快速反射镜姿态角的高精度解算

为了提高跟瞄转台出射激光的指向精度, 研究了快速反射镜(FSM)姿态角与转台跟踪误差间的关系, 提出了FSM姿态角的高精度解算方法。介绍了跟瞄转台出射激光的光路特点和FSM的工作原理; 确定了坐标系中入射光与出射光的方向, 依据坐标变换理论和光的反射定律, 建立了FSM反射镜姿态角与转台跟踪误差间的函数关系。然后, 推导出姿态角的解析表达式, 描述了姿态角的空间分布规律, 并从解析表达式中推出了近似表达式, 确定了近似表达式引入的指向误差。最后, 通过指向精度实验验证了姿态角解算方法的正确性。实验结果表明: 在跟踪误差不超过(A 12.9′, E 13.5′)时, 应用姿态角解析表达式和近似表达式均能取得优于2.5″的指向精度; 跟踪误差增大为(A 38.6′, E 37.8′)时, 解析表达式对应的指向误差仍低于2.5″, 而近似表达式对应的指向误差迅速增大为13.2″。得到的结果显示: FSM姿态角的解析表达式不存在原理误差, 在任意跟踪误差下均能使出射激光具有高精度指向能力, 且其形式简洁, 满足伺服控制器快速运算的要求。

Abstract

To improve the pointing precision of output laser for a tracking turntable, the relationship between the attitude angles of a Fast Steering Mirror (FSM) and the tracking error of a tracking turntable was researched and a high precision calculation method for attitude control angles of the FSM was proposed. The light path of the output laser of the tracking turntable and the operating principle of the FSM were introduced. Then, the directions of the incident light and emergent light were determined in different coordinate systems and the functional relationship between the attitude control angles and the tracking errors was derived based on the coordinate transformation theory and the reflection law of light. Furthermore, the analytical expressions of the attitude control angles were obtained, and the space distribution characteristics of the attitude angle were explained. A set of approximation expressions of the attitude control angles were derived from the analytical expressions, and the extra pointing errors caused by the approximation expressions were studied. Finally, a pointing precision experiment was performed to verify the correctness of the formulas for calculating the attitude control angles. The experimental results show that both the analytical formulas and the approximation formulas guarantee the pointing error to be less than 2.5″with the turntable tracking errors less than (A 12.9′, E 13.5′) .However, the approximation formulas cause the pointing errors to grow to 13.2″ and the turntable tracking errors to grow to (A38.6′, E 37.8′)while the analytical formulas keep the pointing errors to be within 2.5″. It demonstrates that as terse-form analytical formulas of the attitude control angles have no principle errors, it always can output the laser beam with high precision pointing ability under any turntable tracking errors, and they show simple forms and satisfy the requirement of rapid calculation of servo controllers.

参考文献

[1] 张振东. 车载光电设备动态跟踪技术研究［D］.北京: 中国科学院大学, 2013.

ZHANG ZH D. The research of vehicle photoelectric equipment dynamic tracking technology［D］. Beijing: University of Chinese Academy of Sciences, 2013.(in Chinese)

[2] 邓耀初. 基于快速反射镜的光束指向稳定技术［D］.西安: 西安电子科技大学, 2008.

DENG Y CH. The light-beam pointing stability techniques based on FSM［D］. Xi’an: Xidian University,2008.(in Chinese)

[3] 徐新行,高云国,杨洪波,等. 车载大口径刚性支撑式快速反射镜［J］.光学精密工程, 2014, 22(1): 117-124.

XU X H, GAO Y G, YANG H B, et al.. Large-diameter fast steering mirror on rigid support technology for dynamic platform［J］. Opt. Precision Eng., 2014, 22(1): 117-124.(in Chinese)

[4] 周子云,高云国,邵帅,等.采用柔性铰链的快速反射镜设计［J］.光学精密工程, 2014, 22(6): 1547-1554.

ZHOU Z Y, GAO Y G, SHAO SH, et al.. Design of fast steering mirror using flexible hinge［J］. Opt. Precision Eng., 2014, 22(6): 1547-1554.(in Chinese)

[5] PALOSZ A. Higher order sliding mode control of laser pointing for orbital debris mitigation［D］. Master Degree Thesis: The University of Alabama in Huntsville,2013.

[6] CHO M, CORREDOR A, DRIBUSCH C, et al.．Performance prediction of the fast steering secondary mirror for the giant magellan telescope［C］. SPIE, Astronomical Telescopes+Instrumentation. International Society for Optics and Photonics, 2012: 844424-844424-13.

[7] ULANDER K. Two-axis beam steering mirror control system for precision pointing and tracking applications［D］. Master Degree Thesis: Lawrence Livermore National Laboratory, 2006.

[8] 胥青青,纪明,雷霏霖,等. 光电稳瞄二级稳定系统性能分析及测试［J］. 应用光学, 2014,35(1): 17-21.

XU Q Q, JI M, LEI F L, et al.. Performance analysis and test of opto-electronic two-level stabilization system ［J］. Journal of Applied Optics,2014,35(1): 17-21. (in Chinese)

[9] 胥青青,刘伟,纪明,等. 远程红外探测系统瞄准线高精度稳定技术［J］. 红外与激光工程,2014,43(11): 3646-3650.

XU Q Q, LIU W, JI M, et al.. Line-of-sight high-precision stabilization technology of remote infrared detection system［J］. Infrared and Laser Engineering, 2014,43(11): 3646-3650. (in Chinese)

[10] 田福庆,李克玉,王钰,等. 压电驱动快速反射镜的自适应反演滑模控制［J］. 强激光与粒子束,2014,26(1): (011011)1-5.

TIAN F Q, LI K Y, WANG J, et al.. Adaptive backstepping sliding mode control of fast steering mirror driven by piezoelectric actuator［J］. High Power Laser and Particle Beams, 2014,26(1): (011011)1-5. (in Chinese)

[11] ZHOU Q K, BEN-TZVI P, FAN D P, et al.. Design of fast steering mirror systems for precision laser beams steering［C］. IEEE, International Workshop on Robotic and Sensors Environments, 2008: 144-149, DOI: 10.1109/ROSE.2008.4669196.

[12] MATTOS L S , DELLEPIANE M , CALDWELL D G. Next-generation micromanipulator for computer-assisted laser phonomicrosurgery［C］. IEEE, 33rd Annual International Conference of the IEEE EMBS, 2011: 4555-4559, DOI: 10.1109/IEMBS.2011.6091128.

[13] 彭树萍,陈涛,刘廷霞,等. 激光发射系统快速反射镜的光线反射过程［J］.光学精密工程, 2015, 23(2): 378-386.

PENG SH P, CHEN T, LIU T X, et al.. Reflection process of fast-steering mirror of laser launching system［J］. Opt. Precision Eng., 2015, 23(2): 378-386.(in Chinese)

[14] LI J, XIU J H, HUANG P, et al.. Non-linear compensation algorithm of LOS locating in aerial remote sensor［C］. IEEE, International Conference on Electronic and Mechanical Engineering and Information Technology, 2011, 5: 2454-2457, DOI: 10.1109/EMEIT.2011.6023539.

[15] 周子云. 多波段激光发射方向直接检测与校正方法研究［D］.北京: 中国科学院大学, 2014.

ZHOU Z Y. Research on direct monitor and correction methods for emitted direction of multi-wavelength laser beam［D］. Beijing: University of Chinese Academy of Sciences, 2014.(in Chinese)

[16] 陆震. 高等机械原理［M］. 北京: 北京航空航天大学出版社, 2001.

LU ZH. Senior Mechanical Theory［M］. Beijing: Beihang University Press ,2001.(in Chinese)

[17] 薛向尧,高云国,韩光宇,等. 水平式经纬仪指向误差的统一补偿技术［J］.光学精密工程, 2011,19(7): 1524-1530.

XUE X Y, GAO Y G, HAN G Y, et al.. Total correction method of pointing error for level mounting theodolite［J］. Opt. Precision Eng., 2011,19(7): 1524-1530.(in Chinese)

薛乐堂, 陈涛, 徐涛, 刘廷霞, 李博. 快速反射镜姿态角的高精度解算[J]. 光学精密工程, 2016, 24(8): 2000. XUE Le-tang, CHEN Tao, XU Tao, LIU Ting-xia, LI Bo. High-precision calculation for attitude angles of fast steering mirror[J]. Optics and Precision Engineering, 2016, 24(8): 2000.

快速反射镜姿态角的高精度解算

关于本站 Cookie 的使用提示

全站搜索

快速反射镜姿态角的高精度解算

相关论文

相关资讯

关于本站 Cookie 的使用提示

全站搜索