CN100492243C - Fast reflection mirror real-time active vibration control system based on DSP - Google Patents
Fast reflection mirror real-time active vibration control system based on DSP Download PDFInfo
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- CN100492243C CN100492243C CNB2006100893149A CN200610089314A CN100492243C CN 100492243 C CN100492243 C CN 100492243C CN B2006100893149 A CNB2006100893149 A CN B2006100893149A CN 200610089314 A CN200610089314 A CN 200610089314A CN 100492243 C CN100492243 C CN 100492243C
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Abstract
The present invention relates to a quick reflector real-time active vibration control system based on DSP. Said system includes the following several portions: quick reflector, laser light source, position-sensing sensor, base seat, signal conditioning circuit and DSP control card. Said invention also provides the working principle of said control system and its concrete operation method and steps.
Description
Technical field
The present invention relates to a kind of fast mirror real-time active vibration control system, particularly a kind of fast mirror real-time active vibration control system based on the DSP control card is used for the real-time active vibration control of single-degree-of-freedom fast mirror.
Background technology
Fast mirror, is proofreaied and correct the variation of light beam arrival direction in order to control the direction of launching and accepting optical axis as a kind of precision tracking technological means that grew up in recent years, i.e. the correction of Beam Wave-Front distortion integral inclination, and this all be unable to do without control system.Existing fast mirror control system is many to be made up of Industrial Control Computer, A/D and D/A card, and this control system is bulky, poor anti jamming capability, and control accuracy is relatively low, and does not have real-time, quick control function.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, a kind of quick, real-time and High Accuracy Control is provided, and improved the fast mirror real-time active vibration control system based on DSP of the antijamming capability of system effectively.
Technical solution of the present invention: based on the fast mirror real-time active vibration control system of DSP, its characteristics are to comprise: fast anti-mirror, LASER Light Source, position sensitive device, pedestal, signal conditioning circuit, the DSP control card, position sensitive device is positioned on the pedestal, LASER Light Source shines on the fast anti-mirror and reflexes to position sensitive device, when the disturbing source of outside when pedestal is delivered to position sensitive device, the spot of laser beam moves relative to position sensitive device, position sensitive device produces the voltage of relative displacement and the disturbing signal of disturbing source enters the DSP control card simultaneously, after the DSP control card is gathered this two paths of signals, carry out real-time analysis and control calculating by control algolithm, then digital quantity to be controlled is transformed into one tunnel analog quantity and outputs to rearmounted modulate circuit, offer fast mirror, cause the giant magnetostrictive material actuator to produce corresponding elongation or contraction, fast anti-mirror changes around deciding fulcrum generation angle, cause the reflection angle of laser beam to change, pass through the variation of position sensitive device detection laser beam spot displacement again, feed back in the DSP control card, carry out so repeatedly, thereby finish the real-time active vibration control of fast mirror.
Described DSP control card comprises DSP circuit, electric power management circuit, A/D converter, D/A converter, logical sequence control circuit, asynchronous serial port RS232 change-over circuit, electric power management circuit is for the DSP circuit provides stable feed circuit, makes the DSP circuit can operate as normal; A/D converter joins with the DSP circuit, and the analog signal conversion of importing is become digital signal; D/A converter joins with the DSP circuit, converts digital signal to simulating signal; Logical sequence control circuit CPLD joins with DSP circuit, A/D converter and D/A converter respectively, is used for the logical sequence control of A/D converter and D/A converter; Asynchronous serial port RS232 level shifting circuit joins with DSP circuit and host computer respectively, is used for data are reached host computer, is convenient to computing machine and carries out follow-up processing.
The present invention's advantage compared with prior art is: adopt based on the DSP control card, (following function under 10～100Hz) is achieved at (micron order), low frequency a little to make fast mirror; And reduced the volume of main control equipment, improved the antijamming capability of system, working stability; Experimental results show that tracking effect reaches more than 95%.
Description of drawings
Fig. 1 is the structured flowchart of fast mirror real-time active vibration control system of the present invention;
Fig. 2 is a DSP control card circuit structure block diagram of the present invention;
Fig. 3 is a DSP control card working routine process flow diagram of the present invention;
Fig. 4 is the block diagram of logical sequence control circuit CPLD of the present invention;
Fig. 5 is the logical sequence control chart of dsp chip of the present invention by CPLD control A/D converter;
Fig. 6 is the logical sequence control chart of dsp chip of the present invention by CPLD control D/A converter;
Fig. 7 is an electric power management circuit block diagram of the present invention;
Fig. 8 is an asynchronous serial port RS232 change-over circuit schematic diagram of the present invention;
Fig. 9 is common sef-adapting filter LMS theory diagram;
Figure 10 is LMS control principle figure of the present invention (single-degree-of-freedom);
Figure 11 is catoptron LMS control algolithm of the present invention (single-degree-of-freedom, a single-input single-output system) process flow diagram;
Figure 12, Figure 13 are fast anti-mirror control design sketch of the present invention, and wherein Figure 12 is the error signal e (k) that A/D gathers in the control procedure, and Figure 13 is the controlled quentity controlled variable f (k) of D/A output in the control procedure.
Embodiment
As shown in Figure 1, the present invention includes: fast anti-mirror, LASER Light Source, position sensitive device, pedestal, power amplifier, low-pass filter, bandpass filter, the DSP control card, position sensitive device is positioned on the pedestal, LASER Light Source shines on the fast anti-mirror and reflexes to position sensitive device, the external disturbance source is delivered to position sensitive device from pedestal, the spot of laser beam moves with respect to position sensitive device, this position sensitive device produces the voltage of relative displacement, enter the DSP control card by bandpass filter and outside disturbing signal, after the DSP control card is gathered this two paths of signals process A/D conversion, carry out real-time analysis and control calculating by embedded LMS algorithm, then digital quantity to be controlled is transformed into one tunnel analog quantity and outputs to rearmounted low-pass filter, be transformed into level and smooth analog quantity output by low-pass filter, this analog quantity offers fast mirror after amplifying through power amplifier, cause the giant magnetostrictive material actuator to produce corresponding elongation or contraction, fast mirror changes around deciding fulcrum generation angle, cause the reflection angle of laser beam to change, and then the variation by the displacement of position sensitive device detection laser beam spot, and then feed back in the DSP control card by bandpass filter again, carry out so repeatedly, thereby finish the real-time active vibration control of fast mirror.
As shown in Figure 2, the DSP control card comprises DSP circuit, electric power management circuit, A/D converter, D/A converter, logical sequence control circuit, asynchronous serial port RS232 change-over circuit, electric power management circuit is for the DSP circuit provides stable feed circuit, makes the DSP circuit can operate as normal; A/D converter, it and DSP circuit join, and the analog signal conversion of importing is become digital signal; D/A converter joins with the DSP circuit, converts digital signal to simulating signal; The logical sequence control circuit joins with DSP circuit, A/D converter and D/A converter respectively, is used for the logical sequence control of A/D converter and D/A converter; Asynchronous serial port RS232 level shifting circuit joins with DSP circuit and host computer respectively, is used for signal is reached host computer, is convenient to computing machine and carries out follow-up processing.
As shown in Figure 3, the working routine flow process of DSP control card: (1) DSP control card powers up; (2) boot program loads (boot being copied to 0 address of internal memory from Flash ROM); (3) dsp chip initial configuration; (4) the wait host computer is revised parameter by serial communication; (5) whether receive the command word of parameter modification: if receive, carry out next step,, turn back to (4) if do not receive; (6) enable timer and interrupt, begin to control with the LMS algorithm; (7) whether receive the command word of program suspension: if receive, turn back to (4),, carry out next step if do not receive; (8) interrupt arriving operation LMS algorithm: the A/D sampling, data processing sends data to D/A; (9) data of handling gained are compared with relevant condition: if condition meets, carry out next step, control is finished, if condition does not meet, turns back to (7); (10) the timeing closing device interrupts; (11) preserve data:, the data that send to D/A after A/D sampled data and the processing are sent to host computer by serial ports.
DSP circuit of the present invention comprises dsp chip, synchronous DRAM SDRAM, flash memory Flash ROM and clock circuit, and synchronous DRAM is as the storage data, and flash memory is as the storage start-up routine.The model that dsp chip uses is the TMS320C6000 series of American TI Company, has the very long instruction word structure; Synchronous DRAM adopts HY57V281620HCT or HY57V281620HCST or HY57V281620HCLT or HY57V281620HLT or the HY57V281620HST series of 4Banks * 2M * 16bits, and the flash memory model is MBM29LV800TE or the MBM29LV800BE series of 512K * 16bits.DSP control card technical indicator of the present invention is: dsp chip frequency of operation: 160MHz; Sample frequency: 1000Hz; Input voltage range: ± 5V; Output voltage range: ± 10V; Asynchronous serial port baud rate: 9600bps; Maximum current: 0.5A.
12 of resolution of A/D converter employing among the present invention, four-way are changed simultaneously, parallel data output, and the chip model is AD7864AS.D/A converter adopts 12 of resolution, the output of four-way voltage, parallel data input, and the chip model is DAC8412.The logical sequence control circuit adopts the complex programmable logic device (CPLD) chip, its model is an XC9500XL series, DSP and parallel corresponding connection of A/D converter data pins and D/A converter data pins, A/D converter and D/A converter are enabled, change, read and write logical sequence controls such as control by complex programmable logic device (CPLD), as shown in Figure 4.
As shown in Figure 5, dsp chip is as follows by the logical sequence control procedure of CPLD control A/D converter: the CONVST of A/D converter is by height-low-high level, expression dsp chip notice A/D converter promptly begins conversion, when it stabilizes to high level at CONVST, the beginning image data, and finish the conversion of analog quantity to digital quantity.After converting, the CS of A/D converter is by high step-down, the RD of A/D converter is through two high-low-high level, at RD is between low period, the data volume data that conversion is good appear on the data bus, and this moment, dsp chip can read these data in turn, and CS and RD uprise level then, one time A/D converts, and it is effective that CONVST, CS and RD are low level.
As shown in Figure 6, dsp chip is as follows by the logical sequence control of CPLD control D/A converter: the RESET of D/A converter is by height-low-high level, four output channel output voltages that make D/A converter are zero, this begins and after control finishes in program, just to use, during the program run, it is not operated.LDAC and CS are by height-low level, and D/A converter begins new analog quantity output.This moment R/W step-down level, before this, which D/A ALT-CH alternate channel output A0 and A1 will select.At R/W is between low period, and dsp chip is write digital quantity to be exported in the translation register of D/A by data bus.Afterwards, R/W, CS and LDAC uprise level successively, and one time D/A converts, and it is effective that LDAC, CS and R/W are low level.
As shown in Figure 7, DSP control card externally fed power supply of the present invention is+5V.This+the 5V power supply is through after the supply socket, directly provides+the 5V power supply for A/D converter spare; Use and to decide voltage isolation Voltage stabilizing module power supply NR5D15 general+5V and convert to ± 15V, for the Voltage Reference device of D/A converter and D/A converter provides ± the 15V power supply; Use LDO linear voltage stabilization device LM1086 general+5V to convert to+3.3V, for DSP, CPLD, synchronous DRAM and flash memory provide+the 3.3V power supply; Use LDO linear voltage stabilization device REG1117A general+3.3V to convert to+1.2V, for dsp chip provides+the 1.2V power supply.
As shown in Figure 8, asynchronous serial port RS232 change-over circuit schematic diagram of the present invention.Dsp chip is to use its multichannel buffered serial port McBSP when carrying out serial communication, be a kind of synchronous serial interface, does not support UART Universal Asynchronous Receiver Transmitter (UART) standard.Yet, by software setting, as long as the simple serial register of changing on the dsp chip can be realized the asynchronous serial communication of dsp chip and host computer.Concrete connected mode as shown in the figure, the data of its McBSP input DR links to each other with the transmission data line Tx of UART with frame synchronization input FSR, the reception data line Rx of UART will link to each other with the DOL Data Output Line DX of McBSP.
As shown in Figure 9, sef-adapting filter LMS theory diagram illustrates: delay cell number (N) is called the tap of wave filter, each delay cell unit-delay operator z
-1Expression.Especially, when x (k) is carried out z
-1During computing, its result's output is x (k-1).w
i(k) be tap weight value, i=0,1 ..., N-1.K refers to a certain moment, then
Input vector is
Weight vector is
Wherein X (k) refers to time series x (k), x (k-1) ..., the vector that x (k-N+1) forms for element, weight vector W (k) refers to tap weight value w
0(k), w
1(k) ..., w
N-1(k) vector of Zu Chenging.
As shown in figure 10, be LMS control principle figure of the present invention (single-degree-of-freedom).The A/D converter collection be x (k) (disturbance) and e (k) (error), totally two A/D input channels.What D/A exported is f (k) (control output quantity), a D/A output channel, and this block diagram application self-adapting wave filter LMS algorithm is realized the schematic diagram of System Discrimination function.The concrete controlling models of total system and actuator never is well solved now in the control field.So adopt LMS algorithm line modeling, and controlled system controlled.
As shown in figure 11, for adding fast mirror LMS control algolithm (single-degree-of-freedom, the single-input single-output system) process flow diagram of judging that sampling is interrupted, the concrete single output of single input LMS control algolithm is as follows:
Shown in Figure 12,13, be control effect image of the present invention.Preceding 1000 sampling times (1ms) do not apply the LMS control algolithm, are used for contrasting the effect that applies LMS control algolithm front and back.Wherein Figure 12 is the error signal e (k) that A/D gathers, and Figure 13 is the controlled quentity controlled variable f (k) of D/A output.Since the 1001st sampling time, error signal e of same sampled point correspondence (k) and control output signal f (k) finished in the same sampling period, sampled altogether 5000 times, and the working control time is 4s.As seen from Figure 12, apply LMS control algolithm and do not apply the LMS control algolithm the good results are evident.
Claims (9)
1, fast mirror real-time active vibration control system based on DSP, it is characterized in that comprising: fast anti-mirror, LASER Light Source, position sensitive device, pedestal, signal conditioning circuit, the DSP control card, position sensitive device is positioned on the pedestal, LASER Light Source shines and reflexes to position sensitive device on the catoptron, when the disturbing source of outside when pedestal is delivered to position sensitive device, the spot of laser beam moves relative to position sensitive device, position sensitive device produces the voltage of relative displacement and the disturbing signal of disturbing source enters the DSP control card simultaneously, after the DSP control card is gathered this two paths of signals, carry out real-time analysis and control calculating by control algolithm, then digital quantity to be controlled is transformed into one tunnel analog quantity and outputs to rearmounted modulate circuit, offer fast mirror, cause the giant magnetostrictive material actuator to produce corresponding elongation or contraction, fast anti-mirror changes around deciding fulcrum generation angle, cause the reflection angle of laser beam to change, pass through the variation of position sensitive device detection laser beam spot displacement again, feed back in the DSP control card, carry out so repeatedly, thereby finish the real-time active vibration control of fast mirror.
2, the fast mirror real-time active vibration control system based on DSP according to claim 1, it is characterized in that: described DSP control card comprises DSP circuit, electric power management circuit, A/D converter, D/A converter, logical sequence control circuit CPLD, asynchronous serial port RS232 change-over circuit, electric power management circuit is for the DSP circuit provides stable feed circuit, makes the DSP circuit can operate as normal; A/D converter, it and DSP circuit join, and the analog signal conversion of importing is become digital signal; D/A converter, it and DSP circuit join, and convert digital signal to simulating signal; Logical sequence control circuit CPLD joins with DSP circuit, A/D converter and D/A converter respectively, is used for the logical sequence control of A/D converter and D/A converter; Asynchronous serial port RS232 level shifting circuit joins with DSP circuit and host computer respectively, is used for data are reached host computer.
3, the fast mirror real-time active vibration control system based on DSP according to claim 1, it is characterized in that: described DSP circuit comprises dsp chip, synchronous DRAM SDRAM, flash memory Flash ROM and clock circuit, synchronous DRAM is as the storage data, and flash memory is as the storage start-up routine.
4, the fast mirror real-time active vibration control system based on DSP according to claim 3, it is characterized in that: described dsp chip is a TMS320C6000 series, has the very long instruction word structure.
5, the fast mirror real-time active vibration control system based on DSP according to claim 3, it is characterized in that: HY57V281620HCT that described synchronous DRAM model is 4Banks * 2M * 16bits or HY57V281620HCST or HY57V281620HCLT or HY57V281620HLT or HY57V281620HST series, flash memory model are MBM29LV800TE or the MBM29LV800BE series of 512K * 16bits.
6, the fast mirror real-time active vibration control system based on DSP according to claim 2 is characterized in that: described A/D converter is that 12 of resolution, four-way are changed simultaneously, parallel data output.
7, the fast mirror real-time active vibration control system based on DSP according to claim 2 is characterized in that: described D/A converter is 12 of resolution, the output of four-way voltage, parallel data input.
8, the fast mirror real-time active vibration control system based on DSP according to claim 2 is characterized in that: described logical sequence control circuit adopts CPLD chip XC9500XL series to realize.
9, the fast mirror real-time active vibration control system based on DSP according to claim 1 is characterized in that: described control algolithm is the LMS algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006100893149A CN100492243C (en) | 2006-06-19 | 2006-06-19 | Fast reflection mirror real-time active vibration control system based on DSP |
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| CNB2006100893149A CN100492243C (en) | 2006-06-19 | 2006-06-19 | Fast reflection mirror real-time active vibration control system based on DSP |
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| CN100492243C true CN100492243C (en) | 2009-05-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102540877B (en) * | 2012-02-03 | 2014-07-02 | 中国科学院光电技术研究所 | Control method of vibratory control device based on rectification of quick tilting mirror |
| CN102866280B (en) * | 2012-08-31 | 2015-03-11 | 哈尔滨工业大学 | Magnetostrictive open circuit optical control device |
| CN103092219B (en) * | 2013-01-15 | 2015-05-06 | 中国科学院光电技术研究所 | Finite state machine (FSM) remote real-time control time compensation system and method |
| CN104215431A (en) * | 2014-09-25 | 2014-12-17 | 中国工程物理研究院应用电子学研究所 | Rapid tilting mirror performance testing device |
| CN107807531B (en) * | 2017-11-30 | 2020-02-18 | 北京航空航天大学 | Self-adaptive inverse tracking control method for giant magnetostrictive tracking platform |
| CN108919646B (en) * | 2018-07-18 | 2021-02-26 | 中国航空工业集团公司洛阳电光设备研究所 | Fast deflection mirror visual axis buffeting suppression method based on support vector machine |
| CN112666859A (en) * | 2020-12-14 | 2021-04-16 | 武汉华中天纬测控有限公司 | High-precision two-dimensional quick reflector device |
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