两轴柔性支承快速反射镜结构控制一体化设计

为了预测并确认结构设计阶段快速反射镜系统的频率特性和时域性能，对一种两轴柔性支承快速反射镜进行了结构控制一体化研究和测试。提出了一种新型柔性支承结构，根据激光系统光束传输要求的快速反射镜指标，设计了快速反射镜系统的主要结构参数；研究了系统的动态数学模型，确定了闭环系统的控制方式和控制参数；建立了系统摆动部分的刚柔耦合模型，获得了结构非线性模型，基于非线性模型对控制系统和运动系统进行了联合仿真测试。联合仿真结果显示，系统在运动方向的谐振频率为54 Hz，与有限元和理论计算结果的误差均为3.8%，系统位置闭环带宽为203 Hz，符合设计要求。时域输出结果显示，系统的超调量为3.5%，调节时间为10 ms，与理论计算结果的偏差分别为3%和5 ms。

Integrative design of structure control for two-axis fast steering mirror with flexible support

To predict and confirm the frequency characteristics and time-domain performance of the fast steering system (FSM) in the structural design stage, a two-axis flexible-supported FSM was studied and tested. A new flexible support structure was proposed, and the main structural parameters of the FSM system were designed based on the performance index of FSM which is decided by the beam requirement of laser transmission system. The dynamic mathematical model of the system was studied, and the control mode and parameters of the closed-loop system were determined. The rigid-flexible coupling model of the swing part of the system was established, and the structural non-linear model was obtained. The joint simulation test of the system and the motion system were carried out based on the model above. The simulation results show that the resonance frequency of the system in the direction of motion is 54 Hz, and the errors between the calculated result and the finite element result is both 3.8%, and position closed loop bandwidth is 203 Hz which is right to the index. The output results in time domain show that the overshoot of the system is 3.5% and the adjustment time is 10 ms, the deviations from the theoretical results are 3% and 5 ms.