第24卷第2期
2016年2月文章编号
1004-924X(2016)02-0309-10
光学精密工程
Opties and Precision Engineering
激光跟踪仪精密跟踪系统的设计
董登峰*，周维虎，纪荣祎，张滋藜，劳达宝
（中国科学院光电研究院，北京100094）
Vol.24No.2
Feb.2016
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操测间题，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，使得脱靶量操测稳定性优于土2.0um。针对跟踪角度精密测量间题，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41.7m，跟踪速度不低于2.0m/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。关键调：激光跟踪仪；脱靶量探测；角度测量；跟踪控制
中图分类号：TP273.3;TN247
文献标识码：A
doi.10.3788/OPE,20162402.0309
Designofprecisetrackingsystemoflasertracker DONG Deng-feng',ZHOU Wei-hu,JI Rong-yi,ZHANG Zi-li,LAO Da-bao
(AcademyofOpto-electronics,ChineseAcademyofSciences,Beijing100094,China)
Correspondingauthor,E-mail:dongdengfeng@aoe.ac.cn
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 sig nals were explored, by which the detection stability for miss-distance of the tracking target could be better than ±2. O μm. 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 commu nication 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 im-proved 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 struc-ture 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. O m/s respectively. The technology can also provide a useful reference for the dynamic
收稿日期：2015-10-12；修订日期：2015-12-07
基金项目：国家重大科学仪器设备开发专项基金资助项目（No.11YQ120022)，精度测试技术及仪器国家重点实验
室（天津大学)开放课题(No.PIL1503)；中国科学院科研装备研制项目（No.090206A01Y)