【摘要】：無(wú)線激光通信技術(shù)以其高速、便捷等獨(dú)特的優(yōu)勢(shì),在海洋領(lǐng)域有著廣闊的應(yīng)用前景。然而,激光束在海面?zhèn)鬏斶^程中易受到大氣湍流的影響,在通信接收端產(chǎn)生光束偏移、到達(dá)角起伏等現(xiàn)象,嚴(yán)重影響激光通信的質(zhì)量。傾斜鏡系統(tǒng)被用于無(wú)線激光通信中,用于實(shí)時(shí)校正光束偏移,使得激光束能實(shí)時(shí)穩(wěn)定的與接收端對(duì)準(zhǔn)。然而,由于受到傾斜鏡執(zhí)行器材料的滯回特性、執(zhí)行器動(dòng)態(tài)響應(yīng)、執(zhí)行器間相互耦合等因素的限制,傳統(tǒng)的控制器難以對(duì)傾斜鏡進(jìn)行精確和高速的控制,降低了傾斜鏡系統(tǒng)的校正效果。本文設(shè)計(jì)并搭建了一套閉環(huán)傾斜鏡系統(tǒng),并對(duì)傾斜鏡的滯回特性,動(dòng)態(tài)響應(yīng)特性和耦合特性進(jìn)行了測(cè)試。采用前饋控制的方法對(duì)傾斜鏡滯回效應(yīng)進(jìn)行了補(bǔ)償。根據(jù)傾斜鏡結(jié)構(gòu)推導(dǎo)了系統(tǒng)的物理模型,為后續(xù)數(shù)值建模提供有效參考。采用子空間辨識(shí)的方法,基于傾斜鏡系統(tǒng)輸入輸出數(shù)據(jù),建立開環(huán)傾斜鏡系統(tǒng)的動(dòng)態(tài)耦合數(shù)學(xué)模型,并通過測(cè)試實(shí)驗(yàn)評(píng)估了模型的準(zhǔn)確性和建模方法的可行性。基于動(dòng)態(tài)耦合模型進(jìn)行了 H_2最優(yōu)控制器設(shè)計(jì)及閉環(huán)實(shí)驗(yàn),以提高閉環(huán)系統(tǒng)的性能,并與傳統(tǒng)的基于靜態(tài)模型的控制器進(jìn)行對(duì)比,觀察比較兩種控制器的閉環(huán)控制效果。實(shí)驗(yàn)結(jié)果顯示,經(jīng)滯回補(bǔ)償后傾斜鏡的最大滯回量由11.29%降低到1.4%。傾斜鏡系統(tǒng)動(dòng)態(tài)耦合模型的VAF(Variance accounted for)值達(dá)到97%,相比之下,傳統(tǒng)的靜態(tài)模型VAF值為65%,模型的準(zhǔn)確性大大提高�；趧�(dòng)態(tài)耦合模型的H_2控制器使系統(tǒng)的閉環(huán)帶寬達(dá)到219Hz,而傳統(tǒng)的基于靜態(tài)模型的控制器帶寬為100Hz左右,控制器性能顯著提高。本文提出了將子空間辨識(shí)和H_2最優(yōu)控制用于傾斜鏡系統(tǒng)控制的思路,驗(yàn)證了滯回補(bǔ)償、系統(tǒng)建模、控制器設(shè)計(jì)方法的可行性,研究成果可用于海洋環(huán)境無(wú)線激光通信中的閉環(huán)傾斜鏡系統(tǒng),提高系統(tǒng)對(duì)于光束偏移矯正的性能,進(jìn)一步提高通信質(zhì)量。
[Abstract]:Wireless laser communication technology has a broad application prospect in ocean field because of its unique advantages such as high speed and convenience. However, the laser beam is easy to be affected by atmospheric turbulence in the process of sea surface propagation, which results in beam deviation and angle of arrival fluctuation at the receiving end of the communication, which seriously affects the quality of laser communication. The tilting mirror system is used in wireless laser communication to correct the beam offset in real time so that the laser beam can be aligned with the receiver in real time. However, due to the hysteretic characteristics of the tilting mirror actuator, the dynamic response of the actuator and the coupling between the actuators, it is difficult for the traditional controller to control the tilting mirror accurately and at high speed. The correction effect of tilting mirror system is reduced. In this paper, a closed loop tilting mirror system is designed and built, and the hysteretic, dynamic response and coupling characteristics of the tilting mirror are tested. The hysteretic effect of tilting mirror is compensated by feedforward control. The physical model of the system is derived according to the tilting mirror structure, which provides an effective reference for the subsequent numerical modeling. Based on the input and output data of tilting mirror system, the dynamic coupling mathematical model of open loop tilting mirror system is established by using subspace identification method. The accuracy of the model and the feasibility of the modeling method are evaluated by testing experiments. Based on the dynamic coupling model, the optimal controller design and closed-loop experiment are carried out to improve the performance of the closed-loop system. Compared with the traditional controller based on static model, the closed-loop control effect of the two controllers is observed and compared. The experimental results show that the maximum hysteresis of the tilting mirror is reduced from 11.29% to 1.4% after hysteresis compensation. The VAF (Variance accounted for) value of the dynamic coupling model of tilting mirror system is 97. Compared with the traditional static model, the VAF value is 65 and the accuracy of the model is greatly improved. The controller based on dynamic coupling model makes the closed-loop bandwidth of the system reach 219Hz, while the traditional controller based on static model has a bandwidth of about 100Hz, so the controller performance is improved significantly. In this paper, the idea of applying subspace identification and HStat2 optimal control to tilting mirror system control is proposed. The feasibility of hysteretic compensation, system modeling and controller design is verified. The research results can be applied to the closed loop tilt-mirror system in wireless laser communication in marine environment, which can improve the performance of the system for beam offset correction and further improve the communication quality.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TN929.1

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