激光光束偏转设备的机电控制系统设计
摘要
在光学捕获、跟踪和瞄准中,对激光束控制一般分为粗跟瞄和精跟瞄两套光机电系统。粗跟瞄系统的光束偏转范围大而响应速度慢;精跟瞄系统的光束控偏转范围小而响应速度快。在粗跟瞄系统中,微透镜阵列技术作为一种响应速度快,偏转范围较大的技术日益受到人们的关注。而音圈电机(VCA)作为一种执行器,在理论上具有无限分辨率、无滞后、高响应、高加速度/高速度、体积小、力特性好、控制方便等优点,其应用日益广泛。
本文提出了一种利用音圈电机驱动微透镜阵列,实现激光束方向控制的新方法。该方法采用TI公司TMS320F2812数字信号处理器作为控制器,通过离散化的PID控制律,将位移传感器反馈回的位移信号和上位机传送的参考信号进行处理,得到的电压信号转化成脉宽调制(PWM)脉冲并输入到自主研制的脉宽调制直流电压电路驱动音圈电机,音圈电机作为执行器带动微透镜阵列作直线运动,并用USB端口作为整个控制系统与上位机的通讯接口。本文在建立音圈电机传递函数的基础上,设计了控制系统,并通过大量仿真实验进行了PID参数的整定;最后,建立了实验平台,并利用该平台进行了实验验证,对控制电路的线性度,稳定性以及分辨力进行了实际测试,并对整体定位控制系统的控制效果做了大量的实际检验,其结果系统分辨力为10μm,符合系统设计指标。
In the technique of laser acquisition, pointing and tracking, the laser beam steering can be divided into two categories. One is the coarse laser beam steering and the other is the fine coarse beam steering. The coarse laser beam steering obtains large steering angle but low steering velocity while the fine laser beam steering possesses small steering angle but high steering velocity. In coarse laser beam steering, micro lens array which can response fast and steer large angle is becoming more and more popular. Meanwhile, voice coil actuator (VCA) is used more and more widely because of its advantages: theoretically unlimited resolution, no lag, high response speed, high acceleration, high speed, compact volume, good characteristics of force and convenient for controlling.
This paper presents a novel way of laser beam steering based on micro lens array and driven by voice coil actuator. TMS320F2812 digital signal processor from TI Corp. is used as controller with discrete PID in it while voice coil actuator is used to drive micro lens array in order to make linear displacement. Pulse width modulation (PWM) driver is used to drive voice coil actuator and a displacement sensor gathers displacement signal which acts as the feedback signal of the system. At last, USB is implemented to transfer signals between the control system and PC. Based on the foundation of the transfer function of voice coil actuator, the PID control method is simulated and the coefficient of PID is regulated. Finally, the experiment platform is created and experiment is carried out. The resolution of system is proved to be 10μm. The result proved that the method can steer laser beam.
本文提出了一种利用音圈电机驱动微透镜阵列,实现激光束方向控制的新方法。该方法采用TI公司TMS320F2812数字信号处理器作为控制器,通过离散化的PID控制律,将位移传感器反馈回的位移信号和上位机传送的参考信号进行处理,得到的电压信号转化成脉宽调制(PWM)脉冲并输入到自主研制的脉宽调制直流电压电路驱动音圈电机,音圈电机作为执行器带动微透镜阵列作直线运动,并用USB端口作为整个控制系统与上位机的通讯接口。本文在建立音圈电机传递函数的基础上,设计了控制系统,并通过大量仿真实验进行了PID参数的整定;最后,建立了实验平台,并利用该平台进行了实验验证,对控制电路的线性度,稳定性以及分辨力进行了实际测试,并对整体定位控制系统的控制效果做了大量的实际检验,其结果系统分辨力为10μm,符合系统设计指标。
In the technique of laser acquisition, pointing and tracking, the laser beam steering can be divided into two categories. One is the coarse laser beam steering and the other is the fine coarse beam steering. The coarse laser beam steering obtains large steering angle but low steering velocity while the fine laser beam steering possesses small steering angle but high steering velocity. In coarse laser beam steering, micro lens array which can response fast and steer large angle is becoming more and more popular. Meanwhile, voice coil actuator (VCA) is used more and more widely because of its advantages: theoretically unlimited resolution, no lag, high response speed, high acceleration, high speed, compact volume, good characteristics of force and convenient for controlling.
This paper presents a novel way of laser beam steering based on micro lens array and driven by voice coil actuator. TMS320F2812 digital signal processor from TI Corp. is used as controller with discrete PID in it while voice coil actuator is used to drive micro lens array in order to make linear displacement. Pulse width modulation (PWM) driver is used to drive voice coil actuator and a displacement sensor gathers displacement signal which acts as the feedback signal of the system. At last, USB is implemented to transfer signals between the control system and PC. Based on the foundation of the transfer function of voice coil actuator, the PID control method is simulated and the coefficient of PID is regulated. Finally, the experiment platform is created and experiment is carried out. The resolution of system is proved to be 10μm. The result proved that the method can steer laser beam.
引文
1王晓海.国外空间激光通信系统技术最新进展.电信快报. 2006(7):16~19
2 Louay Eldada. Telecom optical componentry: past, present, future. Proc. SPIE on Fiber Optic Components. Subsystems, and System for Telecommunications. Proc. SPIE. 2001(4604):1~15
3 Louay Eldada. Advances in telecom and datacom optical components. Optical Engineering. 2001,40(7):1165~1176
4刘智,卢益民,罗萌.星间光通信中的瞄准、捕获和跟踪.计算机与数字工程. 2006,34(5):71~74
5马佳光.捕获跟踪与瞄准系统的基本技术问题.光电工程. 1989, 16(3): 1~41
6 Allan Gibson. Laser Pointing Technology. Proc. SPIE. 2000,4034:165~174
7 J. Sofka, V. Skormin, V. Nikulin and D. J. Nicholson. Omni-Wrist III–A New Generation of Pointing Devices Part I: Laser Beam Steering Devices–Mathematical Modeling. Aerospace and Electronic Systems. 2006,42(2):718~725
8 J. Sofka, V. Skormin, V. Nikulin and D. J. Nicholson. Omni-Wrist III–A New Generation of Pointing Devices Part II: Gimbal Systems–Control. Aerospace and Electronic Systems. 2006,42(2):726~734
9 Vladimir V. Nikulin, Mounir Bouzoubaa, Victor A. Skormin and Timothy E. Busch. Modeling of an acousto-optic laser beam steering system intended for satellite communication. Optical Engineering. 2001,40(10):2208-2214
10 M. Ostaszewski, C. Hoffman, M. Sanchez, D. Gutow and R. Pierce. Risely Prism Beam Pointer. SPIE. 2006,6304:630406-1~630406-10
11李安虎,孙建锋,刘立人.高准确度光束偏转装置的设计与分析.光子学报. 2006,35(9):1379~1382
12 Edward A. Watson. Analysis of beam steering with decentered microlens arrays. Optical Engineering. 1993,32(11):2665~2670
13 W. Goltsos and M. Holz. Agile beam steering using binary optics microlens arrays. Optical Engineering. 1990,29(11):1392~1397
14 Graham F. McDearmon, Kevin M. Flood, and J. Michael Finlan. Comparison of conventional and microlens-array agile beam steerers. Proc. SPIE. 1995,2383:167~178
15 P. F. Mcmanamon et al. Optical Phased Array Technology. Proc. IEEE. 1996,84(2):268~298
16 P. F. Mcmanamon and E. A. Watson. Optical Beam Steering Using Phased Array Technology. Proc. SPIE. 1997,3131:90~98
17 Hans Dieter Tholl. Novel Laser Beam Steering Techniques. Proc. SPIE. 2006,6397:639708-1~639708-14
18 Edward A. Watson and Angela R. Miller. Analysis of Optical Beam Steering Using Phased Micromirror Arrays. Proc. SPIE. 1996,2687:60~67
19 Anil K. Jain. Binary optic laser scanner for LADAR/LIDAR and other applications. Proc. SPIE. 1994,2120:225~236
20 P. R. Patterson et al. Scanning micromirrors: An overview. Proc. SPIE. 2004,5604:195~207
21 Vladimir V. Nikulin, Jozef Sofka and Victor A. Skormin. Advanced Lyapunov control of a novel laser beam tracking system. Optical Engineering. 2005,44(5):056004-1~056004-8
22 Jay Stockley and Steve Serati. Advances in liquid crystal beam steering. Proc. SPIE. 2004,5550:32~39
23 Kevin M. Flood, Bill Cassarly, Christina Sigg, and J. Michael Finlan. Continuous Wide Angle Beam Steering Using Translation of Binary Microlens Arrays and a Liquid Crystal Phased Array. Proc. SPIE. 1990,1211: 296~297
24 J. Sofka, V. Nikulin, V. Skormin and D. Nicholson. Hybrid laser-beam steerer for laser communications applications. Proc. SPIE. 2004,5160: 161~163
25张大卫,冯晓梅.音圈电机的技术原理.中北大学学报. 2006, 27(3): 224~228
26杨建东,裴先登,梅松.音圈电机力常数高精度测试技术研究.电子计算机外部设备. 1993,17(5):46~48
27尹功勋.直线式音圈电机BL测试仪的研制.电子计算机外部设备. 1991,5:69~71
28 Santosh Devasia, Evangelos Eleftheriou and S. O. Reza Moheimani. A Survey of Control Issues in Nanopositioning. Proc. IEEE. 2007,15(5): 802~823
29 Shigeki Mori, Takayuki Hoshino, Goro Obinata and Kazuhiro Ouchi. Air- Bearing Linear Actuator for Highly Precise Tracking. Proc. IEEE. 2003,39(2): 812~818
30 L. P. Maguire, S. Szilagyi, and R. E. Scholten. High performance laser shutter using a hard disk drive voice-coil actuator. Rev. Sci. Instrument. 2004,75(9):3077~3079
31 Rahul Banik and Dae-Gab Gweon. Design and optimization of voice coil motor for application in active vibration isolation. Sensors and Actuators. 2007,137:236~243
32冯晓梅,张大卫,赵兴玉,杜伟涛.基于音圈电机的新型高速精密定位系统设计方法.中国机械工程. 2005,16(16):1414~1419
33冯晓梅,张大卫,赵兴玉,杜伟涛.面向IC封装的两自由度高速精密定位系统.焊接学报. 2006,27(7):13~17
34张武军.基于音圈电机驱动的快速定位系统设计及关键技术研究.国防科学技术大学硕士论文. 2006:53~54
35王强,陈科,傅承毓.基于闭环特性的音圈电机驱动快速反射镜控制.光电工程. 2005,32(2):9~11
36梅晓榕.自动控制原理.科学出版社. 2004:149~155
37陶永华. PID控制原理和自整定策略.工业仪表与自动化装置. 1997(4): 60~64
38 Jennifer L. Gibson, Bradley D. Duncan, Edward A. Watson and John S. Loomis. Wide-angle decentered lens beam steering for infrared countermeasures applications. Optical Engineering. 2004,43(10):2312~2321
39 M.E. Motamedi, A.P. Andrews, W.J. Gunning, and M. Khoshnevisan. Microoptic laser beam scanner. Proc. SPIE. 1993,1992:1~4
40 Cypress Semiconductor Corp. EZ-USB Technical Reference Manual. 001-13670 Version:13~15
41 Texas Instruments Corp. TMS320F28x DSP External Interface (XINTF) Reference Guide. 2003:1~23
42 Texas Instruments Corp. TMS320F28x DSP Event Manager (EV) Reference Guide. 2003:1-12~1-35
43 National Semiconductor Corp. LMD18200 Datasheet. 1999:1~12
44 USAS Corp. VLR0015-0062-00A Reference.
45 Cypress Semiconductor Corp. Cypress CyAPI Programmer’s Reference. 2003: 1~56
46郭敬枢,庄继东,孔峰.微机控制技术.重庆大学出版社. 1994:35~40
47俞忠原,陈一民.工业过程控制计算机系统.北京理工大学出版社. 1995: 10~16
2 Louay Eldada. Telecom optical componentry: past, present, future. Proc. SPIE on Fiber Optic Components. Subsystems, and System for Telecommunications. Proc. SPIE. 2001(4604):1~15
3 Louay Eldada. Advances in telecom and datacom optical components. Optical Engineering. 2001,40(7):1165~1176
4刘智,卢益民,罗萌.星间光通信中的瞄准、捕获和跟踪.计算机与数字工程. 2006,34(5):71~74
5马佳光.捕获跟踪与瞄准系统的基本技术问题.光电工程. 1989, 16(3): 1~41
6 Allan Gibson. Laser Pointing Technology. Proc. SPIE. 2000,4034:165~174
7 J. Sofka, V. Skormin, V. Nikulin and D. J. Nicholson. Omni-Wrist III–A New Generation of Pointing Devices Part I: Laser Beam Steering Devices–Mathematical Modeling. Aerospace and Electronic Systems. 2006,42(2):718~725
8 J. Sofka, V. Skormin, V. Nikulin and D. J. Nicholson. Omni-Wrist III–A New Generation of Pointing Devices Part II: Gimbal Systems–Control. Aerospace and Electronic Systems. 2006,42(2):726~734
9 Vladimir V. Nikulin, Mounir Bouzoubaa, Victor A. Skormin and Timothy E. Busch. Modeling of an acousto-optic laser beam steering system intended for satellite communication. Optical Engineering. 2001,40(10):2208-2214
10 M. Ostaszewski, C. Hoffman, M. Sanchez, D. Gutow and R. Pierce. Risely Prism Beam Pointer. SPIE. 2006,6304:630406-1~630406-10
11李安虎,孙建锋,刘立人.高准确度光束偏转装置的设计与分析.光子学报. 2006,35(9):1379~1382
12 Edward A. Watson. Analysis of beam steering with decentered microlens arrays. Optical Engineering. 1993,32(11):2665~2670
13 W. Goltsos and M. Holz. Agile beam steering using binary optics microlens arrays. Optical Engineering. 1990,29(11):1392~1397
14 Graham F. McDearmon, Kevin M. Flood, and J. Michael Finlan. Comparison of conventional and microlens-array agile beam steerers. Proc. SPIE. 1995,2383:167~178
15 P. F. Mcmanamon et al. Optical Phased Array Technology. Proc. IEEE. 1996,84(2):268~298
16 P. F. Mcmanamon and E. A. Watson. Optical Beam Steering Using Phased Array Technology. Proc. SPIE. 1997,3131:90~98
17 Hans Dieter Tholl. Novel Laser Beam Steering Techniques. Proc. SPIE. 2006,6397:639708-1~639708-14
18 Edward A. Watson and Angela R. Miller. Analysis of Optical Beam Steering Using Phased Micromirror Arrays. Proc. SPIE. 1996,2687:60~67
19 Anil K. Jain. Binary optic laser scanner for LADAR/LIDAR and other applications. Proc. SPIE. 1994,2120:225~236
20 P. R. Patterson et al. Scanning micromirrors: An overview. Proc. SPIE. 2004,5604:195~207
21 Vladimir V. Nikulin, Jozef Sofka and Victor A. Skormin. Advanced Lyapunov control of a novel laser beam tracking system. Optical Engineering. 2005,44(5):056004-1~056004-8
22 Jay Stockley and Steve Serati. Advances in liquid crystal beam steering. Proc. SPIE. 2004,5550:32~39
23 Kevin M. Flood, Bill Cassarly, Christina Sigg, and J. Michael Finlan. Continuous Wide Angle Beam Steering Using Translation of Binary Microlens Arrays and a Liquid Crystal Phased Array. Proc. SPIE. 1990,1211: 296~297
24 J. Sofka, V. Nikulin, V. Skormin and D. Nicholson. Hybrid laser-beam steerer for laser communications applications. Proc. SPIE. 2004,5160: 161~163
25张大卫,冯晓梅.音圈电机的技术原理.中北大学学报. 2006, 27(3): 224~228
26杨建东,裴先登,梅松.音圈电机力常数高精度测试技术研究.电子计算机外部设备. 1993,17(5):46~48
27尹功勋.直线式音圈电机BL测试仪的研制.电子计算机外部设备. 1991,5:69~71
28 Santosh Devasia, Evangelos Eleftheriou and S. O. Reza Moheimani. A Survey of Control Issues in Nanopositioning. Proc. IEEE. 2007,15(5): 802~823
29 Shigeki Mori, Takayuki Hoshino, Goro Obinata and Kazuhiro Ouchi. Air- Bearing Linear Actuator for Highly Precise Tracking. Proc. IEEE. 2003,39(2): 812~818
30 L. P. Maguire, S. Szilagyi, and R. E. Scholten. High performance laser shutter using a hard disk drive voice-coil actuator. Rev. Sci. Instrument. 2004,75(9):3077~3079
31 Rahul Banik and Dae-Gab Gweon. Design and optimization of voice coil motor for application in active vibration isolation. Sensors and Actuators. 2007,137:236~243
32冯晓梅,张大卫,赵兴玉,杜伟涛.基于音圈电机的新型高速精密定位系统设计方法.中国机械工程. 2005,16(16):1414~1419
33冯晓梅,张大卫,赵兴玉,杜伟涛.面向IC封装的两自由度高速精密定位系统.焊接学报. 2006,27(7):13~17
34张武军.基于音圈电机驱动的快速定位系统设计及关键技术研究.国防科学技术大学硕士论文. 2006:53~54
35王强,陈科,傅承毓.基于闭环特性的音圈电机驱动快速反射镜控制.光电工程. 2005,32(2):9~11
36梅晓榕.自动控制原理.科学出版社. 2004:149~155
37陶永华. PID控制原理和自整定策略.工业仪表与自动化装置. 1997(4): 60~64
38 Jennifer L. Gibson, Bradley D. Duncan, Edward A. Watson and John S. Loomis. Wide-angle decentered lens beam steering for infrared countermeasures applications. Optical Engineering. 2004,43(10):2312~2321
39 M.E. Motamedi, A.P. Andrews, W.J. Gunning, and M. Khoshnevisan. Microoptic laser beam scanner. Proc. SPIE. 1993,1992:1~4
40 Cypress Semiconductor Corp. EZ-USB Technical Reference Manual. 001-13670 Version:13~15
41 Texas Instruments Corp. TMS320F28x DSP External Interface (XINTF) Reference Guide. 2003:1~23
42 Texas Instruments Corp. TMS320F28x DSP Event Manager (EV) Reference Guide. 2003:1-12~1-35
43 National Semiconductor Corp. LMD18200 Datasheet. 1999:1~12
44 USAS Corp. VLR0015-0062-00A Reference.
45 Cypress Semiconductor Corp. Cypress CyAPI Programmer’s Reference. 2003: 1~56
46郭敬枢,庄继东,孔峰.微机控制技术.重庆大学出版社. 1994:35~40
47俞忠原,陈一民.工业过程控制计算机系统.北京理工大学出版社. 1995: 10~16