CN118707712B - A galvanometer control system - Google Patents
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Abstract
The application discloses a vibrating mirror control system, which is used for receiving an output signal sent by a client, sending an output control signal to a vibrating mirror, driving a motor to move according to specified parameters and tracks, driving the vibrating mirror to scan, receiving a feedback signal generated by scanning the vibrating mirror, processing the feedback signal, acquiring feedback information after multi-frequency processing, transmitting the feedback information to a signal comparator, determining actual amplitude gain according to the feedback information, determining the difference between the actual amplitude gain and an amplitude gain threshold as an error, receiving error information, determining a frequency adjustment quantity according to the error, and performing frequency adjustment according to the frequency adjustment quantity to obtain the output signal. The comparison group of the amplitude gain threshold value is introduced, so that the predicted value is closer to the actual value, the accuracy and the reliability of the system are improved, the predicted value predicts the variation trend of the amplitude gain in advance, the control parameters of the vibrating mirror can be adjusted in advance, the system can automatically adapt to the environmental variation, and the stability of the system is improved.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a galvanometer control system.
Background
Laser scanning is a technology developed with the wide application of laser photocopiers, laser printers, and the like, and has been applied to, for example, photomedical, image transmission, and the like. The galvanometer scanning is a scanning mode in the laser scanning technology, and has wide application in the fields of laser marking, laser engraving, laser tracking, laser demonstration biomedicine, semiconductor processing and the like.
The key device of the solid laser radar is an electromagnetic galvanometer (hereinafter referred to as galvanometer), the main working principle of the galvanometer is that the galvanometer is combined into two-dimensional scanning through horizontal scanning and vertical scanning, and when laser beams strike the working galvanometer, a two-dimensional area array is scanned through specular reflection. The vibrating mirror is driven by an input single-frequency signal to scan in a simple harmonic motion mode, and when the vibrating mirror works at a resonant frequency, the vibrating mirror can scan to a proper angle in a safe gain.
For example, chinese patent publication No. CN112888985B discloses a control method and a control device for a galvanometer and a laser radar, which belong to the field of laser radar. The method comprises the steps of outputting a control signal (S301), wherein the control signal is used for controlling the galvanometer to scan, detecting a feedback signal for the galvanometer to scan (S302), determining the actual amplitude gain of the galvanometer according to the feedback signal, determining an error between the actual amplitude gain and a preset amplitude gain threshold (S303), determining a frequency adjustment amount according to the error, and performing frequency adjustment according to the frequency adjustment amount to obtain an output signal (S304).
However, when the galvanometer scans, if similar or same signal frequencies appear around the galvanometer, the problem of unstable laser pulse shape of the galvanometer can be caused, so that deviation occurs between a focus and a direction when the galvanometer works, laser pulse signals are difficult to accurately identify, and the galvanometer cannot work normally.
Disclosure of Invention
The embodiment of the application solves the problem of unstable laser pulse shape in the prior art by providing the vibrating mirror control system, and improves the stability of the laser pulse shape and the accuracy of target signal positioning.
The embodiment of the application provides a vibrating mirror control system, which is characterized by comprising the following components:
S101, receiving an output signal sent by a client, wherein the output signal is mainly output by a signal generator, the output signal is a single-frequency signal, and the single-frequency signal is amplified to obtain an output control signal;
The driving system receives the control signal and drives the motor to move according to the appointed parameters and track, so as to drive the vibrating mirror to scan;
S102, receiving a feedback signal generated by scanning the galvanometer, wherein the feedback signal is used for indicating that the galvanometer is controlled by a control signal to perform periodic motion, and detecting the feedback signal of the galvanometer through a position sensor arranged on the galvanometer;
s103, processing the feedback signal, wherein the processing is multi-frequency processing, and the multi-frequency processing is to process and analyze signals of a plurality of different frequencies or frequency bands simultaneously;
S104, collecting feedback information after multi-frequency processing, transmitting the feedback information to a signal comparator, determining actual amplitude gain according to the feedback information, wherein the difference value between the actual amplitude gain and an amplitude gain threshold is an error, determining a frequency adjustment amount according to the obtained error based on a linear closed loop control algorithm, determining the actual amplitude gain of a vibrating mirror by comparing the maximum amplitude A1 of a control signal with the maximum amplitude A2 of a vibrating mirror feedback signal, and calculating by using a formula 10×lg (A2/A1);
S105, receiving error information, determining a frequency adjustment quantity according to the error, wherein the frequency adjustment quantity delta f is in direct proportion to the error e, the influence degree of the error on the frequency adjustment quantity is determined by a proportionality coefficient K, the frequency adjustment quantity is calculated through delta f=K×e, and frequency adjustment is carried out according to the frequency adjustment quantity to obtain an output signal.
Preferably, the steps of the multi-frequency process are as follows:
A1, collecting signals, detecting real-time motion states of the vibrating mirror through a position sensor arranged on the vibrating mirror, and converting the state information into electric signals;
a2, preprocessing signals, namely preprocessing the acquired feedback signals, wherein the preprocessing comprises the steps of amplifying, filtering, digitizing and the like;
A3, analyzing a frequency domain, carrying out frequency domain analysis on the preprocessed digital signal, and converting a time domain signal into a frequency domain signal through the frequency domain analysis to obtain amplitude and phase information of a feedback signal under different frequencies;
A4, separating the multi-frequency signal, in a frequency domain, according to the frequency characteristic of the feedback signal, separating the signal into a plurality of components with different frequencies by setting a proper filter or using a digital signal processing technology;
a5, processing the frequency components, and independently processing each frequency component;
A6, synthesizing the signals, and recombining the processed frequency components into a complete signal;
A7, controlling feedback, namely comparing and analyzing the synthesized signal serving as a new feedback signal with the control signal, and adjusting parameters of the control signal according to a comparison result so as to realize accurate control of the vibrating mirror motion;
a8, iterative optimization, namely repeating the steps, and continuously iterating and optimizing the multi-frequency processing process.
Preferably, in step S101, the feedback signal of the galvanometer is a single frequency signal, a phase difference is provided between a phase of the feedback signal and a phase of the control signal, an amplitude of the feedback signal is an angle by which the galvanometer rotates, and an amplitude gain of the feedback signal is an amplification degree of the signal.
Preferably, a set of galvanometer control groups is preset, and the steps are as follows:
S201, setting a control group of a vibrating mirror working system, wherein the control group is arranged in an environment capable of accurately controlling temperature and keeping stability, and recording amplitude gain thresholds at different time points or under a stable state as a reference value;
S202, detecting values of amplitude gain thresholds at different temperatures, operating a vibrating mirror working system at different ambient temperatures, gradually changing the ambient temperature, and recording the amplitude gain thresholds of the vibrating mirror at each temperature point. In order to more accurately understand the influence of temperature on the amplitude gain threshold, experiments are required to be carried out at different temperature points for a plurality of times, and an average value is taken to reduce errors;
S203, comparing the detected value with a control group, and describing the relation between the temperature and the amplitude gain threshold by using a linear regression model, wherein the regression model is a regression analysis model, and fitting the data through the regression analysis model;
s204, verifying the accuracy of the amplitude gain threshold.
Preferably, predicting the amplitude gain threshold variation comprises:
S301, receiving amplitude gain threshold value data of vibrating mirrors working under different temperature, humidity and other environmental conditions, wherein the data comprise temperature, humidity and other environmental parameters and corresponding amplitude gain threshold values;
after the data is collected, the data is analyzed and visualized by using statistical analysis software or data visualization tools;
S302, cleaning and sorting collected data, removing abnormal values or error data, ensuring the input quality of a model, and establishing a prediction model between environmental factors such as amplitude gain threshold and temperature based on the collected data, wherein the prediction model comprises linear regression, a support vector machine, a neural network and the like;
s303, inputting the data of the sorted historical temperature and the amplitude gain threshold value, and detecting the predicted amplitude gain threshold value by using a linear regression model.
Preferably, a set of humidity-based galvanometer control sets is preset, comprising the following steps:
S401, setting another vibrating mirror working system control group in an environment with controllable humidity, and in the environment, accurately controlling a closed laboratory or test environment with controllable humidity;
S402, the electronic components in the system are processed to be dampproof, such as a dampproof agent, a sealing box or a dampproof coating, so that the electronic components are not damaged or short-circuited due to dampness in a high humidity environment;
s403, initializing a system, and ensuring that the system is in a normal working state;
S404, the collected feedback signals determine the actual amplitude gain, the amplitude gain error at each humidity point is calculated according to steps S104 and S105, and the collected data is analyzed by using statistical analysis software or data visualization tools.
Preferably, the closed-loop linear control algorithm refers to a negative feedback adjustment algorithm in which the error and the frequency adjustment are linear, and the closed-loop linear control algorithm includes, but is not limited to, a proportional-integral control algorithm, a proportional-differential control algorithm, and a proportional-control algorithm.
Preferably, the fitted data can be obtained as a model, y=at+b, where Y represents an amplitude gain threshold, T represents an ambient temperature, and model parameters a and b are estimated by a least square method or the like, which is a method of solving parameters by minimizing a square error between an actual observed value and a model predicted value.
Preferably, firstly, inputting a series of predicted values of amplitude gain threshold values, and secondly, performing condition matching on a predicted data set and a control group data set;
then, comparing the predicted value with the actual measured value point by point, and comparing the predicted amplitude gain threshold value with the actual amplitude gain threshold value obtained by experiment or measurement under the same or similar temperature and humidity conditions;
Then, calculating the difference between the predicted value and the actual value, and showing the relation between the predicted value and the actual value by using a chart;
Finally, observing whether the difference between the predicted value and the actual value shows a certain trend along with the change of temperature or humidity, and comparing the difference with two groups of control groups to obtain a final amplitude gain threshold value.
Preferably, this amplitude gain threshold will be substituted into step S104 by deriving a more accurate amplitude gain threshold by comparison with the temperature control group, the humidity control group.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
The feedback signals are subjected to multi-frequency processing, so that signals with a plurality of different frequencies or frequency bands can be processed and analyzed simultaneously, the processing capacity and flexibility of the system are improved, different components in the signals can be separated through multi-frequency processing, and the independent processing is facilitated, so that the coping capacity of the system to complex signals is improved.
Through a linear closed-loop control algorithm, the system can accurately adjust the frequency of the signal generator based on the error between the amplitude gain of the galvanometer feedback signal and the threshold value, so that the accurate control of the galvanometer motion is realized, and the closed-loop control strategy ensures the high stability and accuracy of the system.
The comparison group of the amplitude gain threshold is introduced, the predicted amplitude threshold is compared with the reference value in the comparison group, so that the predicted value is closer to the actual value, the accuracy and the reliability of the system are improved, the predicted value predicts the variation trend of the amplitude gain in advance, the control parameters of the vibrating mirror can be adjusted in advance, the performance degradation caused by the sudden variation of the environmental factors is avoided, the system can automatically adapt to the variation of the environment, and the stability of the system is improved.
Drawings
FIG. 1 is a system frame diagram of a galvanometer control system of the present invention;
FIG. 2 is a schematic flow chart of a multi-frequency process of a galvanometer control system according to the invention;
FIG. 3 is a schematic flow chart of a galvanometer control system based on a temperature control group according to the present invention;
FIG. 4 is a schematic flow chart of a humidity control group based vibrating mirror control system according to the present invention;
FIG. 5 is a flow chart of a predicted amplitude gain threshold of a galvanometer control system according to the invention.
Detailed Description
In order that the application may be readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which, however, the application may be embodied in many different forms and is not limited to the embodiments described herein, but is instead provided for the purpose of providing a more thorough understanding of the present disclosure.
It should be noted that the terms "vertical", "horizontal", "upper", "lower", "left", "right", and the like are used herein for illustrative purposes only and do not represent the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, the terms used herein in this description of the invention are used for the purpose of describing particular embodiments only and are not intended to be limiting of the invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
First embodiment as shown in fig. 1, a galvanometer control system of the present application includes:
S101, receiving an output signal sent by a client, wherein the output signal is mainly output by a signal generator, the output signal is a single-frequency signal, the single-frequency signal is amplified to obtain an output control signal, the signal generator can generate various waveforms such as sine waves, square waves, triangular waves and the like, and various testing and measuring requirements are met by setting different parameters.
And after receiving the control signal, the driving system drives the motor to move according to the designated parameters and the designated track, so as to drive the vibrating mirror to scan.
S102, receiving feedback signals generated by scanning the galvanometer, wherein the feedback signals are used for representing that the galvanometer is controlled by the control signals to perform periodic movement, and detecting the feedback signals of the galvanometer through a position sensor arranged on the galvanometer, and the position sensor is a gravity sensor, an acceleration sensor or an angle sensor and the like.
In general, the feedback signal of the galvanometer is a single frequency signal, a phase difference exists between the phase of the feedback signal and the phase of the control signal, the amplitude of the feedback signal, that is, the rotation angle of the galvanometer, and the amplitude gain of the feedback signal, that is, the degree of signal amplification, are related to a plurality of factors. First, it relates to the ratio between the maximum amplitude of the feedback signal and the maximum amplitude of the control signal. When the maximum amplitude of the control signal increases, the amplitude gain increases if the maximum amplitude of the feedback signal also increases accordingly. Second, the amplitude gain is also related to the frequency of the control signal. In particular, when the frequency of the control signal matches the resonant frequency of the vibrating mirror, the vibration amplitude of the vibrating mirror will reach a maximum value, and thus the amplitude gain of the feedback signal will also reach a maximum value.
S103, processing the feedback signal, wherein the processing is multi-frequency processing, as shown in FIG. 2, and the steps specifically include:
A1, signal acquisition, firstly, detecting the real-time motion state of the vibrating mirror through a position sensor (such as a gravity sensor, an acceleration sensor or an angle sensor and the like) arranged on the vibrating mirror, and converting the state information into electric signals, namely feedback signals, wherein the feedback signals comprise the motion information of the vibrating mirror under different frequencies, and are the basis of subsequent multi-frequency processing.
A2, preprocessing the signal, namely preprocessing the collected feedback signal, wherein the preprocessing comprises the steps of amplifying, filtering, digitizing and the like, the amplifying is used for improving the amplitude of the signal so as to facilitate the subsequent processing, the filtering is used for removing noise and interference in the signal and improving the signal-to-noise ratio of the signal, and the digitizing is used for converting the analog signal into the digital signal so as to facilitate the computer processing.
A3, frequency domain analysis, namely performing frequency domain analysis on the preprocessed digital signals, wherein a common method comprises Fourier Transform (FT) or Fast Fourier Transform (FFT), and converting time domain signals into frequency domain signals through the frequency domain analysis to obtain amplitude and phase information of feedback signals under different frequencies.
A4, multi-frequency signal separation, in the frequency domain, the signal is separated into a plurality of components with different frequencies by setting a proper filter or using a digital signal processing technology according to the frequency characteristics of the feedback signal.
A5, processing the frequency components, namely, independently processing each frequency component, including operations of adjusting amplitude, changing phase, applying a filter and the like, wherein the processing operations are set according to specific application requirements so as to achieve the purposes of improving signal quality, improving system performance and the like.
A6, synthesizing the signals, and recombining the processed frequency components into a complete signal, wherein in the synthesis process, the correct phase and amplitude relation among the components is required to be ensured so as to avoid unnecessary distortion or interference.
And A7, feedback control, namely comparing and analyzing the synthesized signal serving as a new feedback signal with a control signal, and adjusting parameters (such as frequency, amplitude, phase and the like) of the control signal according to a comparison result so as to realize accurate control of the vibrating mirror motion.
A8, performing iterative optimization, repeating the steps, continuously iterating and optimizing the multi-frequency processing process, gradually improving the processing precision and efficiency through multiple iterations, and realizing more stable and reliable system performance.
S104, collecting feedback information after multifrequency processing, transmitting the feedback information to a signal comparator, determining actual amplitude gain according to the feedback information, determining a difference value between the actual amplitude gain and an amplitude gain threshold value as an error, calculating a difference value between the actual amplitude gain of a feedback signal and the amplitude gain threshold value based on a linear closed loop control algorithm according to the obtained error, taking an absolute value of the difference value, determining the actual amplitude gain of a vibrating mirror by comparing the maximum amplitude (A1) of a control signal and the maximum amplitude (A2) of a vibrating mirror feedback signal, and calculating by using a formula 10 Xlg (A2/A1).
A control signal of known maximum amplitude A1 is sent to the vibrating mirror, the signal is received, and the maximum amplitude A2 of the returned feedback signal is measured, wherein A2 can be measured by using an oscilloscope or a universal meter, and the actual amplitude gain is calculated by substituting A1 and A2 into the formula 10 Xlg (A2/A1).
S105, determining a frequency adjustment amount according to the error, performing frequency adjustment according to the frequency adjustment amount to obtain an output signal, and acquiring information of actual amplitude gain and transmitting the information to the linear controller, wherein the acquisition mode is performed in a wired (such as serial port, parallel port, ethernet and the like) or wireless mode depending on the design and configuration of the system.
In addition, the linear controller analyzes and processes the feedback signal, extracts the motion information of the vibrating mirror, and is used for adjusting the control signal in real time to form a closed-loop control system, and in the system, the linear controller continuously receives the feedback information from the vibrating mirror and adjusts the control signal according to the information, so that the precise control on the motion of the vibrating mirror is realized. The closed-loop control mode can remarkably improve the stability and the precision of the system.
Specifically, the frequency adjustment amount is used for adjusting the frequency of the signal generator, the frequency adjustment amount is signed, the current frequency of the signal generator is increased by the frequency adjustment amount when the sign of the frequency adjustment amount is positive, and the current frequency of the signal generator is decreased by the frequency adjustment amount when the sign of the frequency adjustment amount is negative. The closed-loop linear control algorithm refers to a negative feedback adjustment algorithm in which an error and a frequency adjustment amount are linear, and the closed-loop linear control algorithm includes, but is not limited to, any one of a proportional integral control algorithm, a proportional differential control algorithm, and a proportional control algorithm, and in the closed-loop linear control system, the error is an absolute value of a difference between an actual amplitude gain (35 dB) and a final amplitude gain threshold (40 dB), that is, 5dB.
Specifically, in the proportional control, the frequency adjustment amount (Δf) is proportional to the error (e). The scaling factor (K) determines the extent to which the error affects the amount of frequency adjustment.
Δf=K×e
In other words, if k=1 (this is just one example value), an error of 5dB will result in a frequency adjustment amount of 5 units.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages:
Through multi-frequency signal processing and frequency domain analysis, the system can accurately identify the motion characteristics of the vibrating mirror under different frequencies, such as amplitude and phase information, and the feedback control link allows the system to adjust control signals according to real-time feedback information, so that high-precision control of the vibrating mirror motion is realized.
The feedback signal is subjected to multi-frequency processing, so that the laser pulse shape of the vibrating mirror is more stable when the vibrating mirror scans, the situation that deviation occurs in the focus and the direction when the vibrating mirror works is reduced, the frequency adjustment quantity is determined according to the error between the actual amplitude gain obtained by the feedback signal and the amplitude gain threshold value, and the control signal for driving the vibrating mirror to scan is obtained by carrying out frequency adjustment according to the frequency adjustment quantity, so that the closed-loop control of the amplitude gain of the vibrating mirror is realized, and the stability of the amplitude gain of the vibrating mirror is controlled.
In the second embodiment, the amplitude gain threshold is not constant in the operation process of the galvanometer working system, but can be influenced by various external factors, in particular, the temperature change. When the ambient temperature changes, the physical characteristics inside the vibrating mirror change, which in turn leads to an adjustment of the amplitude gain threshold, in particular, a change in temperature leads to a thermal expansion or contraction of the vibrating mirror material, and a change in the performance of the electronic components, which affect the amplitude and response speed of the vibrating mirror. Accordingly, to ensure that the galvanometer system maintains stable and efficient operation under different temperature conditions, a corresponding adjustment of the amplitude gain threshold is required.
The embodiment of the application is optimized to a certain extent on the basis of the embodiment.
In some embodiments, as shown in fig. 3, a set of temperature-based galvanometer control sets is preset, and the steps are as follows:
S201, setting a vibrating mirror working system comparison group in an environment with controllable temperature, in the environment, accurately controlling the temperature and keeping stable, and recording amplitude gain thresholds at different time points or in a stable state as a reference value.
Specifically, we set a blank control group in an environment with a constant temperature of 25 ℃, and record the amplitude gain threshold of the galvanometer at that temperature. Through multiple measurements we have found that the average amplitude gain threshold is X1.
S202, detecting the performance of amplitude gain thresholds at different temperatures, operating a vibrating mirror working system at different ambient temperatures, gradually changing the ambient temperature, and recording the amplitude gain threshold of the vibrating mirror at each temperature point. To more accurately understand the effect of temperature on the amplitude gain threshold, multiple experiments at different temperature points are required and averaged to reduce the error.
Specifically, the galvanometer system is operated at isothermal points of 10 ℃,20 ℃,30 ℃ and 40 ℃ respectively, and the amplitude gain threshold value at each temperature point is recorded, and the obtained data is assumed to be that the amplitude gain threshold value is X2 at 10 ℃, X3 (close to X1) at 20 ℃, X4 at 30 ℃ and X5 at 40 ℃.
And S203, comparing the performances of the amplitude gain threshold values at different temperatures with a control group, and describing the relation between the temperatures and the amplitude gain threshold values by using a linear regression model, wherein the regression model is a regression analysis model, and fitting the data through the regression analysis model.
Specifically, the fitted data can obtain a model, y=at+b, where Y represents an amplitude gain threshold, T represents an ambient temperature, and a and b are both fitted data, and model parameters a and b are estimated by a least square method or the like, where the least square method is a method of solving parameters by minimizing a square error between an actual observed value and a model predicted value.
S204, detecting amplitude thresholds of the vibrating mirror at different environment temperatures, and verifying accuracy.
Through the process, the performance of the vibrating mirror at different ambient temperatures can be predicted according to actual requirements, and stable and efficient operation of the vibrating mirror at various temperature conditions can be ensured.
As shown in fig. 5, the change of the amplitude gain threshold is predicted, specifically as follows:
s301, receiving amplitude gain threshold value data of vibration mirrors working under different temperature, humidity and other environmental conditions, wherein the data comprise temperature, humidity and other environmental parameters and corresponding amplitude gain thresholds.
Specifically, a series of temperature points, for example from-20 ℃ to +60 ℃, are set to cover the operating temperature range that a vibrating mirror may encounter, and likewise, a series of humidity points, for example from 10% rh to 90% rh, are set to cover the possible humidity range, set to cover one point every 10% rh or 15% rh.
After the data is collected, the data is analyzed and visualized using statistical analysis software or data visualization tools, such as, for example, three-dimensional graphs or thermodynamic diagrams of temperature-humidity-amplitude gain thresholds, to more intuitively demonstrate relationships and trends between the data. In addition, modeling and predictive analysis of the data is performed using machine learning algorithms.
S302, cleaning and sorting collected data, removing abnormal values or error data, ensuring the input quality of a model, and establishing a prediction model between environmental factors such as amplitude gain threshold and temperature based on the collected data, wherein the prediction model comprises linear regression, a support vector machine, a neural network and the like.
S303, inputting data of the historical temperature and the amplitude gain threshold value, and detecting the predicted amplitude gain threshold value by using a linear regression model.
Specifically, the parameters a (slope) and b (intercept) of the linear regression model are estimated using the least squares method (OLS). By calculation, y=at+b, if a=0.2 and b=10, the equation is that y=0.2t+10, 25 ℃, the amplitude gain threshold is 15,20 ℃, the amplitude gain threshold is 14.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages:
By establishing the comparison group and predicting the amplitude gain threshold value, the change trend of the amplitude gain is predicted in advance, the control parameters of the vibrating mirror can be adjusted in advance, performance degradation caused by sudden change of environmental factors is avoided, the system can automatically adapt to the change of the environment, and the stability of the system is improved.
In the third embodiment, the amplitude gain threshold is not constant in the operation process of the vibrating mirror working system, but can be influenced by various external factors, in particular, the change of humidity. When the ambient humidity changes, the physical characteristics inside the vibrating mirror change, which in turn leads to an adjustment of the amplitude gain threshold, in particular, the humidity changes, which can affect the amplitude and response speed of the vibrating mirror. Accordingly, to ensure that the galvanometer system maintains stable and efficient operation under different humidity conditions, a corresponding adjustment of the amplitude gain threshold is required.
Application embodiments certain optimizations are made on the basis of the above embodiments.
As shown in fig. 4, in some embodiments, a set of humidity-based galvanometer control sets is preset, and the steps are as follows:
S401, setting another vibrating mirror working system control group under the environment with controllable humidity, in the environment, accurately controlling the closed laboratory or testing environment of humidity, ensuring that the environment can be stably maintained under different humidity levels, and the influence of humidity change on the external environment is small.
Specifically, starting from 20% rh, one test point is set every 10% rh up to 90% rh, and the test points are set to 20% rh, 30% rh, 40% rh.
S402, the electronic components in the system are processed to be moisture-proof, for example, using a moisture-proof agent, a sealing box or a moisture-proof coating, etc. Ensuring that the electronic components are not damaged or shorted by moisture in high humidity environments.
Insulation checking, prior to testing, insulation checking of the circuits and connections in the system, checking the insulation resistance of the wires and joints using a megameter, ensures that there are no bare wires or potential short-circuit points, which helps reduce the risk of accidents occurring in high humidity environments.
Overheat protection ensures that the system has overheat protection function so as to prevent the system from being damaged due to overheat of the components in a high humidity environment, the overheat protection device should cut off the power supply in time or reduce power consumption when the temperature reaches a set value, and when the temperature exceeds 60 ℃, the overheat protection switch cuts off the power supply to prevent the overheat damage of the components.
S403, initializing the system, and ensuring that the system is in a normal working state. The method comprises the steps of checking the operation conditions of key components such as a power supply, a signal generator, a motor, a vibrating mirror and the like, checking whether the power supply is normal, and checking whether the motor can rotate normally, wherein the steps of S101-S105 are performed.
S404, the collected feedback signals determine the actual amplitude gain, the amplitude gain error at each humidity point is calculated according to the steps 104 and 105, the collected data are analyzed by using statistical analysis software or data visualization tool, a chart and a graph are drawn to show the performance change of the system at different humidity levels, the specific influence of humidity on the system performance is found out by comparing the data of different test points, and the amplitude gain threshold value at the conventional humidity is obtained by comparison.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages:
Through the humidity control group experiment designed, the change rule of the amplitude gain under the environmental conditions of different humidity is accurately captured. The potential change trend of the amplitude gain is predicted, so that the control parameters of the vibrating mirror are adjusted in advance before the environmental factors are suddenly changed, the high environmental adaptability of the system is provided, and in a complex and changeable working environment, the system can autonomously sense the slight change of the environmental conditions, adjust the working state of the system according to the slight change, and ensure the stability and the reliability of the performance. The self-adaptive capacity not only improves the operation efficiency of the system, but also greatly reduces the performance degradation risk caused by environmental change.
In the fourth embodiment, when the preliminary amplitude threshold result obtained by using the prediction mechanism is not accurate enough, in order to ensure the accuracy and reliability, we need to compare and analyze the preliminary amplitude threshold result with the data of the passing control group, wherein the control group comprises two groups, namely temperature and humidity. This comparison process will help us identify differences between predicted and actual values and correct or adjust the predicted values based on these differences.
The embodiment of the application is optimized to a certain extent on the basis of the embodiment.
First, a series of predictions of amplitude gain thresholds are entered, which generally correspond to specific temperature and humidity conditions. The predicted values are organized into a clear data list or data set, and amplitude gain threshold data obtained by experiment or measurement under the same or similar conditions of the temperature control group and the humidity control group are collected. These data should cover the temperature and humidity ranges corresponding to the predicted values for accurate comparison.
Next, the predicted dataset is condition matched with the control dataset. Ensuring that each predicted value has corresponding actual measured values, which should be obtained under similar temperature and humidity conditions.
And then, comparing the predicted value with the actual measured value point by point, and comparing the predicted amplitude gain threshold value with the actual amplitude gain threshold value obtained by experiment or measurement under the same or similar temperature and humidity conditions.
Then, the difference between the predicted value and the actual value is calculated. This is done by simple difference calculations or using more complex statistical indicators (e.g., mean square error, relative error, etc.), and graphs (e.g., scatter plots, line graphs, etc.) are used to show the relationship between predicted and actual values for more visual knowledge of the magnitude and trend of the differences. This helps identify potential outliers or patterns.
Finally, it is observed whether the difference between the predicted value and the actual value shows a certain trend with the change of temperature or humidity. For example, in certain temperature or humidity ranges, the prediction error is larger, and the prediction model is adjusted and optimized as necessary according to the result of the difference analysis and the calibration advice. The calibrated model is validated using the new data set by modifying model parameters, adding new input features, or introducing more complex algorithms. The calibrated model is ensured to have higher accuracy and reliability when predicting the amplitude gain threshold.
Specifically, a more accurate amplitude gain threshold value is obtained through the relative ratio of the temperature control group and the humidity control group, and the amplitude gain threshold value is substituted into the step S104, so that the difference between the actual amplitude gain and the amplitude gain threshold value is more accurate, and the working stability of the vibrating mirror is improved.
The technical scheme provided by the embodiment of the application at least has the following technical effects or advantages:
Based on the results of the comparison and analysis, we will calibrate or adjust the predicted value. This includes modifying parameters of the predictive model, optimizing the way input data is processed, adjusting experimental conditions, etc. By these adjustments, the predicted value is made closer to the actual value, thereby improving its accuracy and reliability.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A galvanometer control system, comprising:
s101, receiving an output signal sent by a client, wherein the output signal is output by a signal generator, the output signal is a single-frequency signal, and the single-frequency signal is amplified to obtain an output control signal;
The driving system receives the control signal and drives the motor to move according to the appointed parameters and track, so as to drive the vibrating mirror to scan;
S102, receiving a feedback signal generated by scanning the galvanometer, wherein the feedback signal is used for indicating that the galvanometer is controlled by a control signal to perform periodic motion, and detecting the feedback signal of the galvanometer through a position sensor arranged on the galvanometer;
s103, processing the feedback signal, wherein the processing is multi-frequency processing, and the multi-frequency processing is to process and analyze signals of a plurality of different frequencies or frequency bands simultaneously;
S104, collecting feedback information after multi-frequency processing, transmitting the feedback information to a signal comparator, determining actual amplitude gain according to the feedback information, wherein the difference value between the actual amplitude gain and an amplitude gain threshold is an error, determining a frequency adjustment amount according to the obtained error based on a linear closed loop control algorithm, determining the actual amplitude gain of a vibrating mirror by comparing the maximum amplitude A1 of a control signal with the maximum amplitude A2 of a vibrating mirror feedback signal, and calculating by using a formula 10×lg (A2/A1);
S105, receiving error information, determining a frequency adjustment quantity according to the error, wherein the frequency adjustment quantity delta f is in direct proportion to the error e, the influence degree of the error on the frequency adjustment quantity is determined by a proportionality coefficient K, the frequency adjustment quantity is calculated through delta f=K×e, and frequency adjustment is carried out according to the frequency adjustment quantity to obtain an output signal;
The steps of the multi-frequency treatment are as follows:
A1, collecting signals, detecting real-time motion states of the vibrating mirror through a position sensor arranged on the vibrating mirror, and converting the state information into electric signals;
a2, preprocessing signals, and preprocessing the acquired feedback signals;
A3, analyzing a frequency domain, carrying out frequency domain analysis on the preprocessed digital signal, and converting a time domain signal into a frequency domain signal through the frequency domain analysis to obtain amplitude and phase information of a feedback signal under different frequencies;
A4, separating the multi-frequency signal, in a frequency domain, according to the frequency characteristic of the feedback signal, separating the signal into a plurality of components with different frequencies by setting a proper filter or using a digital signal processing technology;
a5, processing the frequency components, and independently processing each frequency component;
A6, synthesizing the signals, and recombining the processed frequency components into a complete signal;
A7, controlling feedback, namely comparing and analyzing the synthesized signal serving as a new feedback signal with the control signal, and adjusting parameters of the control signal according to a comparison result so as to realize accurate control of the vibrating mirror motion;
a8, iterative optimization, namely repeating the steps, and continuously iterating and optimizing the multi-frequency processing process.
2. The galvanometer control system of claim 1, wherein the feedback signal of the galvanometer is a single frequency signal, a phase difference is provided between a phase of the feedback signal and a phase of the control signal, an amplitude of the feedback signal is an angle of rotation of the galvanometer, and an amplitude gain of the feedback signal is a degree of amplification of the signal in step S101.
3. The galvanometer control system of claim 1, wherein a set of temperature-controlled galvanometer control sets is preset, comprising the steps of:
S201, setting a control group of a vibrating mirror working system, wherein the control group is arranged in an environment capable of accurately controlling temperature and keeping stability, and recording amplitude gain thresholds at different time points or under a stable state as a reference value;
s202, detecting values of amplitude gain thresholds at different temperatures, operating a vibrating mirror working system at different ambient temperatures, gradually changing the ambient temperature, recording the amplitude gain threshold of the vibrating mirror at each temperature point, and carrying out experiments at different temperature points for more accurately knowing the influence of the temperature on the amplitude gain threshold and taking an average value to reduce errors;
S203, comparing the detected value with a control group, and describing the relation between the temperature and the amplitude gain threshold by using a linear regression model, wherein the regression model is a regression analysis model, and fitting the data through the regression analysis model;
s204, verifying the accuracy of the amplitude gain threshold.
4. A galvanometer control system as in claim 3 wherein predicting the amplitude gain threshold change comprises:
S301, receiving amplitude gain threshold value data of vibrating mirrors working under different temperature and humidity environment conditions, wherein the data comprise temperature and humidity environment parameters and corresponding amplitude gain threshold values;
after the data is collected, the data is analyzed and visualized by using statistical analysis software or data visualization tools;
S302, cleaning and sorting collected data, removing abnormal values or error data, ensuring the input quality of a model, and establishing a prediction model between an amplitude gain threshold value and temperature based on the collected data, wherein the prediction model comprises linear regression, a support vector machine and a neural network;
s303, inputting the data of the sorted historical temperature and the amplitude gain threshold value, and detecting the predicted amplitude gain threshold value by using a linear regression model.
5. The galvanometer control system of claim 1, wherein a humidity-based control set of galvanometers is preset, comprising the steps of:
S401, setting another vibrating mirror working system control group in an environment with controllable humidity, and in the environment, accurately controlling a closed laboratory or test environment with controllable humidity;
S402, electronic components in the system are processed to prevent moisture, so that the electronic components are not damaged or short-circuited due to moisture in a high humidity environment;
s403, initializing a system, and ensuring that the system is in a normal working state;
S404, the collected feedback signals determine the actual amplitude gain, the amplitude gain error at each humidity point is calculated according to steps S104 and S105, and the collected data is analyzed by using statistical analysis software or data visualization tools.
6. A galvanometer control system as in claim 1, wherein the linear closed loop control algorithm is a negative feedback adjustment algorithm having an error that is linear with the frequency adjustment, the closed loop linear control algorithm including, but not limited to, a proportional integral control algorithm, a proportional derivative control algorithm, a proportional control algorithm.
7. A galvanometer control system according to claim 3, characterized in that the fitted data is able to derive a model, Y = aT + b, where Y represents an amplitude gain threshold, T represents an ambient temperature, model parameters a and b are estimated by a least squares method, which is a method of solving the parameters by minimizing the square error between the actual observations and the model predictions.
8. The galvanometer control system of claim 5, wherein, first, a series of predictions of amplitude gain threshold values are entered;
secondly, performing condition matching on the predicted data set and the control group data set;
then, comparing the predicted value with the actual measured value point by point, and comparing the predicted amplitude gain threshold value with the actual amplitude gain threshold value obtained by experiment or measurement under the same or similar temperature and humidity conditions;
Then, calculating the difference between the predicted value and the actual value, and showing the relation between the predicted value and the actual value by using a chart;
Finally, observing whether the difference between the predicted value and the actual value shows a certain trend along with the change of temperature or humidity, and comparing the difference with two groups of control groups to obtain a final amplitude gain threshold value.
9. The galvanometer control system of claim 8, wherein a more accurate magnitude gain threshold is derived by comparison with the temperature control and the humidity control, and the magnitude gain threshold is substituted into step S104.
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