Research On Automatic Leveling Adjustment System Of Bottom Loading Optical Module And Control Technology

Laser inertial confinement fusion(ICF)can produce a large amount of clean and renewable fusion energy,which has aroused great interest of scientists.In order to realize the ICF reaction,some large-aperture optical modules need to be assembled into the optical path from bottom to the top precisely and smoothly.These modules have the characteristics of large quantity,variety size and weight,and high cost.For these characteristics such as the harsh requirements of installation and calibration,before the installation and calibration of the optical module,it is necessary to adjust the position and posure of the module,especially the horizontal attitude of the module,which directly determines the success or failure of the whole process of the calibration.It is necessary to design an automatic leveling system which can adjust the position and posure of the module in time and make it level within the allowable range.This paper mainly studies the automatic leveling before the module is installed and calibrated.For the adjustment of the module during the lifting process,this paper does not involve too much,only gives the method of leveling decision when the module is tilted in the process of hoisting.The main work of this paper is as follows:First of all,this paper briefly introduces and discusses the application status of automatic leveling system and leveling algorithm.On the basis of this,it proposes an automatic leveling system for bottom loading optical module.Static analysis of the static leveling characteristics of the platform is carried out,the transfer law of "virtual leg" is revealed,the method of leveling is discussed and determined,and the causes of the problem of "virtual leg" in the leveling process are analyzed.The solution of this paper is given.Then,according to the system design requirements,design principles and technical specifications,the structure,control scheme and hardware layout of the automatic leveling system are designed,in order to give better play to the leveling performance of the automatic leveling system.The selection of key components is analyzed.Secondly,the mathematical model of electromechanical leveling system of platform support leg is established,the conventional PID regulator is added and simulated under the Simulink environment,and a group of better PID parameters are obtained by continuous trial and error.However,the simulation results are analyzed.The system still has the problem that the leveling speed is slow and the leveling accuracy still needs to be improved.Finally,a predictive control method based on state equation is proposed to overcome the shortcomings of conventional PID control strategy applied to this leveling system and the characteristics of nonlinear,channel coupling and disturbance uncertainty of automatic leveling system.The prediction model and system state equation of rigid platform are established,the rigid model is modified,the platform leveling is decoupled,the simulation model of leveling system is established,and the simulation results are analyzed.This control method greatly improves the leveling speed and leveling accuracy,and is superior to the conventional PID control method,which proves the correctness and applicability of the control method.The predictive control method based on equation of state can meet the requirements of automatic leveling system in leveling speed and precision,so it can be considered in practical leveling system.In the end,the decision problem of dynamic leveling in the lifting process is not studied deeply,but the solution is given.