激光束的正弦轨迹跟踪控制研究.pdfVIP

电子发烧友 电子技术论坛 基金颁发部门：国家自然科学基金委 项目名称：基于公差限制的连续轨迹运动控制与运动规划研究 编号 基金申请人：刘冠峰 激光束的正弦轨迹跟踪控制研究 1 Research for Tracking Control of Sinusoid Trajectory of Laser Beam 李煊，刘冠峰 （哈尔滨工业大学深圳研究生院自动控制与机电工程学科部，深圳，518055） Li Xuan, Liu Guan-feng (Division of Control and Mechatronics Engineering，Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China, 518055) 摘要：激光束跟踪技术被广泛地应用于工业和航天领域。基于一个激光束跟踪控制平台的控 制要求，提出了带位置误差预测的 PD 反馈控制与模糊逻辑控制相结合的控制策略，将控制 过程分段，并分别设计了预测算子的算法和确定了模糊逻辑控制阶段的模糊子集。根据实验 经验，选定了 PD 控制器参数、确定了模糊逻辑控制的模糊规则。最后，以固定幅值和频率 的正弦信号作为参考输入，运用设计好的控制器在平台上进行了实验。并且与传统的 PD 控 制输出进行了对比，以验证新的控制策略的有效性。 关键字：跟踪；误差预测；模糊逻辑控制 中图分类号：TP273+.3 文献标识码：A Abstract: Tracking control of laser beam is widely used in the domains of industry and aircraft. A new control strategy is introduced based on the requirements of a platform named as ‘platform of laser beam tracking control’. The new control strategy is divided into two stages: one is the PD feedback control with prediction of position error, the other is the fuzzy logic control. The algorithm of prediction and the subset of fuzzy logic control are designed in their stages respectively, and the parameters of PD controller and rules of fuzzy logic control are chosen, too. Finally, take the sinusoid with fixed amplitude and frequency as the input signal, the tracking control experiment is carried out using the controllers which have been designed. At the same time, in order to test the effectiveness of the new strategy, a contrast between the new control strategy and the PD control strategy is shown. Keywords: tracking, error prediction, fuzzy logic control 0 引言 激光束跟踪技术被广泛的应用于飞行器目标定位、自由空间系统通信、半导体加工及检 测等技术领域。激光跟踪系统的特点是以激光点的位置信号作为