[1]李 聪,王忠华*.结合卡尔曼滤波和离散滑模的振镜位置跟踪研究[J].江西师范大学学报(自然科学版),2022,(03):322-330.[doi:10.16357/j.cnki.issn1000-5862.2022.03.16]
　LI Cong,WANG Zhonghua*.The Galvanometer Position Tracking Based on Kalman Filter and Discrete Sliding Mode[J].Journal of Jiangxi Normal University:Natural Science Edition,2022,(03):322-330.[doi:10.16357/j.cnki.issn1000-5862.2022.03.16]
点击复制

结合卡尔曼滤波和离散滑模的振镜位置跟踪研究()
分享到：

《江西师范大学学报》（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2022年03期
页码:
322-330
栏目:
信息科学与技术
出版日期:
2022-05-25

文章信息/Info

Title:
The Galvanometer Position Tracking Based on Kalman Filter and Discrete Sliding Mode
文章编号:
1000-5862(2022)03-0322-09
作者:
李 聪; 王忠华*
南昌航空大学信息工程学院,江西 南昌 330063
Author(s):
LI Cong; WANG Zhonghua*
College of Information Engineering,Nanchang Hangkong University,Nanchang Jiangxi 330063,China
关键词:
振镜系统;  卡尔曼滤波器;  离散滑模控制;  位置跟踪
Keywords:
galvanometer system;  Kalman filter;  discrete sliding mode control;  position tracking
分类号:
TP 273
DOI:
10.16357/j.cnki.issn1000-5862.2022.03.16
文献标志码:
A
摘要:
为解决外部扰动和噪声对振镜系统位置跟踪的影响,该文提出了一种结合卡尔曼滤波和离散滑模控制的振镜位置跟踪方法.首先,围绕振镜系统驱动电机的离散数学模型,构建卡尔曼滤波器来估计振镜系统真实的运动变化,降低外部扰动和噪声对系统的影响; 其次,结合离散滑模控制对跟踪误差进行修正,使振镜系统位置量和速度量快速稳定,进一步提升系统的抗干扰能力和位置跟踪能力; 最后,针对瞬时和连续性2种类型的外部扰动设计了对比仿真实验和振镜系统平台的验证实验.实验结果表明:在这2种不同类型的外部扰动下,该控制方法都能够使振镜的扫描反射镜快速、准确地跟踪给定期望值,且有效抑制离散滑模控制的抖振问题.
Abstract:
In order to solve the influence of external disturbance and noise imposed on the trajectory state of galvanometer scanning mirror,the control method combining Kalman filter and discrete sliding mode is proposed to tracking desired angular position.Firstly,around the discrete mathematical model of the driving motor of the galvanometer system,the Kalman filter is constructed to estimate the real motion change of the galvanometer system,so as to reduce the influence of external disturbance and noise on the system.Secondly,the tracking error is corrected by discrete sliding mode control,which makes the position and velocity of the galvanometer system stable quickly,and further improves the anti-interference ability and position tracking ability of the system.Finally,the comparative simulation experiment and the verification experiment of galvanometer system platform are designed for two both instantaneous and continuous types of external disturbances.The simulation and experimental results show that under two different types of external disturbances,the control method can not only make the scanning mirror of the galvanometer track the expected value quickly and accurately,but also suppress the chattering problem of discrete sliding mode control effectively.

参考文献/References:

[1] PAN Tiancheng,LI Guangjun.Digital control of a galvanometer based on repetitive compensation[EB/OL].[2021-10-10].https://kns.cnki.net/KCMS/detail/detail.aspx?dbcode=IPFD&filename=LRCM201511003004.
[2] XIAO Hui,CHEN Xu.Multi-band beyond-Nyquist disturbance rejection on a galvanometer scanner system[EB/OL].[2021-10-10].https://ieeexplore.ieee.org/document/8014263.
[3] MNERIE C A,PREITL S,DUMA V F.Performance enhancement of galvanometer scanners using extended control structures[EB/OL].[2021-10-13].https://ieeexplore.ieee.org/document/6608952.
[4] MNERIE C A,DUMA V F.Mathematical model of a galvanometer based scanner:simulations and experiments[EB/OL].[2021-10-15].https://www.spiedigitallibrary.org/conference-proceedings-of-spie/8789/1/Mathematical-model-of-a-galvanometer-based-scanner-simulations-and/10.1117/12.2020462.short?SSO=1.
[5] 钱荣荣,骆敏舟,赵海江,等.永磁同步电机新型自适应滑模控制[J].控制理论与应用,2013,30(11):1414-1421.
[6] KIM E,KIM J,NGUYEN H H,et al.Compensation of parameter uncertainty using an adaptive sliding mode control strategy for an interior permanent magnet synchronous motor drive[J].IEEE Access,2019,7:11913-11923.
[7] 侯利民,任一夫,刘恒飞,等.基于无速度传感器的永磁同步电机滑模自抗扰控制[J].系统仿真学报,2019,31(5):963-970.
[8] 郑长明,张加胜,陈荣.基于改进扰动补偿趋近律的离散滑模控制[J].控制与决策,2019,34(4):880-884.
[9] 郭小定,柏达,周少武,等.一种新型趋近律的永磁同步电机滑模控制[J].控制工程,2018,25(10):1865-1870.
[10] 郑晓晨.伺服电机NCS神经网络PID趋近律滑模控制[J].火力与指挥控制,2020,45(8):22-29.
[11] JIN Hongyan,ZHAO Ximei.Extended Kalman filter-based disturbance feed-forward compensation considering varying mass in high-speed permanent magnet linear synchronous motor[J].Electrical Engineering,2019,101(2):537-544.
[12] 张毅,陈光胜.高速扫描振镜动力学控制系统的建模与仿真[J].建模与仿真,2020,9(2):116-124.
[13] GAO Weibing,WANG Yufu,HOMAIFA A.Discrete-time variable structure control systems[J].IEEE Transactions on Industrial Electronics,2002,42(2):117-122.
[14] 刘金琨.先进PID控制MATLAB仿真[M].2版.北京:电子工业出版社,2004.
[15] 刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.

备注/Memo

备注/Memo:
收稿日期:2022-01-11
基金项目:国家自然科学基金(61861033)和南昌航空大学第十六届大学生“三小”(2021XG087)资助项目.
通信作者:王忠华(1977—),男,江西南昌人,副教授,博士,主要从事图像处理和人工智能研究.E-mail:wangzhonghuaw2h@126.com
更新日期/Last Update: 2022-05-25