In laser systems, beam pointing usually drifts as a consequence of various disturbances, e.g., inherent drift, airflow, transmission medium variation, mechanical vibration, and elastic deformation. In this paper, we develop a laser beam pointing control system with Fast Steering Mirrors (FSMs) and Position Sensitive Devices (PSDs), which is capable of stabilizing both the position and angle of a laser beam. Specifically, using the ABCD matrix, we analyze the kinematic model governing the relationship between the rotation angles of two FSMs and the four degree-of-freedom (DOF) beam vector. Then, we design a Jacobian matrix feedback controller, which can be conveniently calibrated. Since disturbances vary significantly in terms of inconsistent physical characteristics and temporal patterns, great challenges are imposed to control strategies. In order to improve beam pointing control performance under a variety of disturbances, we propose a data-driven disturbance classification method by using a Recurrent Neural Network (RNN). The trained RNN model can classify the disturbance type in real time, and the corresponding type can be subsequently used to select suitable control parameters. This approach can realize the universality of the beam stabilization pointing system under various disturbances. Experiments on beam pointing control under several typical external disturbances are carried out to verify the effectiveness of the proposed control system.
Keywords: Jacobian matrix; beam pointing stabilization; disturbance classification; position sensitive devices; recurrent neural network.