time domain design method and frequency domain design methods.The time domain method for designing is carried out in state space, is applicable to that controller has the control algolithm design of many input-many output relations, and it need know the state-space model of system.And the frequency domain design method is carried out in real frequency domain or complex frequency domain, and it needs system transter or transfer function matrix model, and this method is directly perceived and convenient for the control algolithm design with single input/list (many) output relation.
For the time domain method for designing, because the indefinability of actuator and total system mathematical model, adaptive control algorithm is one and well selects.And the auto adapted filtering in the adaptive control algorithm since its simple and efficient in active vibration control, use in recent years gradually extensive.
The research of external this respect is carried out early, has obtained certain achievement.As the modeling and the Control Study at magnetostrictive actuator of U.S. CDC SS center deployment, but its gordian technique is maintained secrecy.Though domestic, to have launched as magnetostrictive actuator modelings such as Dalian University of Technology, Zhejiang University, Harbin Institute of Technology, Hebei University of Technology and Control Study, achievement is limited.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of real-time computer control system that is used for quick controlling reflector through magnetostriction is provided, it can realize that two degrees of freedom ultra-magnetic telescopic rapid control reflector is effectively controlled, and can access the tracking performance with high precision and desirable dynamic perfromance in low frequency (below the 100Hz), micro breadth oscillation (optical axis rotates the microradian meter) scope.
Technical solution of the present invention: a kind of computing machine ACTIVE CONTROL system that is used for quick controlling reflector through magnetostriction, its characteristics are: comprise two degrees of freedom ultra-magnetic telescopic rapid control reflector, position sensitive device, laser generator, industrial computer, signal pickup assembly and signal regulating device, rapid control reflector and position sensitive device are fixedly mounted on the stabilizing base, laser generator is installed on the disturbing source, the output terminal of position sensitive device is connected with the line of the control section of two degrees of freedom ultra-magnetic telescopic rapid control reflector, the disturbance light beam that laser generator produces is by the direct reflection of rapid control reflector, receive by position sensitive device then, signal pickup assembly is gathered the voltage U (K) of 2 road voltage E (K) of position sensitive device output and ambient source disturbance and with its amplification, export industrial computer after the filtering to, after industrial computer carries out ACTIVE CONTROL algorithm computation control and treatment to the 2 way word voltage amounts that receive and source disturbance voltage, be converted to 2 tunnel simulation controlled quentity controlled variable F (K) and export signal regulating device to, signal regulating device is simulated controlled quentity controlled variables through filtering to 2 tunnel of reception, 2 ultra-magnetic telescopic actuator that export two degrees of freedom ultra-magnetic telescopic rapid control reflector after the amplification to produce corresponding elongation or contraction, rapid control reflector changes around deciding fulcrum generation angle, the reflection angle that causes laser generator to send the disturbance light beam changes, detect the variation of disturbance beam spot displacement again by position sensitive device, feed back in the industrial computer, thereby finish the real-time control of two degrees of freedom ultra-magnetic telescopic rapid control reflector.
Described industrial computer is made up of industrial control computer, A/D capture card and D/A capture card, and A/D capture card and D/A capture card are installed in the mainframe box of industrial control computer, and the industrial control computer internal memory contains the active vibration control algolithm.The active vibration control algolithm can letter be shown F (K)=f{E (K), U (K) }, f is an adaptive filter algorithm, the vector of E (K) expression sensor output, the vector of U (K) expression ambient source disturbance, the output controlled quentity controlled variable of F (K) expression after the industrial computer computing.
Described signal pickup assembly is made up of voltage amplifier and wave filter, and each passage is for connecting one to one in voltage amplifier and the wave filter; The input end of voltage amplifier connects position sensitive device, and the output terminal of voltage amplifier is connected with the input end of wave filter, and the output terminal of wave filter is connected with the A/D capture card of industrial computer.
Described signal regulating device is made up of wave filter and power amplifier, and each passage is for connecting one to one in wave filter and the power amplifier; The input end of wave filter is connected with the D/A capture card of industrial computer, the output terminal of wave filter is connected with the input end of power amplifier, and the terminal pin end of 2 ultra-magnetic telescopic actuator on the output terminal of power amplifier and the two degrees of freedom ultra-magnetic telescopic rapid control reflector is connected.
The present invention's advantage compared with prior art: (1) as a kind of control system that drives ultra-magnetic telescopic actuator two degrees of freedom rapid control reflector, and (the optical axis stable function under 1～100Hz) is achieved at (microradian level), low frequency a little to make platform; (2) the optical axis stable precision can reach 90%; (3) adopt computing machine to control, algorithm is adjusted and expansion easily with relevant peripherals.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a control flow block diagram of the present invention;
Fig. 3 is an industrial computer inner structure block diagram of the present invention;
Fig. 4 is the effectiveness in vibration suppression control curve map of controlled frequency of the present invention at 5Hz;
Fig. 5 is the effectiveness in vibration suppression control curve map of controlled frequency of the present invention at 60Hz.
Embodiment
As shown in Figure 1, the present invention includes two degrees of freedom ultra-magnetic telescopic rapid control reflector 1, position sensitive device 2, laser generator 3, industrial computer 5, signal pickup assembly 6 and signal regulating device 7, rapid control reflector 1 and position sensitive device 2 are fixedly mounted on the stabilizing base, laser generator 3 is installed on the disturbing source, the output terminal of position sensitive device 2 is connected with the line of the control section of two degrees of freedom ultra-magnetic telescopic rapid control reflector 1, the disturbance light beam that laser generator 3 produces is by the direct reflection of rapid control reflector, receive by position sensitive device 2 then, signal pickup assembly 6 is gathered the voltage U (K) of 2 road voltage E (K) of position sensitive devices 2 outputs and ambient source disturbance and with its amplification, export industrial computer 5 after the filtering to, after 2 way word voltage amounts of 5 pairs of receptions of industrial computer and source disturbance voltage carry out ACTIVE CONTROL algorithm computation control and treatment, be converted to 2 tunnel simulation controlled quentity controlled variable F (K) and export signal regulating device 7 to, 2 tunnel simulation controlled quentity controlled variables of 7 pairs of receptions of signal regulating device are through filtering, export 2 ultra-magnetic telescopic actuator terminal pin ends of two degrees of freedom ultra-magnetic telescopic rapid control reflector 1 after the amplification to, make it produce corresponding elongation or contraction, rapid control reflector changes around deciding fulcrum generation angle, the reflection angle that causes laser generator 3 to send the disturbance light beam changes, detect the variation of disturbance beam spot displacement again by position sensitive device 2, feed back in the industrial computer 5, thereby finish the real-time control of two degrees of freedom ultra-magnetic telescopic rapid control reflector.
The giant magnetostrictive material of ultra-magnetic telescopic actuator of the present invention is chosen Tb
0.27-0.3Dy
0.7- 0.73Fe
1.9-2.0, the giant magnetostrictive coefficient of its performance curve linearity range reaches more than the 1000ppm.
In the present invention, signal pickup assembly 6 is made up of INV-6 type anti-aliasing filtering amplifier and the program control anti alias filter of DH3766 type, and each passage is for connecting one to one in amplifier and the wave filter; The input end of voltage amplifier connects position sensitive device, and the output terminal of voltage amplifier is connected with the input end of wave filter, and the output terminal of wave filter is connected with the A/D capture card of industrial computer 5.
As shown in Figure 3, industrial computer 5 is by EOVC-810 type industrial control computer 51, PCL-818H analog-digital conversion a/d capture card 52 and PCL-726 digital-to-analog conversion D/A capture card 53 are formed, A/D capture card 52 and D/A capture card 53 are installed in the mainframe box of industrial control computer 51, industrial control computer 51 internal memories contain the active vibration control algolithm, its control algolithm letter is shown F (K)=f{E (K), U (K) }, f is an adaptive filter algorithm, the vector of E (K) expression sensor output, the vector of U (K) expression source disturbance, the output controlled quentity controlled variable of F (K) expression after industrial computer 5 computings.
As shown in Figure 2, control algolithm flow process of the present invention is as follows: each vector of initialization (input quantity that comprises the source disturbance at first, computing machine is exported to the vector of actuator etc.), the exponent number of wave filter, under real-time controlled condition, calculate control output vector F (K) with upgrading input vector U (K) and sensor output vector E (K) through " active vibration control algolithm F (K)=f{E (K); U (K) } ", control output vector F (K) changes to convergence to judge whether converge to the best through D/A, then carry out signals collecting again if be judged as "No", calculate, handle and control, the vector of gathering and handling up to institute makes system converge to the best; If be judged as "Yes", this ACTIVE CONTROL of system finishing.
In the vector of the collection of industrial computer 5, control output, should set each passage, can carry out passage in conjunction with the architectural feature of two degrees of freedom ultra-magnetic telescopic fast mirror 1 and divide.In the present invention, " ACTIVE CONTROL algorithm " at first determines passage, and the directions X displacement voltage amount that position sensitive device 2 is exported is set at first passage, is expressed as CH-1, and the controlled quentity controlled variable of first actuator input simultaneously also is set at the CH-1 passage and is complementary with it; The Y direction displacement voltage amount and second actuator of position sensitive device 2 output are expressed as the CH-2 passage, are expressed as the CH-O passage as the source disturbance voltage vector of vibration source.Each passage is the relation of connecting one to one in EOVC-810 type industrial control computer 51.Export the control output of controlled quentity controlled variable F (K) then at each passage, the relational expression of output controlled quentity controlled variable is F (K)=f{E (K), U (K) }, input, the concrete port number of output quantity substitution to passage when judging passage separately get final product.As shown in Figure 3.
Fig. 4 and Fig. 5 are respectively the optical axis stable control system are carried out the effect that tracking Control obtains, and the first half among the figure is the control output quantity of computing machine, and the latter half is the tracking error of rapid control reflector.Wherein, excited frequency is 5Hz and 60Hz, and reference signal is that signal generator signal u (k), control channel low-pass filter setpoint frequency are that 2000Hz, sample frequency are 1000Hz.Show proof among the figure: adopt industrial control computer to carry out tracking Control, can obtain tracking error less than 5% effect.
The simple declaration that the equipment of choosing is configured below.Choosing of each equipment only is used to illustrate that vibration damping control system of the present invention is feasible, and is not used in the qualification the scope of protection of the invention.
(1) industrial computer
Industrial control computer: select the Industrial Control Computer that grinds auspicious industry control company for use, its specific targets are:
Cabinet 810P, IPC-68IIDF (B), CPU frequency PIII 650, hard disk 20G, CD-ROM drive 40X, internal memory 128M, beautiful 8M video card, 15 " the Fei Lipu display.
Be stored in software in the computing machine and adopt object-oriented and dynamic data exchange, advanced computer software technology such as visual, make this software be easy to reengineering.The SDK (Software Development Kit) of using is the Matlab6.5 in present field of software development object-oriented Integrated Development Environment Visual C++6.0 and engineering calculation field.
(2) A/D and D/A converter: select the product P CL-816H that grinds auspicious industry control company for use, its specific targets are:
(a) 16 tunnel 16 unipolarity inputs (or 8 tunnel differential inputs)
(b) A/D switching time 10
μ sSample speed can reach 100kHz
(c) 16 PC/ISA buses
(d) input range:, ± 10V, ± 5V, ± 2.5V, ± 1.25V
(e) precision: 0.003%FSR ± 1LSB
(f) input impedance 10M Ω
(g) 2 tunnel 12 simulation output
(h) output area is :-10V～+ 10V
(i) D/A switching time＜6 μ s, output signal is ± 5mA (min)
Calculate according to maximum sampling way, every A/D plate sampling 6 tunnel at most is 40kHz according to one tunnel sampling rate, and then sampling one the tunnel needs time 1/40ms, and sampling 18 the tunnel needs time 18/40=0.45ms.The time of D/A conversion is μ s level, can ignore switching time with respect to A/D.If system adopts the sampling period of 1ms, then moving control law and other adjective time can only have about 0.5ms.
(3) position sensitive device and voltage amplifier
The position sensitive device of Cai Yonging is the SPANA9 type in the present invention, the output of ± 4.5V voltage, sensitivity 1mV/ μ m.
Because the voltage that position sensitive device produces is less, generally needs to adopt secondary instrument to amplify and to be applied to better in the optical axis stable control.Voltage amplifier is the prime amplifier that a kind of output voltage and input voltage amount are directly proportional.The voltage amplifier model that the present invention adopts is: INV-6 type anti-aliasing filtering amplifier.
Its parameter is: measuring error＜2%; Hz-KHz is 0.3～10
5Hz;
The input quantity of electric charge is 0.1～10
6PC; Output: 0～10V; 50mA;
Enlargement factor is 1,10,100,1,000 four kinds of ranks.
Real-time computing machine ACTIVE CONTROL system of the present invention obtains in the test that experimentizes at two free rapid control reflectors, and the two degrees of freedom rapid control reflector can make the two degrees of freedom disturbance of optical axis subdue 20～30 decibels simultaneously in 1～100Hz.
Claims (9)
1, a kind of computer control system that is used for quick controlling reflector through magnetostriction, it is characterized in that: comprise two degrees of freedom ultra-magnetic telescopic rapid control reflector, position sensitive device, laser generator, industrial computer, signal pickup assembly and signal regulating device, rapid control reflector and position sensitive device are fixedly mounted on the stabilizing base, laser generator is installed on the disturbing source, the output terminal of position sensitive device is connected with the line of the control section of two degrees of freedom ultra-magnetic telescopic rapid control reflector, the disturbance light beam that laser generator produces is by the direct reflection of rapid control reflector, receive by position sensitive device then, signal pickup assembly is gathered the voltage U (K) of 2 road voltage E (K) of position sensitive device output and ambient source disturbance and with voltage E (K) and U (K) amplification, export industrial computer after the filtering to, after industrial computer carries out ACTIVE CONTROL algorithm computation control and treatment to the 2 way word voltage amounts that receive and source disturbance voltage, be converted to 2 tunnel simulation controlled quentity controlled variable F (K) and export signal regulating device to, signal regulating device is simulated controlled quentity controlled variables through filtering to 2 tunnel of reception, 2 ultra-magnetic telescopic actuator that export two degrees of freedom ultra-magnetic telescopic rapid control reflector after the amplification to produce corresponding elongation or contraction, rapid control reflector changes around deciding fulcrum generation angle, the reflection angle that causes laser generator to send the disturbance light beam changes, detect the variation of disturbance beam spot displacement again by position sensitive device, feed back in the industrial computer, thereby finish the real-time control of two degrees of freedom ultra-magnetic telescopic rapid control reflector.
2, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 1, it is characterized in that: described signal pickup assembly is made up of voltage amplifier and wave filter, each passage is for connecting one to one in voltage amplifier and the wave filter, the input end of voltage amplifier connects position sensitive device, the output terminal of voltage amplifier is connected with the input end of wave filter, and the output terminal of wave filter is connected with the A/D capture card of industrial computer.
3, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 2 is characterized in that: described voltage amplifier can be chosen INV-6 type anti-aliasing filtering amplifier, and wave filter is chosen the program control anti alias filter of DH3766 type.
4, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 1, it is characterized in that: described signal regulating device is made up of wave filter and power amplifier, and each passage is for connecting one to one in wave filter and the power amplifier; The input end of wave filter is connected with the D/A capture card of industrial computer, the output terminal of wave filter is connected with the input end of power amplifier, and the terminal pin end of 2 ultra-magnetic telescopic actuator on the output terminal of power amplifier and the two degrees of freedom ultra-magnetic telescopic quick titling mirror is connected.
5, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 4, it is characterized in that: described wave filter is chosen the program control anti alias filter of DH3766 type, and power amplifier is chosen GF-20 type power amplifier.
6, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 1, it is characterized in that: described industrial computer is made up of industrial control computer, A/D capture card and D/A capture card, A/D capture card and D/A capture card are installed in the mainframe box of industrial control computer, and the industrial control computer internal memory contains the active vibration control algolithm.
7, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 6, it is characterized in that: described active vibration control algolithm is F (K)=f{E (K), U (K) }, f is an adaptive filter algorithm, the vector of E (K) expression sensor output, the vector of U (K) expression source disturbance, the output controlled quentity controlled variable of F (K) expression after the industrial computer computing.
8, a kind of computer control system that is used for quick controlling reflector through magnetostriction according to claim 6, it is characterized in that: industrial control computer is chosen EOVC-810 type computing machine, the A/D capture card is chosen PCL-818H analog to digital conversion capture card, and the D/A capture card is chosen PCL-726 digital-to-analog conversion card.
9, according to claim 1 or 7 described a kind of computer control systems that are used for quick controlling reflector through magnetostriction, it is characterized in that: the controlled quentity controlled variable F (K) of industrial computer output for-10V～+ 10V.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101130474A CN100533325C (en) | 2006-09-08 | 2006-09-08 | Computer control system for quick controlling reflector through magnetostriction |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101130474A CN100533325C (en) | 2006-09-08 | 2006-09-08 | Computer control system for quick controlling reflector through magnetostriction |
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| CN100533325C true CN100533325C (en) | 2009-08-26 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103682967A (en) * | 2012-12-28 | 2014-03-26 | 清华大学 | Addressing pump capable of achieving amplification of variable-angle incident laser |
| CN103092219B (en) * | 2013-01-15 | 2015-05-06 | 中国科学院光电技术研究所 | Finite state machine (FSM) remote real-time control time compensation system and method |
| CN104215431A (en) * | 2014-09-25 | 2014-12-17 | 中国工程物理研究院应用电子学研究所 | Rapid tilting mirror performance testing device |
| CN104808721B (en) * | 2015-04-24 | 2018-06-08 | 重庆迈科唯医疗科技有限公司 | A kind of control signal wire exports regulating mechanism |
| CN104993735B (en) * | 2015-07-21 | 2017-04-12 | 安徽理工大学 | Two-degree-of-freedom precision micro positioning system and two-degree-of-freedom precision micro positioning method for giant magnetostrictive actuation |
| CN108344428B (en) * | 2018-01-31 | 2019-08-20 | 武汉理工大学 | Grating perception data active noise reduction processing unit and method inside GMA |
| CN109579690A (en) * | 2018-12-04 | 2019-04-05 | 天津津航技术物理研究所 | A kind of high-precision angular displacement detecting device for fast anti-mirror image stabilization system |
| CN110989164B (en) * | 2019-12-24 | 2020-12-08 | 成都英飞睿技术有限公司 | Self-adaptive drive control method, system and device for quickly controlling reflector |
| CN112666859A (en) * | 2020-12-14 | 2021-04-16 | 武汉华中天纬测控有限公司 | High-precision two-dimensional quick reflector device |
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