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Overview: The tip-tilt mirror control system is widely used in photoelectric tracking system, and has a wide range of applications in target tracking, target observation, space communication, and other fields. The image sensor detects the target and provides the position deviation for the control system, which is the input signal of the tilt mirror, thus a position closed-loop system can be formed. The performance of the tip-tilt mirror control system is the key to realize high precision tracking of the photoelectric tracking system. The most effective way is to increase the gain of control system for a high bandwidth. However, in the image-based tip-tilt mirror control system, it is difficult to improve the bandwidth due to the large amount of time delay and the limitation of image sensor sampling frequency. Therefore, many studies show that researchers have proposed various methods to enhance the tracking performance of tilt mirror system from the aspects of hardware and software. In terms of hardware, some studies were proposed to reduce the time delay and improve the sampling frequency of image sensor, but blindly reducing the time delay would affect the image of image sensor. On the other hand, some scholars proposed to use gyroscopes or other inertial sensors to make the control system form a multi closed-loop control mode, but because of the installation mode of these inertial for contact mounting, the load of the tilt mirror will increase, which will affect the system response. The linear encoder is a kind of non-contact sensor. Its installation will not increase the driving load. Because of its high resolution and accuracy, the rate signal can be calculated from the measured position signal. Therefore, a position-rate control method of the tip-tilt mirror based on grating measurement is proposed in this paper. The open-loop rate transfer function of the tip-tilt mirror features differential in the low frequency domain because the original tip-tilt control system is zero-type. When the inner rate feedback loop is implemented, an integrator is introduced into the original position loop. A PI (proportional-integral) controller can stabilize the position loop, leading to two integrators to be in the tracking loop, so the low-frequency performance can be improved compared with the original control method. The experimental results coincide with the theoretical analysis, verifying the correctness of the presented theories.
Configuration of an image-based tracking control system for tip-tilt mirror
Functional block diagram of position control mode
Functional block diagram of rate-position control mode
Configuration of experimental platform. (a) Global diagram; (b) Local diagram of tip-tilt mirror
Tracking control closed-loop responses of the tip-tilt mirror system. (a) Simulation; (b) Experiment
Bode responses of two error transfer functions
Error attenuation responses
Error comparisons between the position-rate control and the two-position control.