在利用 CCD闭环的快速倾斜镜 (FSM)控制系统中, 延迟是控制性能最大的限制, 严重制约了闭环性能和控制带宽。本文在 PID控制器的基础上串联一个积分器, 利用 PI-PI控制器提高 CCD闭环的 FSM控制系统的性能。建立了一套详细的控制模型, 给出了控制器参数整定的公式。理论和实验表明, 采用 PI-PI控制器的误差抑制带宽要窄一点, 高频段抑制能力同积分控制器相当, 但是对低频的误差抑制能力要强的多。

One of the main limitations to CCD-Based system is the time delay in the control loop of Fast Steering Mirror (FSM). The stability of closed loop and its bandwidth is entirely dependent on this term. Time delay is usually difficult to compensate. Therefore, a tentative approach to the implementation of a CCD-based tracking control system with a simple PI-PI controller is proposed. The controller is to add an integrator into PID controller, resulting in two integrators in the control loop of fast steering mirror. First, a detailed model of CCD-based tracking loop is designed to analyze the characteristic of the close loop system, and then the results of parameters for the PI-PI and I controller are given. At last, the performance of the closed loop system with the two different controllers is compared. Although the bandwidth of error attenuation with PI-PI controller is little smaller than that of I controller, the error attenuation at low frequency is enhanced greatly. The experiment results are in great accordance with the theoretical analysis.