Design of precise tracking system of laser tracker

DONG Deng-feng; ZHOU Wei-hu; JI Rong-yi; ZHANG Zi-li; LAO Da-bao

doi:10.3788/OPE.20162402.0309

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Design of precise tracking system of laser tracker

更新时间：2020-08-13

- Design of precise tracking system of laser tracker
- Optics and Precision Engineering Vol. 24, Issue 2, Pages: 309-318(2016)
- 作者机构：
  
  中国科学院光电研究院, 北京 100094
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20162402.0309
  CLC： TP273.3;TN247
- Received：12 October 2015，
  
  Revised：07 December 2015，
  
  Published：25 February 2016
- 稿件说明：
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董登峰, 周维虎, 纪荣祎等. 激光跟踪仪精密跟踪系统的设计[J]. 光学精密工程, 2016,24(2): 309-318

DONG Deng-feng, ZHOU Wei-hu, JI Rong-yi etc. Design of precise tracking system of laser tracker[J]. Editorial Office of Optics and Precision Engineering, 2016,24(2): 309-318
董登峰, 周维虎, 纪荣祎等. 激光跟踪仪精密跟踪系统的设计[J]. 光学精密工程, 2016,24(2): 309-318 DOI： 10.3788/OPE.20162402.0309.

DONG Deng-feng, ZHOU Wei-hu, JI Rong-yi etc. Design of precise tracking system of laser tracker[J]. Editorial Office of Optics and Precision Engineering, 2016,24(2): 309-318 DOI： 10.3788/OPE.20162402.0309.

摘要

对激光跟踪仪的跟踪伺服控制系统进行了整体研究并给出了总体设计方案。针对跟踪目标的精密探测问题

研究了新型探测手段以及微弱光电信号的精细调理技术与数字滤波方法

使得脱靶量探测稳定性优于2.0m。针对跟踪角度精密测量问题

设计了圆光栅数据采集系统

实现了角度脉冲的细分、辨向与准确计数;基于谐波分析方法建立了跟踪过程中的误差补偿模型

将角度测量精度由3.5"提高到1.5"。建立了跟踪伺服电机的数学模型

分析了电流环在跟踪控制中的作用机理

提出了电流、速度、位置三闭环控制结构和复合跟踪控制策略。跟踪实验表明:系统最远跟踪距离不小于41.7 m

跟踪速度不低于2.0 m/s。该项技术还能为空间动态目标跟踪、激光通信等提供有益借鉴。

Abstract

This paper focuses on the total research of tracking servo control system of a laser tracker and gives a total design scheme. For precise detection of the miss-distance of a tracking target

new detection methods

fine adjusting technologies and digital filtering methods for weak photoelectric signals were explored

by which the detection stability for miss-distance of the tracking target could be better than 2.0m. To measure precisely tracking angles

a circular grating data acquisition system was designed

and the digital filtering

angle subdivision and accurate counting as well as data communication modules were achieved. According to the angle data

a tracking error compensation model was established based on harmonic analysis method

and the angle measurement precision was improved to 1.5 from 3.5. For tracking servo motor

a mathematical model was established to analyze the special function of current loop in tracking control process

then a three-closed-loop control structure including the current

speed

position and a compound tracking control strategy was proposed. The tracking experiment shows that the tracking distance and the tracking speed are not less than 41.7 m and 2.0 m/s respectively. The technology can also provide a useful reference for the dynamic target tracking

laser communication and so on.

关键词

Keywords

references

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