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给出了空间光通信ATP复合控制系统的组成框图,建立了粗跟踪和精跟踪的数学模型,并通过仿真推导了精跟踪和粗跟踪系统的复合控制算法。针对粗跟踪系统的传输特性,采用Smith预估器来补偿转台的机械滞后,使系统的响应速度明显加快;根据精跟踪系统的传输特性和PZT的迟滞特性,采用了不完全微分PID算法的控制策略;为进一步降低精跟踪的动态误差,采用前馈补偿控制来补偿稳态误差,使得精跟踪误差曲线更加平滑。进行了1.2 km的空间光通信信标光跟踪实验,在复合控制下,信标光被稳定在较小的视场内从而满足通信的要求,实验结果验证了控制策略的有效性。
The composition diagram of ATP composite control system for space optical communication is given. The mathematic model of coarse tracking and fine tracking is established. The compound control algorithm of fine tracking and coarse tracking system is deduced by simulation. According to the transmission characteristics of rough tracking system, the Smith predictor is used to compensate the mechanical lag of turntable and the response speed of the system is obviously accelerated. According to the propagation characteristics of fine tracking system and the hysteresis of PZT, the control of incomplete differential PID algorithm Strategy. In order to further reduce the dynamic error of fine tracking, the feedforward compensation control is used to compensate the steady-state error, which makes the fine tracking error curve smoother. Under 1.2 km space optical beacon optical tracking experiment, under the composite control, the beacon light is stabilized in a small field of view to meet the communication requirements. The experimental results verify the effectiveness of the control strategy.