刘超,丁亚林,田大鹏,杜言鲁,孙崇尚.航空相机像旋补偿双向控制中的内环补偿器设计[J].仪器仪表学报,2017,38(1):120-128
航空相机像旋补偿双向控制中的内环补偿器设计
Design of internal loop compensator in bilateral control for image spin compensation of aerial camera
  
DOI:
中文关键词:  自动控制技术  航空相机  像旋  双向控制  鲁棒内环补偿器
英文关键词:automatic control technology  aerial camera  image spin  bilateral control  robust internal loop compensator
基金项目:国家自然科学基金(61304032)资助项目资助
作者单位
刘超 1.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量重点实验室长春130033;2.中国科学院大学北京100049 
丁亚林 1.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量重点实验室长春130033;3.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量创新实验室长春130033 
田大鹏 1.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量重点实验室长春130033;3.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量创新实验室长春130033 
杜言鲁 1.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量重点实验室长春130033;2.中国科学院大学北京100049 
孙崇尚 1.中国科学院长春光学精密机械与物理研究所 航空光学成像与测量重点实验室长春130033;2.中国科学院大学北京100049 
AuthorInstitution
Liu Chao 1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 2. University of Chinese Academy of Sciences, Beijing 100049,China 
Ding Yalin 1. Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 3. Innovation Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China 
Tian Dapeng 1. Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 3. Innovation Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China 
Du Yanlu 1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 2. University of Chinese Academy of Sciences, Beijing 100049,China 
Sun Chongshang 1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China; 2. University of Chinese Academy of Sciences, Beijing 100049,China 
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中文摘要:
      为解决航空相机摆扫成像过程中存在的像旋问题,采用四通道双向控制系统对像旋进行补偿。在系统中,基于鲁棒内环补偿器结构进行了内环补偿器设计。首先利用H∞混合灵敏度优化方法求解鲁棒内环补偿器中的鲁棒控制器,再结合参考模型确定系统的滤波器,进而得到系统化设计的内环补偿器。保证系统鲁棒稳定性的同时尽可能提高干扰抑制性能,进而在两者间折衷提高双向控制像旋补偿精度。实验结果显示,本方法能够有效抑制等效干扰的影响,提高消旋补偿的精度。动态扫描下位置补偿误差的最大值和均方根分别为(1.81×10-3)°、(5.224 74×10-4)°,与传统设计相比,补偿误差分别减小了41.99%、41.73%,提高了四通道双向控制系统的像旋补偿精度。
英文摘要:
      In order to solve the image spin problem in scanning imaging process of aerial camera, a four channel bilateral control system is adopted to compensate the image spin. In the system, the internal loop compensator is designed based on robust internal loop compensator structure. Firstly, H infinity mixed sensitivity optimization method is adopted to solve the robust controller in robust internal loop compensator. Secondly, the filter of the system is determined according to the reference model, then the systematically designed internal loop compensator is obtained. It is very important to improve the interference suppression performance as much as possible while guarantee the robust stability of the system, then the bilateral control image spin compensation accuracy of the system is improved through compromising between interference suppression and robust stability. Experiment results show that the proposed method can effectively suppress the influence of equivalent disturbance and improve the image spin compensation accuracy. The maximum and root mean square (RMS) values of the position compensation errors under dynamic scanning are (1.81×10-3)°, (5.224 74×10-4)°, respectively. Compared with traditional control system using disturbance observer, the compensation errors under dynamic scanning for the proposed system are reduced by 41.99%, 41.73%, respectively. So the image spin compensation accuracy of the four channel bilateral control system is improved.
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