Research And Application Of Scanning Control System For Rotary Single-line LiDARs

Rotary single-line Li DAR is a comprehensive manifestation of laser technology,Li DAR technology and opto-mechanical integration technology,which can accurately measure the angle and distance of the measured target.In order to improve the stability of Li DAR operation and measurement accuracy,this paper takes the Li DAR scanning control system as the research object,and conducts an in-depth study on the control strategy of the scanning control system.The corresponding controller is designed using passivity-based control theory,and the controller parameters are optimized.Secondly,the hardware circuit and control program of the Li DAR scanning control system are designed.Finally,aiming at the low measurement accuracy and high cost of the existing space angle measurement technology,a method of using a rotating single-line Li DAR for space dynamic angle measurement is proposed.The main research contents are as follows:Firstly,the research status of Li DAR scanning control algorithm and spatial angles measurement at home and abroad is analyzed.Combined with the control requirements of this Li DAR scanning control system,the overall design scheme of the scanning control system is proposed.The mathematical model of the drive motor based on the Port-controlled Hamiltonian System with Dissipation(PCHD)is established.Secondly,in order to ensure the stable operation of the Li DAR scanning control system,obtain evenly distributed point cloud information during the scanning period,and at the same time have stronger anti-interference characteristics,it is necessary to design a reasonable controller.Traditional control strategy has some problems,such as poor anti-interference ability and poor control effect.Passivity-based control theory is a control theory to control the controlled system from the perspective of energy.This paper gives a detailed introduction to the passivity-based control theory and analyzes the advantages of adopting passivity-based control strategies.And based on the PCHD model of the Li DAR drive motor,the passivity-based control strategy of the Li DAR scanning control system is designed.Since the scanning control system of the rotary single-line Li DAR is a non-linear time-varying system,the controller parameters are difficult to determine.Manually adjust the parameters,the control effect is not ideal.Therefore,in order to avoid the problem of missing optimal parameters caused by manual tuning and improve the control effect of the controller,particle swarm algorithm and chicken swarm algorithm are used to optimize the parameters of the passivity-based controller.The simulation results show that the controller based on passivity-based control theory has strong anti-interference ability and achieves higher stability accuracy.Then the scanning control system circuit of Li DAR and the control program of rotating part and fixed part of Li DAR are designed.Finally,aiming at the high cost and difficult measurement of large space dynamic angle measurement,A method for measuring the dynamic angles of space using dual rotary single-line Li DARs is proposed in this paper.Based on the Lie algebraic space coordinate system,a mathematical model for measuring the dynamic angles of space is established.The influencing factors of system error are analyzed.Finally,a simulation experiment platform was built and the experimental results were analyzed.The experimental results show that the application of rotary single-line Li DAR to space angle measurement has the advantages of low cost and easy operation,and the measurement accuracy can reach 0.081°.