摘 要： 研制53 cm双筒激光测距望远镜的快速平稳伺服控制系统，以实现快速空间目标的跟踪测量。模块化设计并构建望远镜的控制系统，伺服驱动器完成电流和速度的闭环，运动控制器实现位置环和复合PID算法。对控制机箱进行集成，并对控制器进行嵌入式开发，由控制器负责实时的运动控制，而上位机软件进行任务管理和人机交互。自定义通信协议以克服通信延时和VC++定时精度不高的问题，并提出位置二次闭环与混合PID的控制策略以提高望远镜的跟踪精度。实验结果表明：该望远镜在以3 （°）/s的匀速运动和低轨卫星跟踪过程中，精度在5″内；在低速运动和中高轨卫星的跟踪中，能够达到角秒量级的精度，经测试该望远镜能快速平稳地跟踪400 km以上空间目标，并满足指标要求。
关键词： 控制系统； 激光测距； 望远镜； 位置二次闭环； 混合PID
中图分类号： TN911⁃34； TP273 文献标识码： A 文章编号： 1004⁃373X（2014）16⁃0001⁃07
Design and implementation for control system of 53 cm binocular laser ranging telescope
HUANG Tao1， 2， LI Zhu⁃lian1， ZHANG Hai⁃tao1， LI Yu⁃qiang1， XIONG Yao⁃heng1
（1. Yunnan Astronomical Observatory， Chinese Academy of Sciences， Kunming 650011， China；
2. University of Chinese Academy of Sciences， Beijing 100049， China）
Abstract： The rapid and steady control system of the 53 cm binocular laser ranging telescope is constructed to realize the tracking and measurement of fast space targets. The modularized control system of the telescope was designed， in which the closed⁃loops of current and velocity are achieved by the servo driver， and the composite PID algorithm and feedback of position are realized by the motion controller. The control case is integrated and the controller is embedded. The controller is arranged to take charge of the real⁃time motion control， while the task management and human⁃computer interaction are realized by the host computer. Additionally， the user⁃defined communication protocol is formulated to overcome the communication delay and low timing precision of VC++. The control strategies of the 2th position closed⁃loop and the mixture PID are proposed to improve the tracking precision of the telescope. Experimental results indicate that the telescope can satisfy the precision of 5″ at the uniform speed of 3（°）/s and in the tracking process of low orbit satellites. Meanwhile， it reaches the precision of arc⁃second scale in the tracking of medium and high orbit satellites. The telescope has been proved that it is able to realize the rapid and steady tracking of space targets which are beyond 400 km far from the ground station， and can satisfy the demand of the property index.
Keywords： control system； laser ranging； telescope； 2th position closed⁃loop； mixture PID
0 引 言
为了发展和拓宽空间目标监测的新技术方法和手段，中科院云南天文台新建一台53 cm收发分光路的双筒激光测距[1]望远镜，以解决现有的1.2 m收发共光路望远镜[2]中的单光子探测器（Single⁃Photon Detector）[3⁃4]易受强激光后向散射影响的问题，并可联合1.2 m望远镜实现空间目标的多角度多方位测量。此外53 cm激光发射望远镜可为1.2 m望远镜成像系统提供激光导引星[5]，可进一步提高空间暗弱目标的探测能力，而成像系统对空间目标的可视性，在很大程度上也能提高卫星激光测距（Satellite Laser Ranging）成功的概率。