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摘要:
为满足振镜电机系统高精度和高动态性能的控制需求，提出数模混合架构和扩张状态观测器(ESO)-滑模控制(SMC)复合的高性能驱动控制方法。采用基于数字式控制器和模拟式驱动器的数模混合架构设计，一方面便于实现高性能的非线性控制算法，另一方面能够消除数字式驱动器中脉冲宽度调制(PWM)技术导致的高频电流纹波。基于ESO和SMC复合的振镜电机位置环控制方法，通过ESO估计系统的各种扰动，利用SMC实时消除扰动影响，显著地提升了振镜电机系统的动态性能和鲁棒性。仿真和实验结果表明：相较于比例-积分-微分(PID)控制器，所提方法能够有效地提升系统的鲁棒性和动态响应性能，其中动态响应性能提升了29.4%。
Abstract:To improve the control performance, the digital-analog hybrid control with the extended state observer (ESO) and sliding mode control (SMC) is proposed for the galvanometer laser scanner in this paper. The digital-analog hybrid control scheme is first proposed, which adopts the digital controller and analog driver for the high-performance control algorithm implementation and eliminates the ripple current due to the pulse width modulation (PWM) chopping. Then the ESO and SMC based nonlinear control is proposed to enhance the control accuracy and dynamic performance of the galvanometer laser scanner regardless of various disturbances. According to the mathematical model of the galvanometer laser scanner, the stability of the system is verified by the Lyapunov stability criterion. The findings of the simulation and testing demonstrate that the suggested control can enhance the step response time of the 1% range by roughly 29.4% when compared to the proportion-integral-derivative (PID) controller, hence improving the system's dynamic performance. At the same time, the anti-interference ability and robustness can also be improved.
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表 1 运算放大器的4种组态
Table 1. Four forms of operational amplifier
组态 输入信号 输出信号 放大公式 电压串联式 ${U_{\mathrm{i}}}$ ${U_{\mathrm{o}}}$ $ {K_{\mathrm{v}}} = {U_{\mathrm{o}}}/{U_{\mathrm{i}}} $ 电压并联式 ${U_{\mathrm{i}}}$ ${I_{\mathrm{o}}}$ $ {K_{\mathrm{s}}} = {I_{\mathrm{o}}}/{U_{\mathrm{i}}} $ 电流串联式 ${I_{\mathrm{i}}}$ ${U_{\mathrm{o}}}$ $ {K_\Omega } = {U_{\mathrm{o}}}/{I_{\mathrm{i}}} $ 电流并联式 ${I_{\mathrm{i}}}$ ${I_{\mathrm{o}}}$ $ {K_{\mathrm{i}}} = {I_{\mathrm{o}}}/{I_{\mathrm{i}}} $ 
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表 2 振镜电机基本参数
Table 2. Basic Parameters of Galvo Motor
参数 数值 电机电阻/Ω 3.55 电机电感/μH $170$ 额定电压/V 30 额定电流/A 3 最大电流/A 6 力矩系数/(Nm·A−1) 0.017 反电势常数/(V·(rad·s−1)−1) $8.3 \times {10^{ - 3}}$ 转动惯量/(kg·m3) $ 1.25\times {10}^{-8} $ 最大摆角/(°) 30
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