High-precision speed control of the turntable of a circumferential scanning imaging system

Shao-bo WU; Kai-di WANG

doi:10.3788/OPE.20202806.1353

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High-precision speed control of the turntable of a circumferential scanning imaging system

更新时间：2020-07-13

- High-precision speed control of the turntable of a circumferential scanning imaging system
- Optics and Precision Engineering Vol. 28, Issue 6, Pages: 1353-1364(2020)
- 作者机构：
  
  1.中国科学院西安光学精密机械研究所, 陕西西安 710119
  2.中国科学院大学, 北京 100049
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20202806.1353
  CLC： TM351; TP273; TN29
- Received：31 December 2019，
  
  Accepted：29 February 2020，
  
  Published：15 June 2020
- 稿件说明：
移动端阅览
Shao-bo WU, Kai-di WANG. High-precision speed control of the turntable of a circumferential scanning imaging system[J]. Optics and precision engineering, 2020, 28(6): 1353-1364.
DOI：

Shao-bo WU, Kai-di WANG. High-precision speed control of the turntable of a circumferential scanning imaging system[J]. Optics and precision engineering, 2020, 28(6): 1353-1364. DOI： 10.3788/OPE.20202806.1353.

摘要

为实现基于转台的像移补偿型周视扫描成像系统的高分辨率稳定成像，提出了一种复合控制算法对永磁同步电机驱动的扫描转台进行转速跟踪控制。根据转台的载荷特点及电机的数学模型，建立了包含机械参数不确定性和快变转矩扰动的单采样率控制系统模型；采用快速非奇异终端滑模和扩张高增益观测器复合控制实现了转速跟踪控制；采用快速非奇异终端滑模实现了最大转矩电流比控制；最后，分析并验证了基于上述复合算法的转速跟踪控制性能。实验表明：在转台转速设定为120 r/min或240 r/min时，采用该复合算法的转速跟踪误差均小于0.1%。与PI控制、快速非奇异终端滑模控制及线性滑模+观测器控制相比，采用该复合算法的转台转速响应具有无超调、抗扰动性能更强、跟踪精度更高的优点，能保证所述周视成像系统获得清晰稳定的周视全景图像。

Abstract

In this study

a composite control algorithm was developed for controlling the turntable speed of a circumferential scanning imaging system (ICSIS) driven by a permanent magnet synchronous motor (PMSM) to obtain stable high-resolution images. Based on the load characteristics of the turntable and the mathematical model of the PMSM

a single-sampling rate control system model

comprising the mechanical parameter uncertainty and fast-changing torque disturbance

was established. The fast nonsingular terminal sliding mode (FNTSM) control and an extended high-gain observer were used in designing the speed-tracking controller. The maximum torque current ratio control was determined through another FNTSM control. Finally

the performance of the speed tracking control based on the above composite algorithm was analyzed and verified. The experimental results show that when the turntable speed is set to 120 or 240 r/min

the speed tracking error is less than 0.1%. Compared with the proportional-integral control

FNTSM control

and linear sliding mode control+observer

the governing system with the proposed algorithm was characterized by no overshooting

stronger anti-disturbance

and higher speed-tracking precision

which enabled the ICSIS to capture clear and stable circumferential images.

关键词

Keywords

references

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