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Observation and compensation control of sliding mode compound layered interference for the fast steering mirror system
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摘要
音圈电机驱动快反镜是高精度光电跟踪系统中的重要组成部分。在运动平台光电跟踪系统中，快反镜系统所受各种内外干扰将更加复杂剧烈，传统的被动干扰抑制方法以及把干扰当作集总干扰处理的主动干扰抑制方法将不足以保证高精度的视轴稳定。因此本文提出一种谐波干扰观测与扩张状态观测结合的滑模复合分层干扰观测补偿控制策略。首先利用谐波干扰观测器对具备先验频率信息的谐波干扰进行观测，然后采用扩张状态观测器对其他未知干扰进行观测，最后基于观测的多源干扰，采用具有抗干扰能力的滑模非线性方法设计复合控制器，最大程度地对系统所受多源干扰进行抑制。实验表明，本文提出的滑模复合分层干扰观测补偿方法与传统的单一干扰观测补偿方法相比，能显著提升快反镜的视轴稳定精度。
Abstract
The voice coil motor-driven fast steering mirror is an important part of a high-precision photoelectric tracking system. In the photoelectric tracking system of the moving platform, the fast steering mirror system will suffer more complex and intense internal and external interference. The traditional passive interference suppression methods and the active interference suppression methods that treat the interference as lumped interference will not be enough to ensure the high-precision stability of boresight. Therefore, this paper proposes a sliding mode composite layered interference observation and compensation control strategy which combines harmonic interference observation and extended state observation. Firstly, the harmonic disturbance observer is used to observe the harmonic disturbance with a priori frequency information. Then the extended state observer is used to observe other unknown disturbances. Finally, based on the observed multi-source interference, the sliding mode nonlinear method with anti-interference ability is used to design a composite controller to maximize the suppression of multi-source disturbances suffered by the system. The experiment shows that the sliding mode composite layered interference observation compensation method proposed in this paper can significantly improve the LOS stability accuracy of the fast steering mirror compared with the traditional single interference observation compensation method.
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Overview
Overview: The fast steering mirror is an important component of a high-precision photoelectric tracking system. Fast steering mirrors are generally driven by voice coil motors with high linearity, high sensitivity, and high bandwidth to ensure adequate tracking and anti-interference accuracy of the whole system. In recent years, with the expansion of applications, the photoelectric tracking system has expanded from a fixed platform mounted on a foundation to a moving platform. However, the environment in which the motion platform is located is more severe and the internal and external interference caused by the carrier attitude change will be more complex and intense, leading to a serious decrease in the accuracy of the visual axis stabilization, and even make the tracking target out of the field of view and lose the target. In general, for the photoelectric tracking system in a moving platform, the traditional passive interference suppression methods and the active interference suppression methods that treat the interference as lumped interference will not be enough to ensure the high-precision stability of boresight. Therefore, this paper proposes a sliding mode composite layered interference observation and compensation control strategy which combines harmonic interference observation and extended state observation. Firstly, the harmonic disturbance observer is used to observe the harmonic disturbance with a priori frequency information. Then, the extended state observer is used to observe other unknown disturbances. Finally, based on the observed multi-source interference, the sliding mode nonlinear method with anti-interference ability is used to design a composite controller to maximize the suppression of multi-source disturbances suffered by the system. The experiment shows that the sliding mode composite layered interference observation compensation method proposed in this paper can estimate multi-source interference more accurately, has stronger interference suppression ability, and obtains higher boresight stabilization accuracy for the fast steering mirror compared with the traditional single interference observation compensation method.
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图 5 多源干扰d(t)观测误差对比
Figure 5. Multi-source perturbation d(t) observation error comparison
图 6 不同控制策略下系统干扰抑制残差对比
Figure 6. Comparison of system interference suppression residuals under different control strategies
表 1 电涡流传感器参数
Table 1. Eddy current sensor parameters
品牌 上海泽赞自动化科技有限公司 型号 SE990 探头直径 5 mm 线性量程 2 mm 非线性误差 ≤±1% 
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