带干扰观测器的航空相机前向像移补偿控制器  

Compensation controller with disturbance observer for forward image motion of aerial camera

作　　者：付金宝[1,2,3] 丁亚林[1,3] 仲崇亮[1,2,3] 冷雪[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所中国科学院航空光学成像与测量重点实验室,吉林长春130033 [2]中国科学院大学,北京100039 [3]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《光学精密工程》2013年第6期1456-1463,共8页Optics and Precision Engineering

基　　金：国家863高技术研究发展计划资助项目(No.2009AA7010102)

摘　　要：研究了飞机姿态角速度变化的不确定性扰动对相机反射镜前向像移补偿效果的影响,设计了带有干扰观测器的伺服控制方案来抑制干扰。介绍了一种基于力矩扰动作用的反射镜系统数学模型。采用干扰观测器将外部力矩干扰及模型参数变化造成的实际对象与名义模型输出的差异等效到控制输入端。然后,在控制中引入等效的补偿来实现对干扰的抑制。最后,应用该方法设计了带有干扰观测器的控制器对相机反射镜组件进行像移补偿控制。与先进的PID方法的比较结果表明:在相同扰动作用下基于干扰观测器的补偿控制算法得到的干扰前向像移残差减小了40%～60%左右。该方法提高了相机反射镜前向像移的补偿精度和补偿控制的鲁棒性。The influence of the uncertain disturbance from a variational aircraft attitude angular veloci- ty on the forward image motion compensation of reflector in an aerial camera was researched and a dis- turbance observer was designed to observe the equivalent disturbance restrained by the corresponding compensation of the controller. The mathematic model for a mirror system was introduced based on the torque disturbance. Then, the external torque disturbance and the difference between nominal model and actual target caused by the variational model parameters were equivalent to the control in- put. The equivalent compensation was brought in the control to suppress the disturbance. Finally, the propose method was used to design a controller with a disturbance observer for an aerial camera mirror to achieve image motion compensation control. The experimental results show that as compared with advanced PID method, the compensation control algorithm based on the disturbance observer can re- duce the forward image motion residuals by about 40%- 60% under the same disturbance. In conclu- sion, the method improves the compensation precision and the robustness of compensation control for forward image motion of the reflector in the aerial camera.

关 键 词：航空相机 像移补偿 前向像移 观测器 控制器 先进PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V241[自动化与计算机技术—控制科学与工程]