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激光测距仪对摆动扫描控制系统提出了特殊的要求(摆动幅度为±0.125°,摆动频率为2～8Hz)。在对系统进行建模与仿真分析的基础上,针对其中存在光栅码盘位置检测精度低、电机驱动电流小、易受外界干扰等问题,提出了一种新的工程实现方法。首先采用有限转角无刷直流力矩电机作为执行元件和挠性枢轴连接,可以减小力矩波动和机械摩擦;然后通过电学细分的方法提高光栅的分辨率;最后采用电流反馈和速度反馈相结合的PID控制策略提高系统的性能。试验结果表明:此方法可以满足摆动扫描控制系统对低转速、小角度、高精度控制的要求。
The laser range finder puts forward the special request to the wobble scanning control system (wobble amplitude is ± 0.125 °, wobble frequency is 2 ~ 8Hz). Based on the modeling and simulation analysis of the system, a new engineering method is put forward in view of the problems of low detection accuracy of grating code plate, small motor drive current and easy disturbance of external environment. Firstly, the finite-angle brushless DC torque motor is used as the actuator and the flexible pivot connection, which can reduce the torque ripple and mechanical friction; and then improve the resolution of the grating through the method of electrical subdivision; finally, the current feedback and speed feedback are combined PID control strategy to improve system performance. The experimental results show that this method can meet the requirements of low speed, small angle and high precision control of the swing scanning control system.