Abstract
Disturbances presented in aeronautical imaging equipment can cause visual axis jitter, which directly leads to a reduction in closed-loop bandwidth and a decrease in tracking accuracy. The disturbance frequency affecting the stable control platform is mainly concentrated in the low- and middle-frequency bands, but the commonly used three closed-loop feedback control methods do not perform well in the disturbance rejection of those frequency bands. Moreover, the only disturbance observer in the acceleration loop cannot improve the low-band disturbance rejection capability due to the drift of the micro-electro-mechanical-system (MEMS) accelerometers in the low-frequency range. To solve these problems, this paper proposed dual disturbance observers (dual DOB) based on the disturbance information in the acceleration loop and the position loop. This design used two compensators to observe and compensate for the disturbances, which did not require additional sensors, and therefore did not increase system cost. Theoretical demonstrations and physical experiments showed that the designed method of the dual DOB not only improved the disturbance rejection capability of the low- and middle-frequency band of the optoelectronic stable control platform, but also improved the robustness of the system.
Highlights
The tilting mirror installed on a mobile device causes visual distortion of the image, uneven image quality, poor contrast, blurred image, and sharpness under the vibration environment if a damping device is not used in the aerial imaging equipment [1]
Theoretical demonstrations and physical experiments showed that the designed method of the dual DOB improved the disturbance rejection capability of the low- and middle-frequency bands of the optoelectronic stable control platform, and improved the robustness of the system
It can be seen from Equation (2) that the disturbance rejection ability of the three closed-loop system is the superposition of the disturbance rejection ability of the acceleration loop, the velocity loop, and the position loop so that the disturbance rejection ability of the whole three closed-loop feedback control system depends on the design of three closed-loop controllers
Summary
The tilting mirror installed on a mobile device causes visual distortion of the image, uneven image quality, poor contrast, blurred image, and sharpness under the vibration environment if a damping device is not used in the aerial imaging equipment [1]. Tang Tao proposes a structure of disturbance observer based on Q filter, and the parameters of the disturbance observer were optimised by the Youla parameter method [17] This structure can only improve the closed-loop bandwidth and the tracking ability of the optoelectronic stable control system [18]. Theoretical demonstrations and physical experiments showed that the designed method of the dual DOB improved the disturbance rejection capability of the low- and middle-frequency bands of the optoelectronic stable control platform, and improved the robustness of the system. To solve the problem of poor low-frequency disturbance rejection capability of the system, this paper proposed the structure of the dual disturbance observers using the acceleration loop and the position loop.
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