基于改进型重复控制的光程扫描控制系统设计
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摘要
为获取高分辨率、高准确度的精细光谱,在光谱探测系统中,需要实现大光程差,高平稳的往复扫描调制;扫描过程是由电机驱动。文章通过分析扫描特性,建立了永磁同步直线电机的数学模型,设计了速度反馈环和比例积分控制器的位置反馈环。鉴于电机机械轴承存在摩擦,会产生周期性干扰力矩,造成速度波动,文章提出改进型重复控制方法进行抑制。仿真结果表明,当角镜往复扫描时,与PI控制器相比,改进型重复控制器能够根据每个周期的误差值调整控制量,经过3个周期将速度波动降低了73%;当系统存在周期性外界扰动时,速度调整能力提高了40%。所提出的方法能够实现干涉光程差扫描的匀速性,对干扰力矩有较强的自适应能力,为伺服系统跟踪或抑制重复性外激励信号提供借鉴。
To obtain the fine spectra with high resolution and accuracy, it is necessary for a spectrum detection system to have the capability of large optical path difference and stable optical path reciprocal scanning modulation. According to the scanning characteristics, a mathematical model of the permanent magnet synchronous motor is established, and then a speed feedback loop and a position feedback loop with the proportional integral controller are investigated in the paper. As the periodic disturbances induced by friction of the mechanical bearing can cause velocity fluctuations, an improved repetitive control method is developed. The simulation results indicate that when the corner mirror reciprocating, the modified repetitive controller reduces speed fluctuation by 30% over 3 periods compared to the PI controller; and when the system has periodic external disturbances, the speed adjustment capability is increased by 40%. The proposed method can achieve uniform scanning of the optical path difference and has good ability to suppress interference torques. Therefore, the proposed method can provide a reference for the servo system to track or suppress repetitive external signals.
To obtain the fine spectra with high resolution and accuracy, it is necessary for a spectrum detection system to have the capability of large optical path difference and stable optical path reciprocal scanning modulation. According to the scanning characteristics, a mathematical model of the permanent magnet synchronous motor is established, and then a speed feedback loop and a position feedback loop with the proportional integral controller are investigated in the paper. As the periodic disturbances induced by friction of the mechanical bearing can cause velocity fluctuations, an improved repetitive control method is developed. The simulation results indicate that when the corner mirror reciprocating, the modified repetitive controller reduces speed fluctuation by 30% over 3 periods compared to the PI controller; and when the system has periodic external disturbances, the speed adjustment capability is increased by 40%. The proposed method can achieve uniform scanning of the optical path difference and has good ability to suppress interference torques. Therefore, the proposed method can provide a reference for the servo system to track or suppress repetitive external signals.
引文
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[17]程帆.直线电机驱动平台控制策略的研究[D].南京:东南大学,2017.CHENG Fan.Research on Control Strategy of Linear Motor Drive Platform[D].Nanjing:Southeast University,2017.(in Chinese)
[18]HUANG Yisheng,SUNG Chengchung.Function-based Controller for Linear Motor Control Systems[J].IEEE Transactions on Industrial Electronics,2010,57(3):1096-1105.
[19]童子磊.摆镜扫描的重复控制系统[J].红外与毫米波学报,2006,25(3):229-232.TONG Zilei.Repetitive Control System of Scan for Oscillating Mirror[J].Journal of Infrared and Millimeter Wave,2006,25(3):229-232.(in Chinese)
[20]粘伟,刘兆军,林喆,等.迈克尔逊干涉仪的摆臂扫描控制[J].科学技术与工程,2012,12(33):1617-1815.NIAN Wei,LIU Zhaojun,LIN Zhe,et al.Arm Scanning Control of Michelson Interferometer[J].Science Technology Engineering,2012,12(33):1617-1815.(in Chinese)
[21]ZHUANG M,ATHERTON D P.Automatic Tuning of Optimum PID Controllers[J].IEEE Proceedings-control Theory and Application,1993,140(3):216-224.
[22]曾振平,陈增强,袁著祉.基于新的误差积分准则的PID控制器优化[J].控制工程,2004,11(1):52-54.ZENG Zhenping,CHEN Zengqiang,YUAN Zhuzhi.Optimization of the PID Controllers Based on Integral Performance Criteria[J].Control Engineering of China,2004,11(1):52-54.(in Chinese)
[23]陈文涛.具有性能指标要求的重复控制系统设计研究[D].上海:上海交通大学,2010.CHEN Wentao.Research on the Design of Repetitive Control Systems with Performance Criterion Requirement[D].Shanghai:Shanghai Jiao Tong University,2010.(in Chinese)
[2]ZHOU Y B,BAI J,ZHOU Z H,et al.Aerosol Optical Depth Retrieval from FY-3A/MERSI for Sand-dust Weather over Ocean[J].Journal of Remote Sensing,2014,18(4):771-787.
[3]SOUCY M A,CHATEAUNEUF F,ETIENNE N,et al.ACE-FTS Instrument Detailed Design[J].Proceedings of SPIE,2002,4814:70-81.
[4]NORBERT G,MICHAELI H,ADRIAN L,et al.Global Carbonyl Sulfide(OCS)Measured by MIPAS/Envisat During2002-2012[J].Atmospheric Chemistry&Physics,2017,17(4):1-34.
[5]PETER R G,JAMES A H.Fourier Transform Infrared Spectrometry[M].2nd ed.New Jersey:Wiley-Interscience,2007.
[6]COMOLLI L,SAGGIN B.Evaluation of the Sensitivity to Mechanical Vibrations of an IR Fourier Spectrometer[J].Review of Scientific Instruments,2005,76(12):123112-1-123112-8.
[7]刘日龙,刘木华.摆镜扫描傅里叶变换光谱仪光程差计算[J].应用光学,2015,36(3):460-462.LIU Rilong,LIU Muhua.Calculation on Optical Path Difference of Oscillating Fourier Transform Spectrometer[J].Journal of Applied Optics,2015,36(3):460-462.(in Chinese)
[8]邵春沅,顾明剑.FTIR光谱仪动镜速度和采样抖动的噪声分析[J].激光与红外,2016,46(8):967-970.SHAO Chunyuan,GU Mingjian.Noise Analysis on Mirror-velocity and Sampling Jitter in FTIR Spectrometer[J].Laser&Infrared,2016,46(8):967-970.(in Chinese)
[9]丁凡,曾立波,吴琼水.傅里叶红外光谱仪分束器自动装调系统设计[J].光谱学与光谱分析,2017,37(9):2937-2942.DING Fan,ZENG Libo,WU Qiongshui.Automatic Regulating Systems Design for Fourier Infrared Spectrometer Beam Splitter[J].Spectroscopy and Spectral Analysis,2017,37(9):2937-2942.(in Chinese)
[10]侯立周,徐彭梅,王彩琴.大光程差高鲁棒性摆臂角镜干涉仪设计与实现[J].航天返回与遥感,2018,39(3):51-59.HOU Lizhou,XU Pengmei,WAMG Caiqin.Design and Implementation of Scan-arm Corner Cube Interferometer with Large OPD and High Robustness[J].Spacecraft Recovery&Remote Sensing,2018,39(3):51-59.(in Chinese)
[11]尹邦胜,曾立波,雷俊锋,等.光谱仪动镜倾斜误差分析及其动态校正技术研究[J].光学仪器,2006(1):74-79.YIN Bangsheng,ZENG Libo,LEI Junfeng,et al.Error Analysis of the Mirror Tilting in Spectrum Transform Interferometer and the Study on Dynamic Alignment Technology[J].Optical Instruments,2006(1):74-79.(in Chinese)
[12]冯明春,徐亮,金岭,等.傅里叶变换红外光谱仪动镜倾斜和动态校准研究[J].光子学报,2016,45(4):169-173.FENG Mingchun,XU Liang,JIN Ling,et al.Tilt and Dynamic Alignment for the Moving Mirror in the Fourier Transform Infrared Spectrometer[J].ACTA Photonic Sinica,2016,45(4):169-173.(in Chinese)
[13]LIU R,LIU M.Digital Control Strategy for Scanning of Moving Mirror in Fourier Transform Spectrometer[J].Optik-International Journal for Light and Electron Optics,2016,127(24):12003-12009.
[14]REN L B,YANG H L,WEI H Y,et al.The Realization of Moving Mirror Scanning in FTIR Spectrometer Using Completely Digital Control Method[J].Spectroscopy&Spectral Analysis,2013,33(8):2263-2266.
[15]粘伟,刘兆军,林喆,等.傅里叶光谱仪的光程扫描控制系统设计[J].红外与激光工程,2013,42(8):2085-2091.NIAN Wei,LIU Zhaojun,LIN Zhe,et al.Optical Path Scanning Control System Design of the Fourier Spectrometer[J].Infrared and Laser Engineering,2013,42(8):2085-2091.(in Chinese)
[16]叶云岳.直线电机原理与应用[M].北京:机械工业出版社,2006.YE Yunyue.Principle and Application of Linear Motor[M].Beijing:Machinery Press,2006.(in Chinese)
[17]程帆.直线电机驱动平台控制策略的研究[D].南京:东南大学,2017.CHENG Fan.Research on Control Strategy of Linear Motor Drive Platform[D].Nanjing:Southeast University,2017.(in Chinese)
[18]HUANG Yisheng,SUNG Chengchung.Function-based Controller for Linear Motor Control Systems[J].IEEE Transactions on Industrial Electronics,2010,57(3):1096-1105.
[19]童子磊.摆镜扫描的重复控制系统[J].红外与毫米波学报,2006,25(3):229-232.TONG Zilei.Repetitive Control System of Scan for Oscillating Mirror[J].Journal of Infrared and Millimeter Wave,2006,25(3):229-232.(in Chinese)
[20]粘伟,刘兆军,林喆,等.迈克尔逊干涉仪的摆臂扫描控制[J].科学技术与工程,2012,12(33):1617-1815.NIAN Wei,LIU Zhaojun,LIN Zhe,et al.Arm Scanning Control of Michelson Interferometer[J].Science Technology Engineering,2012,12(33):1617-1815.(in Chinese)
[21]ZHUANG M,ATHERTON D P.Automatic Tuning of Optimum PID Controllers[J].IEEE Proceedings-control Theory and Application,1993,140(3):216-224.
[22]曾振平,陈增强,袁著祉.基于新的误差积分准则的PID控制器优化[J].控制工程,2004,11(1):52-54.ZENG Zhenping,CHEN Zengqiang,YUAN Zhuzhi.Optimization of the PID Controllers Based on Integral Performance Criteria[J].Control Engineering of China,2004,11(1):52-54.(in Chinese)
[23]陈文涛.具有性能指标要求的重复控制系统设计研究[D].上海:上海交通大学,2010.CHEN Wentao.Research on the Design of Repetitive Control Systems with Performance Criterion Requirement[D].Shanghai:Shanghai Jiao Tong University,2010.(in Chinese)