The Design And Simulation Of Laser Tracker Electrical Control System

Laser tracker is a 3d coordinate measuring system,which can track and locate the space target.and realize flexible,high precision,real-time and dynamic field measurement.It have vast application market and important research significance.In this paper,the laser tracker measuring principle was elaborated,the structure performance and the test errors were analysed detailedly,and the dynamic performance indexs of laser tracker were analysed by experiments.And then the design of laser tracker electric control system was designed based on the dynamic performance index,including the host PCB,secondary power PCB and the power driving PCB of laser tracker.Inorder to control motor to track the target byposition error signals of PSD,the performance principle of PSD was analysed.Futhermore,the sampling algorithm based on FPGA was designed by reference to logical sequence of A/D converter,realizing the reading and writing of A/D converter,and then filtering operations was executed to get the facula's coordinate.The laser tracker angle measuring system was mainly researched and designed,and the angle measuring system circuit was designed base on FPGA.In the design,the finite state machine was designed to deal with the output signal of circular grating,realizing phase discrimination,quadruple frequency and counting of circular grating output signals,and the resolution of angle measurement is about 0.08".At last,the rationality of circular grating interface circuit was verified by scope and online logic analyzer of Quartus?software.The laser tracker servo control modeling and simulation were introduced.Firstly the principle of PID control algorithms,PID parameter tuning methods and the engineering project applications of PID algorithm were analyzed and stated.Next,motor selection of the laser tracking measurement system was completed,then the athematical models of azimuth and pitching motor were set up respectively,and finally the servo control system model of laser tracker was constructed.From the shallower to the deeper,the current regulator,speed regulator and position regulator for the torque motor mathematical model were designed by MATLAB/Simulink software.Setting the step signal and sinnsoidal as reference input signals,the dynamic response curve of input signals were analyzed by scope of MATLAB/Simulink,the rationality of laser tracker servo control system modeling was verified,eventually the tracking and location of space target were completed,and the modeling and simulation of the laser tracker servo control system was designed.At last,the current existence problems were analyzed,and the focus and direction of following work were put forward.