像移补偿装置运动学建模及解耦分析  

Kinematics modeling and decoupling analysis of image motion compensation device

作　　者：卢明明[1] 金钰博 杨雪梅 刘长青 LU Mingming;JIN Yubo;YANG Xuemei;LIU Changqing(School of Mechatronic Engineering, Changchun University of Technology, Changchun 130012, China)

机构地区：[1]长春工业大学机电工程学院,吉林长春130012

出　　处：《长春工业大学学报》2021年第6期481-489,共9页Journal of Changchun University of Technology

基　　金：吉林省科技发展计划项目(20190201303JC);吉林省微纳与超精密制造重点实验室(20140622008JC)。

摘　　要：首先对像移补偿装置控制系统进行运动学分析,并建立运动学方程。先推导俯仰轴相对偏航轴、偏航轴相对横滚轴转过某一转角时各轴架的坐标系内三个轴单位向量之间变换关系方程;然后分别向俯仰轴、偏航轴和横滚轴固连坐标系中单位向量方向投影,得到偏航、俯仰、横滚轴运动学模型;并对装置三轴耦合性进行分析,通过仿真分析验证各轴间耦合存在,通过引入李导数算子,推导得出解耦后的SISO系统,利用Simulink模块搭建解耦控制器,并对其进行解耦仿真分析。The kinematics of the control system of image motion compensation device is analyzed and the kinematics equation is established.Firstly,the equation of transformation between the unit vectors of three axes in the coordinate system of each axis frame is derived when the pitching axis is relative to the yaw axis and the yaw axis is relative to the horizontal roller axis at a certain rotation angle.Then,the kinematics models of yaw,pitch and roll axes are obtained by projecting them to the direction of unit vector in the coordinate system fixedly connected with the pitch axis,yaw axis and roll axis respectively.The coupling between the three axes of the device is verified by simulation analysis.The decoupled SISO system is derived by introducing Lie derivative operator.The decoupled controller is built by using Simulink module,and the decoupled simulation analysis is carried out.

关 键 词：像移补偿装置 运动学模型 李导数算子 解耦 

分 类 号：TH69[机械工程—机械制造及自动化]