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As a beam precise capture and tracking structure in quantum communication systems, ATP plays a vital role in the performance of quantum communication. In order to ensure the tracking accuracy and tracking range, the composite axis tracking mode of coarse and fine tracking is mostly used at present. However, in the coarse fine tracking compound axis mode, the size and ratio of the coarse fine tracking field of view are limited. In order to solve this problem, based on the existing optical path architecture of the ATP system, a primary transition field of view is added, and the corresponding tracking mirror of the transition field of view is added, forming a series structure of double fast control mirrors for precision tracking and high-precision tracking. In this structure, the fast deflection mirror with large stroke and low bandwidth and the fine tracking detector with low sampling frequency first form a fine tracking closed loop to complete the fine tracking with a large range and low bandwidth. On this basis, another fast deflection mirror with small stroke and high bandwidth is combined with a high-precision tracking detector with high sampling frequency to form a high-precision tracking closed loop to realize high-precision and high-bandwidth high-precision tracking. In order to further improve the control accuracy, after the double closed-loop stability of fine TV and high-precision TV, the high-precision TV with a high frame rate is also used for the closed-loop of the large travel tracking mirror, forming a single detection control structure. However, the parameter tuning of this structure is based on the small change of object characteristics. At the same time, it is also necessary to accurately calibrate the target characteristics, so as to facilitate the accurate decoupling of fine tracking and high-precision tracking. The debugging of the controller is complex, and the system robustness is poor under the condition of large changes of target and background. In this paper, a relative angle sensor is added in the high-precision tracking and the position inner loop is added on the basis of the high-precision TV closed loop. On the one hand, the certainty of the control object itself is improved and it is convenient for parameter tuning. On the other hand, the deviation of the sensor is used in the fine tracking closed loop to avoid the problem of system decoupling. This paper analyzes the object characteristics, control system design method and robustness of the compound axis control structure based on this method. The theoretical and experimental results show that when the target characteristics are poor, especially when the lag changes greatly, the proposed method does not need decoupling control and has better robustness and higher accuracy.
Compound axis control optical path diagram used series double tracking mirrors
Compound axis control
Compound axis control used single detection
Control block diagram of fine tracking mirror
Comparison of characteristics of objects with different attitudes of tracking mirror (without inner ring and with Inner ring).
High precision TV images in different periods
Open loop correction characteristics of the same corrector under different hysteresis
Control block diagram of high precision tracking mirror after introducing relative angle sensor
Closed loop characteristic diagram of internal position of tracking mirror
Single detection compound axis control system framework based on position correction
Optical path diagram of experimental platform
Compound axis control object used single detection
Comparison of tracking results under the same lag
Comparison of hysteresis variation characteristics
Comparison of tracking results under different delays