KEYWORDS: Control systems, Sensors, Digital filtering, Cryocoolers, Actuators, Filtering (signal processing), Mirrors, Acoustics, Servomechanisms, Digital signal processing
This paper describes the use of adaptive filtering to control vibration and optical jitter. Adaptive filtering is a class of
signal processing techniques developed over the last several decades and applied since to applications ranging from
communications to image processing. Basic concepts in adaptive filtering and feedforward control are reviewed. A
series of examples in vibration, motion and jitter control, including cryocoolers, ground-based active optics systems,
flight motion simulators, wind turbines and airborne optical beam control systems, illustrates the effectiveness of the
adaptive methods. These applications make use of information and signals that originate from system disturbances and
minimize the correlations between disturbance information and error and performance measures. The examples
incorporate a variety of disturbance types including periodic, multi-tonal, broadband stationary and non-stationary.
Control effectiveness with slowly-varying narrowband disturbances originating from cryocoolers can be extraordinary,
reaching 60 dB of reduction or rejection. In other cases, performance improvements are only 30-50%, but such
reductions effectively complement feedback servo performance in many applications.
KEYWORDS: Sensors, Adaptive control, Digital signal processing, Actuators, Control systems, Detection and tracking algorithms, Optical components, Mirrors, Signal attenuation, Sensing systems
The pointing and imaging performance of precision optical systems is degraded by disturbances on the system that create optical jitter. These disturbances can be caused by structural motion of optical components due to vibration sources that (1) originate within the optical system, (2) originate external to the system and are transmitted through the structural path in the environment, and (3) are air-induced vibrations from acoustic noise. Beam control systems can suppress optical jitter, and active control techniques can be used to extend performance by incorporating information from accelerometers, microphones, and other auxiliary sensors. In some applications, offline fixed gain controllers can be used to minimize jitter. However there are many applications in which a real-time adaptive control approach would yield improved optical performance. Often we would like the capability to adapt in real-time to a system which is time-varying or whose disturbances are non-stationary and hard to predict. In the presence of these harsh, ever-changing environments we would like to use every available tool to optimize performance. Improvements in control algorithms are important, but another potentially useful tool is a real-time adaptive control method employing optimal sensing strategies. In this approach,
real-time updating of reference sensors is provided to minimize optical jitter. The technique selects an optimal subset of sensors to use as references from an array of possible sensor locations. The optimal, weighted reference sensor set is well correlated with the disturbance and when used with an adaptive control algorithm, results in improved line-of-sight jitter performance with less computational burden compared to a controller which uses multiple reference sensors. The proposed technique is applied to an experimental test bed in which multiple proof-mass actuators generate structural vibrations on a flexible plate. These vibrations are transmitted to an optical mirror mounted on the plate, resulting in optical jitter as measured by a position sensing detector. Accelerometers mounted on the plate are used to form the set of possible optimal reference sensors. Reduction of the structural vibration of optical components is attained using a fast steering mirror which results in a reduction of the corresponding jitter.
KEYWORDS: Sensors, Actuators, Adaptive control, Optical components, Digital signal processing, Mirrors, Acoustics, Control systems, Detection and tracking algorithms, RGB color model
Optical jitter degrades the pointing and imaging performance of precision optical systems. When a correlated measurement of the disturbance is available, improved control performance can be attained. In this research, an adaptive optimal sensing strategy for optical systems is proposed. An array of reference sensors makes it possible to estimate the disturbance and model the disturbance-to-reference paths. The least-square algorithm is applied for the disturbance model estimation. A sensor scoring algorithm is then used to select an optimal disturbance reference from the available reference signals. The optimal disturbance reference is comprised of sensors which are well correlated with the disturbance. This disturbance reference is then fed forward and used in an adaptive generalized predictive control design. This adaptive control approach is advantageous in the presence of time-varying or uncertain disturbances. The proposed technique is applied to an experimental test bed in which an array of accelerometer sensors measures the structural vibration of optical elements. Reduction of the structural vibration of optical components is attained using a fast steering mirror which results in a reduction of the corresponding jitter. Performance using optimally selected disturbance reference is shown to be better than for system in which a disturbance reference signal is chosen to be the sensor with the lowest score.
High resolution metrology and production systems are pushing the capability of existing pneumatic isolation systems. The need for better isolation at low frequency is growing as mechanical noise further constrains the lower limits of many electro-optical technologies and techniques. Unfortunately, the problem is magnified due to the 1-4 Hz natural frequency of pneumatic isolators. An active damping system, the Activator, uses an electromagnetic actuator to apply a damping force to an isolation table to reduce the transmission of these low amplitude, low frequency vibrations from the floor to the table. The system is low cost and easy to install. The controller, sensor, and electronics are integrated with the actuator. Given floor excitations on the order of submicrons, a 12 dB attenuation in transmissibility is achieved. This level of performance was attained after overcoming many physical hurdles due to the very low frequencies and small measurement signals. This unique, self-contained active damper result in a system more tolerant of existing floor locations and environments and is a simple upgrade, relieving the end user of facility improvements or relocation costs. This paper describes these challenges and shows how the performance goals were met providing a compact, economical system.
Various control methods of rotor blade vibration reduction based on individual blade control are presented and compared. The benchmark model used is based on a four-bladed helicopter at hover conditions. In this paper, three control strategies are investigated: LQR method of feedback control, feedforward control, and hybrid control (a combination of feedback and feedforward control). It was found that the LQR method provided substantial improvements in the system and very low gains. Feedforward control was found to be somewhat less effective and the hybrid control method, which combines both feedforward and LQR feedback methods, was proven to be the most effective method.
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