CN118689121B - IRU-based dynamic broadband disturbance suppression method, system and device - Google Patents
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Abstract
基于IRU的动态宽频扰动抑制方法、系统和设备，属于光电载荷伺服控制技术领域，解决由于空间受限问题导致基于IRU的视轴稳定系统探测器、执行器不同轴问题。本发明的方法包括：通过引入IRU系统，用于动基座平台下的宽频扰动的采集，实现对施加在动基座平台下的宽频扰动的抑制，实现动基座平台微弧度量级的视轴稳定精度，并结合实际动基座平台的光学设计安装模型，根据坐标的旋转、反射等坐标变换的方法，结合系统实际光学设计，建立IRU、精FSM、准直探测器、精跟踪相机和光学组件的光线追迹模型，构建视轴稳定系统运动学模型，实现视轴稳定系统内活动部件的闭环控制。
The method, system and device for dynamic broadband disturbance suppression based on IRU belong to the field of photoelectric load servo control technology, and solve the problem of misalignment of detectors and actuators in the line of sight stabilization system based on IRU due to space limitation. The method of the present invention includes: by introducing an IRU system, it is used for collecting broadband disturbances under the dynamic base platform, suppressing broadband disturbances applied under the dynamic base platform, and achieving micro-arc-level line of sight stabilization accuracy of the dynamic base platform, and combining the optical design and installation model of the actual dynamic base platform, according to the coordinate transformation methods such as rotation and reflection of coordinates, combined with the actual optical design of the system, establishing the ray tracing model of IRU, precision FSM, collimation detector, precision tracking camera and optical components, constructing the kinematic model of the line of sight stabilization system, and realizing the closed-loop control of the moving parts in the line of sight stabilization system.
Description
Technical Field
The application relates to the technical field of photoelectric load servo control, in particular to IRU-based dynamic broadband disturbance suppression.
Background
Vibration of a movable base platform such as a satellite, an airplane, a vehicle-mounted platform and a ship-mounted platform can cause visual axis shake of photoelectric load, in the field of high-precision tracking such as laser communication, directional energy and the like, an IRU is generally introduced on the basis of composite axis tracking to realize inertial stabilization of a system visual axis, and inertial reference light provided by the IRU passes through a main antenna and then assists a fine tracking FSM to finish stabilization and tracking of the visual axis on a target.
Currently, the IRU-based visual axis stabilization method is applied to a plurality of loads at home and abroad, and the basic working principle is shown in figure 1. When the IRU base receives disturbance, an inertial element (such as an MHD (mobile high-definition device), a gyroscope, an accelerometer and the like) arranged on the platform can measure the vibration state in real time, the disturbance information of broadband can be measured through data fusion of the inertial element, the IRU motor is controlled to be driven to generate a reaction force, the inertial stability of the platform is further realized, a laser arranged on the platform is used as inertial reference light of a system, the reference light and target light are split after being reflected by the same light path and a fine FSM (frequency shift register), the inertial reference light enters a collimation detector, and the target light enters a fine tracking camera.
The frame frequency of the collimation detector is far higher than that of the fine tracking camera, the influence of the frame frequency of the detector on the control bandwidth can be avoided by utilizing the output of the collimation detector to adjust the fine FSM position, the stable system visual axis is realized, and furthermore, the IRU position is adjusted by utilizing the target off-target quantity measured by the fine tracking camera, so that the high-precision tracking of the system visual axis on the target is realized. Ideally, the motion coordinate axes of the IRU and the FSM in the IRU-based stable system are parallel, the target surfaces of the collimation detector and the fine tracking camera are parallel, and the response to the information detected by the detector is easier. However, in applications such as space-borne and airborne, the volume and weight constraints on the load are high, and it is difficult to meet the requirement of parallel movement coordinate axes of the IRU and the FSM through optimal design in a limited space, and it is also difficult to ensure that the target surfaces of the collimation detector and the fine tracking camera are parallel. The phenomenon that coordinate axes are not parallel caused by the phenomenon greatly improves the high-precision control difficulty of the system, and the system can not be controlled until the control is out of control. As shown in fig. 1, the principle of IRU-based stabilization systems does not take into account the space limitations in the actual design process.
Disclosure of Invention
The invention aims to solve the problem that a visual axis stabilizing system detector and an actuator are not coaxial based on IRU (IRU) due to the problem of space limitation, and provides a dynamic broadband disturbance suppression method, a dynamic broadband disturbance suppression system and dynamic broadband disturbance suppression equipment based on IRU.
The invention is realized by the following technical scheme, and in one aspect, the invention provides a dynamic broadband disturbance suppression method based on IRU, which comprises the following steps:
Step 1: setting a light vector A tar of target light incidence and a light vector A p of IRU emergent reference light, normalizing the light vector of the reference light, and obtaining a normalization result A sta of the reference light vector and a normal vector of IRU ；
Step 2: according to the rotation angles theta 1 and theta 2 of the IRU along the y axis of the x axis, respectively obtaining a rotation matrix S 1_sta rotating along the x axis and a rotation matrix S 2_sta rotating along the y axis;
Step 3: obtaining a normal vector N 1 and a reflection matrix R sta after IRU rotation;
Step 4: acquiring a reflection matrix R pri of the primary mirror and a reflection matrix R sec of the secondary mirror according to the installation position of the optical component;
Step 5: acquiring a light vector A 1 incident on the fine FSM;
Step 6: normalizing the normal vector of the refined FSM to obtain a normalized normal vector N FSM;
Step 7: according to the rotation angles alpha 1 and alpha 2 of the fine FSM along the y axis of the x axis, respectively obtaining a rotation matrix S 1_FSM rotating along the x axis and a rotation matrix S 2_FSM rotating along the y axis;
Step 8: obtaining a normal vector N 4 and a reflection matrix R FSM after the fine FSM rotates;
step 9: obtaining a reflection matrix of each lens, each reflector and each spectroscope of the optical assembly according to the calibration of the optical assembly;
Step 10: acquiring a ray A CCD incident on a fine tracking camera and coordinates under a camera coordinate system and a ray A PSD incident on a collimation detector and coordinates under a collimation detector coordinate system according to a reflection matrix of each lens, a reflection matrix R FSM, a reflection matrix R sec of a secondary lens, a reflection matrix R pri of a primary lens, a reflection matrix R sta after IRU rotation, a light vector A tar incident on target light and a normalization result A sta of a reference light vector of an optical assembly;
Step 11: and respectively performing inverse decoupling on the coordinates in the camera coordinate system and the coordinates in the collimation detector coordinate system to obtain a dynamic mathematical model of the precise FSM and IRU positions, the collimation detector off-target amount, the two-dimensional adjustment angle of the IRU and the precise FSM positions, and the precise tracking camera off-target amount, and performing solidification on the dynamic mathematical model in system hardware to realize corresponding dynamic closed-loop control so as to inhibit disturbance applied to a platform.
Further, the optical component is composed of a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a spectroscope and a third lens;
the target light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, and then is incident on the spectroscope after passing through the first lens, the first reflector, the second lens and the third reflector in sequence, and the spectroscope plays a role in reflecting the target light, so that the target light enters the fine tracking camera through the third lens after being reflected by the spectroscope;
The reference light is generated by the IRU, is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, is sequentially incident on the spectroscope after passing through the first lens, the first reflecting mirror, the second lens and the third reflecting mirror, and has a transmission function on the reference light, and the reference light enters the collimation detector through the spectroscope.
Further, in step 10, the acquiring the light ray a CCD incident on the fine tracking camera and the coordinates under the camera coordinate system specifically includes:
The ray a CCD incident on the fine tracking camera is:
Wherein T Lens 1, 、、T Lens 2、F spectroscope and T Lens 3 are respectively the first lens, the first reflector, the second lens, the third reflector, the spectroscope and the reflection matrix of the third lens; according to the x, y and z coordinates of the fine tracking camera coordinate system, orthogonalizing and unitizing to obtain a rotation matrix M CCD of the camera coordinate system, and converting the rotation matrix of the global coordinate system into the fine tracking camera coordinate system N CCD=MCCD -1; the fine tracking camera incident ray a CCD is represented in the global coordinate system as: Obtaining normalized incident light Q CCD; the coordinates in the camera coordinate system are obtained as follows: 。
Further, in step 10, the acquiring the light ray a PSD incident on the collimating detector and the coordinates under the coordinate system of the collimating detector specifically includes:
The light ray a PSD incident on the collimation detector is:
；
according to the x, y and z coordinates of the collimation detector coordinate system, orthogonalization and unitization are carried out to obtain a rotation matrix M PSD which is converted into a global coordinate system by the collimation detector coordinate system, and the rotation matrix of the global coordinate system to the collimation detector coordinate is N PSD=MPSD -1; the incident ray a PSD on the collimated detector is represented in the global coordinate system as: obtaining normalized incident light ; The coordinates in the coordinate system of the collimation detector are obtained as follows:。
further, the formula of the rotation matrices S 1_sta and S 2_sta in step 2 is:
Wherein, ; The rotation vector of IRU along the x-axis isThe result after the normalization of the rotation vector along the x axis isThe rotation vector of IRU along the y-axis isThe result after the normalization of the rotation vector along the y axis is。
Further, the formula of the normal vector N 1 and the reflection matrix R sta in step 3 is:
。
further, the formula of the rotation matrices S 1_FSM and S 2_FSM in step 7 is:
Wherein, ; The rotation vector of FSM along x-axis rotation isThe result after the normalization of the rotation vector along the x axis is; The rotation vector of FSM along y-axis rotation isThe result after the normalization of the rotation vector along the y axis is。
In a second aspect, the present invention provides an IRU-based dynamic broadband disturbance rejection system, the system comprising an IRU, a primary mirror, a secondary mirror, a fine FSM, an optical component, a collimation detector, a fine tracking camera, and a control unit;
the optical component consists of a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a spectroscope and a third lens;
the target light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, then is incident on the spectroscope after passing through the first lens, the first reflector, the second lens and the third reflector in sequence, and has a reflection effect on the target light, so that the target light enters the fine tracking camera through the third lens after being reflected by the spectroscope, and the two-dimensional adjustment angle of the IRU is obtained by the current position of the fine FSM and the miss distance of the fine tracking camera;
The reference light is generated by the IRU, the reference light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, is sequentially incident on the spectroscope after passing through the first lens, the first reflecting mirror, the second lens and the third reflecting mirror, the spectroscope has a transmission function on the reference light, the reference light enters the collimation detector through the spectroscope, and the two-dimensional adjustment angle of the fine FSM is obtained by the current position of the IRU and the miss distance of the collimation detector;
the control unit suppresses disturbances applied to the platform according to an IRU-based dynamic broadband disturbance suppression method as described above.
In a third aspect, the invention provides a computer device comprising a memory and a processor, the memory having stored therein a computer program which when executed by the processor performs the steps of an IRU based dynamic broadband disturbance rejection method as described above.
In a fourth aspect, the present invention provides a computer readable storage medium having stored therein a plurality of computer instructions for causing a computer to perform an IRU-based dynamic broadband disturbance rejection method as described above.
The invention has the beneficial effects that:
Under the condition of considering the space limitation of the system, the technical route is shown in fig. 2, the system mainly comprises an IRU, a primary mirror, a secondary mirror, a fine FSM, a fine tracking camera, a collimation detector and an optical component, and compared with fig. 1, a series of optical components are added to realize deflection of the laser path in the system, so that the miniaturized design of the system is realized to the maximum extent. The optical component mainly comprises a lens, a reflecting mirror and a spectroscope, and specifically comprises a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a spectroscope and a third lens. The invention provides a solution for non-parallel coordinate axes caused by optical path deflection design. As shown in figure 3 in combination with the optical design layout in the actual system, the two-dimensional adjustment angle of the IRU is generated by the common constraint of the current position of the fine FSM and the off-target quantity of the fine tracking camera, and the two-dimensional adjustment angle of the fine FSM is generated by the common constraint of the current position of the IRU and the off-target quantity of the collimation detector.
Aiming at the problem of non-coaxial detector and actuator of the visual axis stabilizing system based on IRU caused by space limitation, the invention constructs a kinematic model of the visual axis stabilizing system based on a coordinate transformation method and an optical installation model, realizes closed-loop control of movable components in the visual axis stabilizing system, and provides technical support for realizing high-precision visual axis stabilization of a movable base photoelectric platform.
1. The invention is used for acquiring broadband disturbance under the movable base platform by introducing the IRU system, so as to inhibit the broadband disturbance applied under the movable base platform and realize the stable precision of the micro radian level visual axis of the movable base platform.
2. The invention combines an optical design installation model of an actual movable base platform and constructs a visual axis stabilizing system kinematics model based on a coordinate transformation method, solves the problem that a detector and an actuator are not coaxial in a movement coordinate system due to limited system space in the actual application process, realizes closed-loop control of a movable part in the visual axis stabilizing system, and solves the problem that the closed-loop control cannot be realized due to non-parallel movement coordinate axes caused by the optical design.
The invention is suitable for detecting, tracking and communicating targets in the technical fields of high-precision tracking such as space laser communication, directional energy and the like, and solves the technical problems that the stability of a laser link is insufficient, the precision is poor and the high-precision tracking cannot be realized due to visual axis shake caused by platform vibration.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is an IRU-based visual axis stabilization system;
FIG. 2 is a schematic diagram of a dynamic broadband disturbance rejection method according to the present invention;
FIG. 3 is an optical design layout of the system of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended to illustrate the present invention and should not be construed as limiting the invention.
An embodiment one, a dynamic broadband disturbance suppression method based on IRU, includes:
Step 1: setting a light vector A tar of target light incidence and a light vector A p of IRU emergent reference light, normalizing the light vector of the reference light, and obtaining a normalization result A sta of the reference light vector and a normal vector of IRU ；
Step 2: according to the rotation angles theta 1 and theta 2 of the IRU along the y axis of the x axis, respectively obtaining a rotation matrix S 1_sta rotating along the x axis and a rotation matrix S 2_sta rotating along the y axis;
Step 3: obtaining a normal vector N 1 and a reflection matrix R sta after IRU rotation;
Step 4: acquiring a reflection matrix R pri of the primary mirror and a reflection matrix R sec of the secondary mirror according to the installation position of the optical component;
Step 5: acquiring a light vector A 1 incident on the fine FSM;
Step 6: normalizing the normal vector of the refined FSM to obtain a normalized normal vector N FSM;
Step 7: according to the rotation angles alpha 1 and alpha 2 of the fine FSM along the y axis of the x axis, respectively obtaining a rotation matrix S 1_FSM rotating along the x axis and a rotation matrix S 2_FSM rotating along the y axis;
Step 8: obtaining a normal vector N 4 and a reflection matrix R FSM after the fine FSM rotates;
step 9: obtaining a reflection matrix of each lens, each reflector and each spectroscope of the optical assembly according to the calibration of the optical assembly;
Step 10: acquiring a ray A CCD incident on a fine tracking camera and coordinates under a camera coordinate system and a ray A PSD incident on a collimation detector and coordinates under a collimation detector coordinate system according to a reflection matrix of each lens, a reflection matrix R FSM, a reflection matrix R sec of a secondary lens, a reflection matrix R pri of a primary lens, a reflection matrix R sta after IRU rotation, a light vector A tar incident on target light and a normalization result A sta of a reference light vector of an optical assembly;
Step 11: and respectively performing anti-decoupling on the coordinates under the camera coordinate system and the coordinates under the collimation detector coordinate system to obtain a dynamic mathematical model of the precise FSM and IRU positions, the collimation detector off-target amount, the two-dimensional adjustment angle of the IRU and the precise FSM positions, and the precise tracking camera off-target amount, solidifying the dynamic mathematical model in system hardware to realize corresponding dynamic closed-loop control, and inhibiting disturbance applied to a platform, for example, controlling the FSM or the IRU to rotate through the off-target amount on the detector.
In this embodiment, first, a ray trace model of the IRU, the fine FSM, the collimator detector, the fine tracking camera, and the optical component is established by combining the actual optical design of the system according to the coordinate transformation method such as rotation and reflection of the coordinates. And secondly, calibrating the mounting position of the optical component to obtain a fixed component coordinate transformation matrix in the model, and correcting the simplified model. And finally, finishing the inverse kinematics solution by means of the intermediate transition matrix to respectively obtain a dynamic mathematical model of the positions of the fine FSM and the IRU, the off-target quantity of the collimation detector, the two-dimensional adjustment angle of the IRU, the positions of the fine FSM and the off-target quantity of the fine tracking camera, and solidifying the model on an actual tracking system hardware platform to realize dynamic broadband disturbance suppression.
Aiming at the problem of different axes of a visual axis stabilizing system detector and an actuator based on IRU caused by the space limitation, the embodiment constructs a visual axis stabilizing system kinematics model based on a coordinate transformation method and an optical installation model, realizes closed-loop control of movable components in the visual axis stabilizing system, and provides technical support for a movable base photoelectric platform to realize high-precision visual axis stabilization.
In a second embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method in the first embodiment, where the optical component is further defined by the method specifically including:
the optical component consists of a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a spectroscope and a third lens;
As shown in fig. 3 in combination with the optical design layout in the practical system, the transmission path of the laser beam is as follows: the target light is reflected by the primary mirror 2 and the secondary mirror 3, then is incident on the fine FSM4 mirror surface, is reflected by the fine FSM4 mirror surface, then is sequentially incident on the spectroscope 10 after passing through the first lens 5, the first reflecting mirror 6, the second reflecting mirror 7, the second lens 8 and the third reflecting mirror 9, and has a reflection function on the target light, so that the target light enters the fine tracking camera 12 after being reflected by the spectroscope 10 through the third lens 11, and therefore, the two-dimensional adjustment angle of the IRU1 is generated by the common constraint of the current position of the fine FSM4 and the miss distance of the fine tracking camera 12.
The reference light is generated by the IRU1, and is similar to a target light path, the reference light is reflected by the primary mirror 2 and the secondary mirror 3, then is incident on the fine FSM4 mirror surface, is reflected by the fine FSM4 mirror surface, then is sequentially incident on the spectroscope 10 after passing through the first lens 5, the first reflector 6, the second reflector 7, the second lens 8 and the third reflector 9, and the spectroscope plays a transmission role on the reference light, so that the reference light enters the collimation detector 13 through the spectroscope 10, and therefore, the two-dimensional adjustment angle of the fine FSM4 is generated by the common constraint of the current position of the IRU1 and the miss distance of the collimation detector 13.
According to the embodiment, according to the existing space size limitation and weight constraint and combining with the actual optical system scheme, the transmission path of the target light in the system and the transmission path of the reference light in the system are designed, and the effect is that after the effect of the target light and the reference light passing through optical components in the system is met, the target light and the reference light are respectively detected by the fine tracking camera and the collimation detector, and meanwhile, the space required by the transmission of a laser link is shortened through the design of optical path transmission.
In a third embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method in the second embodiment, where step 10 is further defined and specifically includes:
In step 10, the acquiring the light ray a CCD incident on the fine tracking camera and the coordinates under the camera coordinate system specifically includes:
The ray a CCD incident on the fine tracking camera is:
Wherein T Lens 1, 、、T Lens 2、F spectroscope and T Lens 3 are respectively the first lens, the first reflector, the second lens, the third reflector, the spectroscope and the reflection matrix of the third lens; according to the x, y and z coordinates of the fine tracking camera coordinate system, orthogonalizing and unitizing to obtain a rotation matrix M CCD of the camera coordinate system, and converting the rotation matrix of the global coordinate system into the fine tracking camera coordinate system N CCD=MCCD -1; the fine tracking camera incident ray a CCD is represented in the global coordinate system as: Obtaining normalized incident light Q CCD; the coordinates in the camera coordinate system are obtained as follows: 。
In the embodiment, according to the position design distribution of the optical components in the optical design of the system, the light ray trace model of the target light is established by combining the transmission path of the target light in the optical system and based on the coordinate transformation methods such as rotation and reflection of coordinates. The method has the effects that a dynamic mathematical model of the two-dimensional adjustment angle of the IRU, the position of the fine FSM and the off-target quantity of the fine tracking camera is obtained through inverse solution of the optical link model, and the problems of non-parallel motion coordinate system and difficult control caused by optical design are solved.
In a fourth embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method according to the third embodiment, where step 10 is further defined and specifically includes:
in step 10, the acquiring the light a PSD incident on the collimating detector and the coordinates under the coordinate system of the collimating detector specifically includes:
The light ray a PSD incident on the collimation detector is:
；
according to the x, y and z coordinates of the collimation detector coordinate system, orthogonalization and unitization are carried out to obtain a rotation matrix M PSD which is converted into a global coordinate system by the collimation detector coordinate system, and the rotation matrix of the global coordinate system to the collimation detector coordinate is N PSD=MPSD -1; the incident ray a PSD on the collimated detector is represented in the global coordinate system as: obtaining normalized incident light ; The coordinates in the coordinate system of the collimation detector are obtained as follows:。
in the embodiment, according to the position design distribution of the optical components in the optical design of the system, the light ray tracing model of the reference light is established by combining the transmission path of the reference light in the optical path of the system based on the coordinate transformation methods such as rotation and reflection of coordinates. The method has the effects that a dynamic mathematical model of the accurate FSM, the IRU position and the off-target quantity of the collimation detector is obtained through the inverse solution of the optical link model, and the problems of non-parallel motion coordinate system and difficult control caused by optical design are solved.
In a fifth embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method in the first embodiment, where step 2 is further defined and specifically includes:
the formula of the rotation matrices S 1_sta and S 2_sta in step 2 is:
Wherein, ; The rotation vector of IRU along the x-axis isThe result after the normalization of the rotation vector along the x axis isThe rotation vector of IRU along the y-axis isThe result after the normalization of the rotation vector along the y axis is。
According to the motion deflection mode of the IRU, the position offset generated by the reference light caused by the rotation of the IRU around the azimuth axis (x axis) and the pitching axis (y axis) is analyzed, and the rotation matrix of the two axes of the IRU is provided.
In a sixth embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method in the first embodiment, where step 3 is further defined and specifically includes:
The formula of the normal vector N 1 and the reflection matrix R sta in step 3 is:
。
The embodiment combines with the actual system design, the reference light is generated by the IRU, and the IRU reflection matrix is constructed by combining with the rotation matrix of the two axes of the IRU, so that the dynamic mathematical model of the reference light transmission link can be more accurately built, and high-precision closed-loop control is realized.
In a seventh embodiment, the present embodiment is further defined by the IRU-based dynamic broadband disturbance suppression method in the first embodiment, where step 7 is further defined and specifically includes:
the formula of the rotation matrices S 1_FSM and S 2_FSM in step 7 is:
Wherein, ; The rotation vector of FSM along x-axis rotation isThe result after the normalization of the rotation vector along the x axis is; The rotation vector of FSM along y-axis rotation isThe result after the normalization of the rotation vector along the y axis is。
According to the motion deflection mode of the fine FSM, the position offset generated by target light and reference light which are incident on the fine FSM mirror surface due to the rotation of the fine FSM around an azimuth axis (x axis) and a pitching axis (y axis) is analyzed, and a rotation matrix of the fine FSM and the reference light is provided.
An eighth embodiment, as shown in fig. 2, is an example of a dynamic broadband disturbance suppression method based on IRU, which specifically includes:
The optical component designed in this embodiment mainly includes three types of lenses, a reflecting mirror and a beam splitter, and specifically includes a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a beam splitter and a third lens. The different systems have certain difference in light propagation paths in the optical design process, but the core idea is to seek a solution and a solution for the non-parallel coordinate axes caused by the deflection design of the optical path.
As shown in fig. 3 in combination with the optical design layout in the practical system, the transmission path of the laser beam is as follows: the target light is reflected by the primary mirror 2 and the secondary mirror 3, then is incident on the fine FSM4 mirror surface, is reflected by the fine FSM4 mirror surface, then is sequentially incident on the spectroscope 10 after passing through the first lens 5, the first reflecting mirror 6, the second reflecting mirror 7, the second lens 8 and the third reflecting mirror 9, and has a reflection function on the target light, so that the target light enters the fine tracking camera 12 after being reflected by the spectroscope 10 through the third lens 11, and therefore, the two-dimensional adjustment angle of the IRU1 is generated by the common constraint of the current position of the fine FSM4 and the miss distance of the fine tracking camera 12.
The reference light is generated by the IRU1, and is similar to a target light path, the reference light is reflected by the primary mirror 2 and the secondary mirror 3, then is incident on the fine FSM4 mirror surface, is reflected by the fine FSM4 mirror surface, then is sequentially incident on the spectroscope 10 after passing through the first lens 5, the first reflector 6, the second reflector 7, the second lens 8 and the third reflector 9, and the spectroscope plays a transmission role on the reference light, so that the reference light enters the collimation detector 13 through the spectroscope 10, and therefore, the two-dimensional adjustment angle of the fine FSM4 is generated by the common constraint of the current position of the IRU1 and the miss distance of the collimation detector 13.
According to the designed light path transfer relation, a dynamic mathematical model is constructed, and the specific construction process is as follows:
1) Setting the light vector of the incidence of the target light as ; Setting the light vector of IRU emergent reference light asIn matlab by formulaThe normalization result of the light vector can be obtainedNormal vector of IRU；
2) Let IRU rotate along x-axis as rotation vectorIn matlab by formulaThe normalized result of the rotation vector along the x-axis is obtained asLet the rotation vector of IRU rotating along y-axis beIn matlab by formulaThe normalized result of the rotation vector along the y-axis is obtained asSimultaneously, the rotation angles theta 1 and theta 2 of the IRU along the y axis of the x axis are combined to respectively obtain a rotation matrix S 1_sta rotating along the x axis and a rotation matrix S 2_sta rotating along the y axis.
Wherein:
3) The normal vector N 1 after IRU rotation and the reflection matrix R sta are thus obtained.
4) According to the mounting position of the optical component, the normal vector of the primary mirror is known asNormalized normal vector isThe normal vector of the secondary mirror isNormalized normal vector isThe primary mirror reflection matrix R pri and the secondary mirror reflection matrix R sec are obtained as follows:
5) From this, the light vector A 1 incident on the fine FSM is obtained as
6) Normal vector based on refined FSMIn matlab by formulaCan obtain normalized normal vector；
7) Let the rotation vector of FSM along x-axis rotation beIn matlab by formulaThe normalized result of the rotation vector along the x-axis is obtained asLet the rotation vector of FSM rotating along y-axis beIn matlab by formulaThe normalized result of the rotation vector along the y-axis is obtained asSimultaneously, the rotation angles alpha 1 and alpha 2 of the fine FSM along the y axis of the x axis are combined to respectively obtain a rotation matrix S 1_FSM rotating along the x axis and a rotation matrix S 2_FSM rotating along the y axis.
Wherein:
8) The normal vector N 4 and the reflection matrix R FSM after the fine FSM rotation can thus be obtained.
9) Similarly, according to the position design of each part included in the optical component, the reflection matrixes of the first lens, the first reflector, the second lens, the third reflector, the spectroscope and the third lens are respectively T Lens 1,、、T Lens 2、F spectroscope and T Lens 3.
10 Light ray a CCD incident on a fine tracking camera (CCD camera) is:
11 According to the x, y and z coordinates of the CCD camera coordinate system, orthogonalization and unitization are carried out to obtain a rotation matrix M CCD which is converted into a global coordinate system by the camera coordinate system, and the rotation matrix of the global coordinate system to the CCD coordinate is N CCD=MCCD -1. As can be seen from step 10, the CCD camera incident ray a CCD is represented in the global coordinate system as: in matlab by formula Normalized incident light ray Q CCD can be obtained; the coordinates in the camera coordinate system are thus obtained as:。
12 According to the optical design, the light ray a PSD incident on the collimated detector is:
13 And similarly, according to the x, y and z coordinates of the collimation detector coordinate system, orthogonalizing and unitizing to obtain a rotation matrix M PSD for converting the collimation detector coordinate system into a global coordinate system, and then the rotation matrix for converting the global coordinate system into the collimation detector coordinate system is N PSD=MPSD -1. From step 12, the incident light ray a PSD on the collimated detector is expressed as: in matlab by formula Can obtain normalized incident light; The coordinates in the coordinate system of the collimation detector can be obtained by the method:。
14 Respectively performing inverse decoupling on the lower coordinate of the camera coordinate system and the lower coordinate of the collimation detector coordinate system to obtain the dynamic mathematical relationship between the accurate FSM and the IRU position and the collimation detector off-target amount and the two-dimensional adjustment angle of the IRU and the accurate FSM position and the accurate tracking camera off-target amount;
15 The constructed dynamic mathematical model is solidified in system hardware to realize corresponding dynamic closed-loop control, and finally, the dynamic and broadband disturbance applied to the platform is restrained (closed-loop control).
Claims (8)
1. An IRU-based dynamic broadband disturbance suppression method, comprising:
Step 1: setting a light vector A tar of the target light and a light vector A p of the IRU emergent reference light, normalizing the light vector of the reference light, and obtaining a normalization result A sta of the reference light vector and a normal vector N a of the IRU;
Step 2: according to the rotation angles theta 1 and theta 2 of the IRU along the y axis of the x axis, respectively obtaining a rotation matrix S 1_sta rotating along the x axis and a rotation matrix S 2_sta rotating along the y axis;
Step 3: obtaining a normal vector N 1 and a reflection matrix R sta after IRU rotation;
Step 4: acquiring a reflection matrix R pri of the primary mirror and a reflection matrix R sec of the secondary mirror according to the installation position of the optical component;
Step 5: acquiring a light vector A 1 incident on the fine FSM;
Step 6: normalizing the normal vector of the refined FSM to obtain a normalized normal vector N FSM;
Step 7: according to the rotation angles alpha 1 and alpha 2 of the fine FSM along the y axis of the x axis, respectively obtaining a rotation matrix S 1_FSM rotating along the x axis and a rotation matrix S 2_FSM rotating along the y axis;
Step 8: obtaining a normal vector N 4 and a reflection matrix R FSM after the fine FSM rotates;
step 9: obtaining a reflection matrix of each lens, each reflector and each spectroscope of the optical assembly according to the calibration of the optical assembly;
Step 10: acquiring a ray A CCD incident on a fine tracking camera and coordinates under a camera coordinate system and a ray A PSD incident on a collimation detector and coordinates under a collimation detector coordinate system according to a reflection matrix of each lens, a reflection matrix R FSM, a reflection matrix R sec of a secondary lens, a reflection matrix R pri of a primary lens, a reflection matrix R sta after IRU rotation, a light vector A tar incident on target light and a normalization result A sta of a reference light vector of an optical assembly;
Step 11: respectively performing inverse decoupling on the coordinates under the camera coordinate system and the coordinates under the collimation detector coordinate system to obtain a dynamic mathematical model of the precise FSM and IRU positions, the collimation detector off-target amount, the two-dimensional adjustment angle of the IRU and the precise FSM positions, and the precise tracking camera off-target amount, solidifying the dynamic mathematical model in system hardware to realize corresponding dynamic closed-loop control, and inhibiting disturbance applied to a platform;
In step 10, the acquiring the light ray a CCD incident on the fine tracking camera and the coordinates under the camera coordinate system specifically includes:
The ray a CCD incident on the fine tracking camera is:
Wherein, T Lens 1、R Reflecting mirror 1、R Reflecting mirror 2、T Lens 2、R Reflecting mirror 3、F spectroscope and T Lens 3 are respectively the first lens, the first mirror, the second lens, the third mirror, the spectroscope and the reflection matrix of the third lens; according to the x, y and z coordinates of the fine tracking camera coordinate system, orthogonalizing and unitizing to obtain a rotation matrix M CCD of the camera coordinate system, converting the camera coordinate system into a global coordinate system, and converting the global coordinate system into the rotation matrix of the fine tracking camera coordinate system to be N CCD＝MCCD -1; the fine tracking camera incident ray a CCD is represented in the global coordinate system as: q 1＝[ACCDx;ACCDy;ACCDz ], to obtain normalized incident ray Q CCD; the coordinates in the camera coordinate system are obtained as follows: r CCD＝NCCD·QCCD;
in step 10, the acquiring the light a PSD incident on the collimating detector and the coordinates under the coordinate system of the collimating detector specifically includes:
The light ray a PSD incident on the collimation detector is:
According to the x, y and z coordinates of the collimation detector coordinate system, orthogonalization and unitization are carried out to obtain a rotation matrix M PSD which is converted into a global coordinate system by the collimation detector coordinate system, and the rotation matrix of the global coordinate system to the collimation detector coordinate is N PSD＝MPSD -1; the incident ray a PSD on the collimated detector is represented in the global coordinate system as: q 2＝[APSDx;APSDy;APSDz ], to obtain normalized incident ray Q PSD; the coordinates in the coordinate system of the collimation detector are obtained as follows: r PSD＝NPSD·QPSD.
2. The IRU-based dynamic broadband disturbance rejection method of claim 1, wherein the optical assembly is comprised of a first lens, a first mirror, a second lens, a third mirror, a beam splitter, and a third lens;
the target light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, and then is incident on the spectroscope after passing through the first lens, the first reflector, the second lens and the third reflector in sequence, and the spectroscope plays a role in reflecting the target light, so that the target light enters the fine tracking camera through the third lens after being reflected by the spectroscope;
The reference light is generated by the IRU, is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, is sequentially incident on the spectroscope after passing through the first lens, the first reflecting mirror, the second lens and the third reflecting mirror, and has a transmission function on the reference light, and the reference light enters the collimation detector through the spectroscope.
3. The IRU-based dynamic broadband disturbance rejection method according to claim 1, wherein the rotation matrices S 1_sta and S 2_sta in step 2 are formulated as follows:
Wherein ,Pxx＝Pstax,Pxy＝Pstay,Pxz＝Pstaz;Pyx＝Qstax,Pyy＝Qstay,Pyz＝Qstaz;IRU rotates along the x-axis with a rotation vector of P x＝[Pxx;Pxy;Pxz, normalized along the x-axis with a rotation vector of P sta＝[Pstax;Pstay;Pstaz, rotates along the y-axis with a rotation vector of Q x＝[Qxx;Qxy;Qxz, normalized along the y-axis with a rotation vector of Q sta＝[Qstax;Qstay;Qstaz.
4. The IRU-based dynamic broadband disturbance rejection method according to claim 1, wherein the formula of the normal vector N 1 and the reflection matrix R sta in step 3 is:
5. the IRU-based dynamic broadband disturbance rejection method according to claim 1, wherein the rotation matrices S 1_FSM and S 2_FSM in step 7 are formulated as follows:
Wherein ,Pxx＝BFSMx,Pxy＝BFSMy,Pxz＝BFSMz;Pyx＝DFSMx,Pyy＝DFSMy,Pyz＝DFSMz;FSM rotates along the x-axis with a rotation vector of B x＝[Bxx;Bxy;Bxz, and the normalized rotation vector along the x-axis is B FSM＝[BFSMx;BFSMy;BFSMz; the rotation vector of the FSM along the y-axis is D x＝[Dxx;Dxy;Dxz, and the normalization of the rotation vector along the y-axis results in D FSM＝[DFSMx;DFSMy;DFSMz.
6. The dynamic broadband disturbance suppression system based on the IRU is characterized by comprising the IRU, a primary mirror, a secondary mirror, a fine FSM, an optical component, a collimation detector, a fine tracking camera and a control unit;
the optical component consists of a first lens, a first reflecting mirror, a second lens, a third reflecting mirror, a spectroscope and a third lens;
the target light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, then is incident on the spectroscope after passing through the first lens, the first reflector, the second lens and the third reflector in sequence, and has a reflection effect on the target light, so that the target light enters the fine tracking camera through the third lens after being reflected by the spectroscope, and the two-dimensional adjustment angle of the IRU is obtained by the current position of the fine FSM and the miss distance of the fine tracking camera;
The reference light is generated by the IRU, the reference light is reflected by the primary mirror and the secondary mirror, then is incident on the fine FSM mirror surface, is reflected by the fine FSM mirror surface, is sequentially incident on the spectroscope after passing through the first lens, the first reflecting mirror, the second lens and the third reflecting mirror, the spectroscope has a transmission function on the reference light, the reference light enters the collimation detector through the spectroscope, and the two-dimensional adjustment angle of the fine FSM is obtained by the current position of the IRU and the miss distance of the collimation detector;
the control unit suppresses disturbances exerted on the platform according to the method according to any of claims 1-5.
7. A computer device comprising a memory and a processor, the memory having stored therein a computer program, characterized in that the processor, when running the computer program stored in the memory, performs the steps of the method of any one of claims 1 to 5.
8. A computer-readable storage medium having stored therein a plurality of computer instructions for causing a computer to perform the method of any one of claims 1 to 5.
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