Design of Adaptive Inversion Proportional-Integral-Derivative Control System for Fast-Steering Mirror
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摘要: 为了提高复合轴系统的光束跟踪性能，必须考虑不可测扰动对快速反射镜系统的影响。针对可测量扰动，设计了自适应反演前馈控制算法，并由此得到启发，设计了用于抑制不可测量扰动的自适应反演PID（proportional-integral-derivative）控制系统，用自适应算法提高系统稳态精度以及对不同扰动的适应性，用PID控制器修正系统的误差信号改善系统动态性能。仿真结果表明，相较于PID控制算法，自适应反演PID复合控制系统的误差均方差值下降了34.76%，相较于自适应控制算法，自适应反演PID控制系统的误差均方差值下降了13.3%，自适应反演PID复合控制系统的稳态精度相比经典PID控制和自适应反演控制系统均得到了明显的提升，采用复合算法时上升时间相较自适应算法减少了48.9%，超调量相较经典PID算法减少了80.5%，系统动态性能得到较大改善。Abstract: The influence of unmeasurable disturbances in a fast-steering mirror system must be considered to improve the beam-tracking performance of a compound-axis system. For measurable disturbances, an adaptive feedforward control algorithm is designed. Inspired by this, an adaptive inversion proportional-integral-derivative(PID) control system for suppressing unmeasurable disturbances was designed. An adaptive algorithm was used to improve the steady-state accuracy of the system and the adaptability to different disturbances. In addition, a PID controller was used to further correct the error signals and improve the dynamic performance of the system. The simulation results show that compared with that of the PID control algorithm, the mean square difference of the error of the adaptive inversion PID control system decreases by 34.76%. Compared with that of the adaptive control algorithm, the mean square difference of the error of the adaptive inversion PID control system decreases by 13.3%. The accuracy of the compound control system significantly improved compared with that of the classical PID and adaptive control systems. When using the compound algorithm, the rise time decreases by 48.9% compared with the adaptive algorithm, and the overshoot decreases by 80.5% compared with the classical PID algorithm. Overall, the dynamic performance of the system improved significantly.
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Keywords:
- fast steering mirror /
- disturbance suppression /
- adaptive /
- inversion control
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图 1 可测扰动自适应前馈反演控制系统框图
Figure 1. Block diagram of adaptive feedforward inversion control system for measurable disturbance system
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图 2 不可测扰动自适应反演控制框图
Figure 2. Block diagram of adaptive inversion control for unmeasurable disturbance system
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图 3 不可测扰动自适应反演PID控制系统框图
Figure 3. Block diagram of adaptive inversion PID control for unmeasurable disturbance system
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图 4 可测扰动自适应反演控制系统输出响应曲线
Figure 4. Output response curve of adaptive inversion control for measurable disturbance system
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图 6 不可测扰动作用下3种系统的阶跃响应曲线
Figure 6. Step response of three control methods of unmeasurable disturbance system
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