Real-Time Compensation System via Gyroscope and Fast Steering Mirror for Wide-Bandwidth Multiple-Frequency Vehicle Disturbance

Abstract

Involuntary motion, such as vibration, drift, and noise, adversely affects performance in long-distance and high-precision applications. This is especially true when the devices are mounted on vehicles. It is nontrivial to deploy real-time compensation systems on a vibrating vehicle due to the challenge of wide bandwidth as well as multiple moving frequencies. In addition, only self-referencing sensors, such as a gyroscope, can be used. For sensing, the gyroscope itself has drift issues. In addition, the raw gyroscope measurement has the phase-difference issue coming from both hardware (inclusive of both sensors and actuators) and software (linear filters). For actuation, it should be robust to hysteresis and external disturbance. Moreover, the disturbance comes from different sources, which thereby have different dominant frequencies in wide bandwidth. In this article, we aim to propose an efficient and easy-for-deployment compensation approach using a gyroscope and fast steering mirror. First, the proposed sensing method can estimate the disturbance with minimal phase difference and without the drift issue. More importantly, it is lightweight and requires less computational load compared to other methods. Then, the fast steering mirror is actuated by the proposed controller, which can achieve good tracking performance where hysteresis exists. Therefore, the proposed compensation method can achieve good performance for wide-bandwidth multiple-frequency motion with these treatments. Experiments are conducted to verify its effectiveness.