CN103309363A - Two-way control method for eliminating imaging rotation of scanning imaging system - Google Patents
Two-way control method for eliminating imaging rotation of scanning imaging system Download PDFInfo
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- CN103309363A CN103309363A CN2013102540334A CN201310254033A CN103309363A CN 103309363 A CN103309363 A CN 103309363A CN 2013102540334 A CN2013102540334 A CN 2013102540334A CN 201310254033 A CN201310254033 A CN 201310254033A CN 103309363 A CN103309363 A CN 103309363A
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Abstract
The invention discloses a two-way control method for eliminating imaging rotation of a scanning imaging system, relates to the technical field of imaging, and solves the problems that the existing imaging rotation elimination methods using mechanical linkage or combination of a servo motor and the mechanical linkage results in low transmission accuracy, or meanwhile strictly coordinated movement of a scanning mirror and a rotation eliminating mechanism is hard to achieve by adopting the servo motor to drive to eliminate the imaging rotation. The two-way control method includes steps of adopting a single motor command tracking controller to receive a rotation command of the scanning mirror, and controlling rotation of a scanning mirror servo motor and a rotation eliminating mechanism servo motor respectively; adopting a torque estimator to estimate equivalent driving torques acted on a motor shafting by the single motor command tracking controller to provide torque information for a four-channel two-way controller. According to the arrangement, positions and torques between two servo systems of the scanning mirror servo motor and the rotation eliminating mechanism servo motor are mix-controlled to realize electrical linkages of the same. Besides, coordinated movement performance between the scanning mirror and the rotation eliminating mechanism in a servo motor rotation eliminating system is improved.
Description
Technical field
The present invention relates to a kind of motion control method of eliminating the rotation of scanning imaging system picture, belong to technical field of imaging.
Background technology
In imaging system, the imaging scope has been limited in the visual field of optical lens.The mode that adopts transversal scanning is the effective way that is expanded into the picture system ovelay range.For reducing the moment of inertia of scanning mechanism, before camera lens, install 45 ° of scanning mirrors usually additional, realize transversal scanning by the rotation of gated sweep mirror.But the scanning mirror rotation can cause the image of object scene to produce rotation on the picture plane.For guaranteeing the image integrity of scanning imagery, must design high precision and disappear as revolving system.
Revolve for eliminating picture, often adopt the racemization prism to cooperate with 45 ° of scanning mirrors, make the corner of racemization prism remain half of 45 ° of scanning mirror corners; Another kind method is not use the racemization prism and directly rotate image-forming assemblies such as CCD or CMOS, revolves thereby make the position, angle of image-forming assembly and angular velocity and scanning mirror scanning motion eliminate picture synchronously.At present, realize that racemization prism or image-forming assembly and 45 ° of scanning mirror cooperative motions adopt mechanical linkage more, or the servo method in conjunction with mechanical linkage of motor.The mechanical linkage method is to utilize gear, friction pulley, sheave to add rope driven form, and racemization prism or image-forming assembly are rotated with 45 ° of scanning mirrors.But it is that size is bigger that this method causes the axle of camera, in practical application significant limitation is arranged.And problems such as also there is backlash in link gear, skids, cable wire is lax, transmission accuracy is difficult to be protected, and need often safeguard.
The motor servo method is that 45 ° of scanning mirrors, racemization prism or image-forming assembly are driven with motor servo system respectively, when scanning mirror rotates, identical rotation command be multiply by certain proportion send to racemization prism or image-forming assembly servo-drive system.The outstanding advantage of this method is that Machine Design is simple, does not need to increase mechanical axis system, and volume is little, in light weight, is particularly suitable for Aero-Space camera etc. to the exigent occasion of volume weight.But because different its moment of inertia of servo-drive system, the moment of friction that is subjected to and external disturbance and incomplete same are difficult to realize the strict cooperative motion of scanning mirror and racemization mechanism.Therefore, still improve the precision of synergic rotation between scanning mirror and the racemization mechanism at adding link gear between the motor servo system in actual applications, thereby can't give full play to the advantage of the servo racemization method of motor.
Summary of the invention
The present invention is for solving the existing mechanical linkage of adopting, or the servo method in conjunction with mechanical linkage of motor is eliminated as revolving, cause transmission accuracy low, perhaps adopt the motor servo driving, but the problem that has the strict cooperative motion be difficult to realize scanning mirror and racemization mechanism simultaneously provides a kind of the elimination for scanning imaging system to look like the bidirection control method that revolves.
A kind ofly eliminate the bidirection control method that picture revolves for scanning imaging system, comprise single motor controller for following command A, single motor controller for following command B, two equivalent moment estimators and four-way reversible controller, described single motor controller for following command A and single motor controller for following command B are respectively applied to scanning mirror servomotor and racemization mechanism servomotor to the tracking of instruction; Described equivalent moment estimator provides moment information for the calculating of four-way reversible controller; Described four-way reversible controller is used for coordinating the rotation of scanning mirror servomotor and racemization mechanism servomotor; Concrete grammar is:
Step 1, according to the scanning mirror rotation command, obtain the angle position information θ of scanning mirror servomotor respectively
1And angular velocity information
And the angle position information θ of racemization mechanism servomotor
2, angular velocity information
It is poor with the angle position information of scanning mirror servomotor then the angle position information of racemization mechanism servomotor to be multiply by behind the scale-up factor a, obtains position difference a θ
2-θ
1It is poor that scanning mirror servomotor angle position information be multiply by behind the scale-up factor 1/a with the angle position information of racemization mechanism servomotor, obtains position difference θ
1/ a-θ
2The angle speed information calculations velocity information of the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor is poor
With
Step 2, single motor controller for following command A are poor according to the angle position information of scanning mirror rotation command and scanning mirror servomotor, obtain the instruction trace controlled quentity controlled variable u of scanning mirror servomotor
C1Single motor controller for following command B is poor according to the angle position information of described scanning mirror rotation command and the racemization mechanism servomotor that multiply by scale-up factor a, obtains the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
C2
The equivalent moment estimated value of step 3, calculating scanning mirror servomotor and racemization mechanism servomotor;
Detailed process is: the angle position information θ of the scanning mirror servomotor that step 1 is obtained
1After standard electromotor inversion model in the equivalent moment estimator and the transport function of low-pass filter product, with the two-way controlled quentity controlled variable u of last one-period through the scanning mirror servomotor of low-pass filter
B1Subtract each other the difference of gained as the output valve of the equivalent moment estimator on the scanning mirror servomotor; The angle position information θ of the racemization mechanism servomotor that obtains according to step 1
2After standard electromotor inversion model in the equivalent moment estimator and the transport function of low-pass filter product, with the two-way controlled quentity controlled variable u of last one-period through the racemization mechanism servomotor of low-pass filter
B2Subtract each other the difference of gained as the output valve of the equivalent moment estimator on the racemization mechanism servomotor;
Step 4, the position difference a θ that step 1 is obtained
2-θ
1And θ
1/ a-θ
2The scanning mirror servomotor that obtains with step 3 and the equivalent moment estimated value of racemization mechanism servomotor recomputate the two-way controlled quentity controlled variable u of scanning mirror servomotor
B1Two-way controlled quentity controlled variable u with racemization mechanism servomotor
B2
The instruction trace controlled quentity controlled variable u of step 5, scanning mirror servomotor that step 2 is obtained
C1Instruction trace controlled quentity controlled variable u with racemization mechanism servomotor
C2The two-way controlled quentity controlled variable u of the scanning mirror servomotor that obtains with step 4 respectively
B1Two-way controlled quentity controlled variable u with racemization mechanism servomotor
B2Stack, the output valve after the stack acts on the corresponding motor.
Beneficial effect of the present invention:
One, the present invention need not the auxiliary of mechanical linkage which controls, the cooperative motion of strictness between the scanning mirror servo-drive system that the realization mechanical drive is isolated fully and the racemization mechanism servo-drive system.Can not only reduce volume, the weight of scanning imaging system, can also effectively avoid problem in the mechanical linkage method the problem includes: backlash, skid, problem such as flexible actuated element is lax, effectively improve the maintainability of whole scanning imaging system.
Two, the present invention adopts two-way control thought, compares existing method of scanning mirror and racemization servo-drive system being carried out instruction trace control respectively and has outstanding advantage aspect the two cover motor servo system concertednesses.The present invention can effectively guarantee to have different moment of inertia, is subjected to differentiated friction moment, the harmony of the scanning mirror of external disturbance influence and the servo-drive system motion of racemization mechanism, improves and eliminates the precision that picture revolves.
Description of drawings
Fig. 1 is for of the present invention a kind of for the algorithm principle figure of scanning imaging system elimination as the bidirection control method that revolves;
Fig. 2 a kind ofly eliminates the bidirection control method equivalent moment estimation principle block diagram that picture revolves for scanning imaging system for of the present invention;
Fig. 3 is for of the present invention a kind of for the hardware configuration synoptic diagram of scanning imaging system elimination as the bidirection control method that revolves;
Fig. 4 is for of the present invention a kind of for the workflow diagram of scanning imaging system elimination as the software of the bidirection control method that revolves.
Embodiment
Embodiment one, in conjunction with Fig. 1 to Fig. 4 present embodiment is described, present embodiment is described to be driven by a cover motor servo system for 45 ° of scanning mirrors of scanning imaging system elimination as the imaging system of the bidirection control method that revolves, and is called the scanning mirror servomotor; Racemization prism or image-forming assembly are driven by another set of motor servo system, are called racemization mechanism servomotor; Do not have mechanical connection between the two, by the four-way reversible controller, namely a kind of two-way control algolithm realizes the cooperative motion of two cover servo-drive systems.
Specifically comprise: the positioner in two single motor controller for following command, two equivalent moment estimators and the four-way reversible controller; The single motor controller for following command A that acts on the scanning mirror servomotor receives the scanning mirror rotation command, controls 45 ° of scanning mirrors according to position, angle or the angular velocity rotation of instruction planning; The single motor controller for following command B that acts on the racemization mechanism servomotor receives identical scanning mirror rotation command, control racemization mechanism servomotor according to the proportional rotation of scanning mirror rotation command.
Two equivalent moment estimators are realized the estimation to the equivalent moment that drives two motors rotations respectively, for the four-way reversible controller provides moment information respectively at scanning mirror servomotor and the servomotor design of racemization mechanism.The four-way reversible controller connects two cover motor servo systems as a whole in the control aspect, make the rotational angle of the two, angular velocity in full accord, or be certain proportion; Thereby make and scanning mirror between do not have the image-forming assembly of machinery interlock or the requirement that the picture that disappears revolves is satisfied in the motion of racemization prism.
Described four-way reversible controller comprises: send the position passage that arrives racemization mechanism servomotor from the scanning mirror servomotor; Equivalent moment estimator from the scanning mirror servomotor sends the moment passage of the servomotor that arrives racemization mechanism; Send the position passage that arrives the scanning mirror servomotor from racemization mechanism servomotor; Equivalent moment estimator from racemization mechanism sends the moment passage that arrives the scanning mirror servomotor; And the positioner under the four-way reversible controller.
In conjunction with Fig. 1 present embodiment is described, the equivalent moment of inertia of described scanning mirror servomotor and damping parameter J
1, B
1Equivalent moment of inertia and damping parameter J with racemization mechanism servomotor
2, B
2Between can have difference.Single motor controller for following command A and single motor controller for following command B be for to overlap the independently location/velocity tracking control unit of Servo System Design at two respectively, realization to be scanning mirror servomotor and racemization mechanism servomotor instruct the tracking of (scanning mirror rotation command) to certain desired motion.Two single motor controller for following command adopt lead-lag network to proofread and correct, and obtain the instruction trace controlled quentity controlled variable u of two motors
C1And u
C2The scanning mirror rotation command that is set as system is r, and the corner of two motors is respectively θ
1And θ
2, then single motor controller for following command of two motors is calculated controlled quentity controlled variable u
C1And u
C2Process be respectively: u
C1=(r-θ
1) (τ
11S+1) (τ
21S+1)/[(T
11S+1) (T
21And u s+1)]
C2=(r-a θ
2) (τ
12S+1) (τ
22S+1)/[(T
12S+1) (T
22S+1)], wherein s is Laplace operator, T
11τ
11τ
21T
21Be the lead-lag network parameter of scanning mirror servo-drive system, T
12τ
12τ
22T
22Lead-lag network parameter for racemization mechanism servo-drive system.Among Fig. 1, the positioner C in the reversible controller
p(s) be proportional plus derivative controller, be used for coordinating the rotation of scanning mirror servomotor and racemization mechanism motor; The equivalence that equivalence is disturbed d1 and d2 to be respectively and acted on scanning mirror servomotor and the racemization mechanism servomotor is disturbed, and this equivalence is disturbed and comprised the suffered extraneous moment of friction of motor, disturbing moment, the motor realistic model unmatched factor of model to that indicated in the drawings.
In conjunction with Fig. 2 present embodiment is described, the equivalent moment estimator is that control moment on the motor (being produced by single motor controller) overcomes equivalence is disturbed and parameter does not match to be caused moment of inertia and the surplus after the damping torque estimates with acting on.The moment estimator of two motors adopts identical parameter J and B, this group parametric description be a standard electromotor model.Therefore two motors all exist the equivalent inertia of reality and the deviation delta J between damping and the algorithm employing parameter
1=J
1-J, Δ J
2=J
2-J, Δ B
1=B
1-B, Δ B
2=B
2-B.Wherein, low-pass filter is g
2/ (s
2+ 2gs+g
2), parameter g is more big, and then cutoff frequency is more high.At lower frequency region, it is 1 proportional component that low-pass filter can be considered gain.Then the output of two equivalent moment estimators is respectively:
With
Described four-way reversible controller utilizes the angle position information of scanning mirror servomotor and racemization mechanism servomotor and harmonious (a motion according to a certain percentage that moment information is realized the two motion, a normal root really determines according to concrete racemization scheme, as racemization mechanism driven by servomotor be the racemization prism, then a is 2; As racemization mechanism driven by servomotor be image-forming assemblies such as CCD or CMOS, then a is 1).In the four-way reversible controller, there are two position passages and two moment passages, are respectively the moment information that moment information that angle position information that the scanning mirror servomotor provides to racemization mechanism motor, angle position information that racemization mechanism servomotor provides to Scan Mirror Motor, scanning mirror servomotor provide to racemization mechanism servomotor and racemization mechanism servomotor provide to the scanning mirror servomotor.
Under the four-way reversible controller positioner is arranged, calculate corresponding position control amount according to the difference of the position, angle between scanning mirror servomotor and the racemization mechanism servomotor and angular velocity information.This controller adopts the proportion differential form, and proportional gain and the differential gain are made as K respectively
pAnd K
dThen under the effect of the two-way control of four-way, the dynamics of scanning mirror servo-drive system and racemization mechanism servo-drive system is respectively:
Then under the two-way control of four-way, the two ends, the left and right sides of above-mentioned two kinetics equations are subtracted each other respectively and can be got:
Because J, B, K
dAnd K
pBe positive number, then by above-mentioned equation as can be known under algorithm effect of the present invention, the angular motion of scanning mirror servomotor and racemization mechanism servomotor is satisfied: θ
1-a θ
2→ 0, θ then
1/ θ
2→ a.Therefore, the present invention is for having different moment of inertia, being subjected to the scanning racemization imaging system of external disturbances such as differentiated friction moment, can make the corner strictness coordinated movement of various economic factors pro rata of scanning servo motor and racemization servomotor, under the prerequisite that does not increase extra mechanical transmission mechanism, realize the high precision interlock of the two by the mode of electricity.By regulating the positioner gain under the two-way control of four-way, can realize the adjusting to the two interlock precision, speed of convergence.
Fig. 3 is hardware structure diagram; The background of hardware of algorithm operation is scanning racemization system.Light beam is turned back through 45 ° of scanning mirrors, enters the optical frames group; Described 45 ° of scanning mirrors are by the scanning mirror driven by servomotor of annular, fasten at the scanning mirror servo motor shaft angular rate gyroscope and photoelectric encoder are installed.For dwindling into the picture system dimension, also can use the light path mirror light path of turning back of turning back.The racemization prism or the image-forming assembly that are arranged in the light path by racemization mechanism driven by servomotor rotate, and realize eliminating picture and revolve.The axle of racemization mechanism servomotor is fastened angular rate gyroscope and photoelectric encoder also is installed.The implementation algorithm of present embodiment is core with DSP, utilizes DSP timer internal function to make algorithm according to certain loop cycle operation.Utilize external interface photoelectric encoder and the angular rate gyroscope of DSP.Measure scanning servo motor and racemization mechanism servomotor with respect to the angular position of rotation of imaging device framework by being installed in photoelectric encoder that motor shaft fastens, obtain required angle position information θ in the algorithm
1And θ
2Utilization is installed in the high precision angular rate gyroscope on scanning mirror servomotor and the racemization mechanism servomotor, measures the rotational angular velocity of two cover servo-drive systems
With
Offer the proportion differential positioner C in the four-way reversible controller
p(s).DSP calculates the controlled quentity controlled variable that total drive motor rotates, and acts on the motor through separate power amplification circuit with the form of PWM ripple, makes motor produce the required driving moment of motion, and drive motor rotates.With Laplace operators all in control algolithm bilinear transformation s=(2z-1)/(T
sZ+1) mode conversion is discrete form, wherein T
sBe the sampling period.Discrete transfer function is rewritten as difference equation, then can realizes the control algolithm that the present invention proposes by programming in DSP.
Fig. 4 is the software flow pattern of the described control method of present embodiment; At first obtain the scanning mirror rotation command, read the measured value of photoelectric encoder and angular rate gyroscope, obtain position, angle, the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor, be each variable assignments in the program; Then enter circulation, beginning algorithm routine: the output valve of calculating single motor controller for following command A according to the angle position information of scanning mirror rotation command and scanning mirror servomotor; Calculate the controlled quentity controlled variable of single motor controller for following command B according to the angle position information of scanning mirror rotation command and racemization mechanism servomotor; According to the two-way controlled quentity controlled variable u that calculates in the position, angle of the scanning mirror servomotor that measures and racemization mechanism servomotor, the last control cycle
B1, u
B2Calculate the output valve of the equivalent moment estimator of scanning mirror servomotor and racemization mechanism servomotor; Utilize the readout calculating location information difference a θ of the photoelectric encoder of scanning mirror servomotor and racemization mechanism servomotor
2-θ
1And θ
1/ a-θ
2Utilize scanning mirror and racemization mechanism angular rate gyroscope readout computing velocity information gap
With
Calculate new two-way controlled quentity controlled variable u according to the description taken in conjunction Fig. 1 about the two-way control algolithm of four-way
B1And u
B2Next, with the two-way controlled quentity controlled variable of scanning mirror servomotor and racemization mechanism servomotor and single motor controller for following command output valve addition separately, the form that is converted to the PWM ripple is exported to power amplification circuit from DSP; If Sustainable Control then from first step repetitive cycling, then keeps each variate-value or zero clearing if need stop control, withdraw from circulation.
The present invention is under the situation that does not increase mechanical transmission mechanism, and realization scanning mirror servomotor and the servomotor strictness of racemization mechanism are rotated according to the scanning mirror rotation command synergistically.This algorithm can be applicable between diverse scanning mirror servo-drive systems such as moment of inertia, moment of friction, external disturbance moment and the racemization mechanism servo-drive system.Algorithm of the present invention can be realized based on dsp program.
Claims (6)
1. one kind is used for the bidirection control method that scanning imaging system elimination picture revolves, comprise single motor controller for following command A, single motor controller for following command B, two equivalent moment estimators and four-way reversible controller, described single motor controller for following command A and single motor controller for following command B are respectively applied to scanning mirror servomotor and racemization mechanism servomotor to the tracking of instruction; Described equivalent moment estimator provides moment information for the calculating of four-way reversible controller; Described four-way reversible controller is used for coordinating the rotation of scanning mirror servomotor and racemization mechanism servomotor; It is characterized in that concrete grammar is:
Step 1, according to the scanning mirror rotation command, obtain the angle position information θ of scanning mirror servomotor respectively
1And angular velocity information
And the angle position information θ of racemization mechanism servomotor
2, angular velocity information
It is poor with the angle position information of scanning mirror servomotor then the angle position information of racemization mechanism servomotor to be multiply by behind the scale-up factor a, obtains position difference a θ
2-θ
1It is poor that scanning mirror servomotor angle position information be multiply by behind the scale-up factor 1/a with the angle position information of racemization mechanism servomotor, obtains position difference θ
1/ a-θ
2The angle speed information calculations velocity information of the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor is poor
With
Step 2, single motor controller for following command A are poor according to the angle position information of scanning mirror rotation command and scanning mirror servomotor, obtain the instruction trace controlled quentity controlled variable u of scanning mirror servomotor
C1Single motor controller for following command B is poor according to the angle position information of described scanning mirror rotation command and the racemization mechanism servomotor that multiply by scale-up factor a, obtains the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
C2
The equivalent moment estimated value of step 3, calculating scanning mirror servomotor and racemization mechanism servomotor;
Detailed process is: the angle position information θ of the scanning mirror servomotor that step 1 is obtained
1After standard electromotor inversion model in the equivalent moment estimator and the transport function of low-pass filter product, with the two-way controlled quentity controlled variable u of last one-period through the scanning mirror servomotor of low-pass filter
B1Subtract each other the difference of gained as the output valve of the equivalent moment estimator on the scanning mirror servomotor; The angle position information θ of the racemization mechanism servomotor that obtains according to step 1
2After standard electromotor inversion model in the equivalent moment estimator and the transport function of low-pass filter product, with the two-way controlled quentity controlled variable u of last one-period through the racemization mechanism servomotor of low-pass filter
B2Subtract each other the difference of gained as the output valve of the equivalent moment estimator on the racemization mechanism servomotor;
Step 4, the position difference a θ that step 1 is obtained
2-θ
1And θ
1/ a-θ
2The scanning mirror servomotor that obtains with step 3 and the equivalent moment estimated value of racemization mechanism servomotor recomputate the two-way controlled quentity controlled variable u of scanning mirror servomotor
B1Two-way controlled quentity controlled variable u with racemization mechanism servomotor
B2
The instruction trace controlled quentity controlled variable u of step 5, scanning mirror servomotor that step 2 is obtained
C1Instruction trace controlled quentity controlled variable u with racemization mechanism servomotor
C2The two-way controlled quentity controlled variable u of the scanning mirror servomotor that obtains with step 4 respectively
B1Two-way controlled quentity controlled variable u with racemization mechanism servomotor
B2Stack, the output valve after the stack acts on the corresponding motor.
2. according to claim 1ly a kind ofly eliminate the bidirection control method that picture revolves for scanning imaging system, it is characterized in that the two-way controlled quentity controlled variable u of described scanning mirror servomotor
B1Two-way controlled quentity controlled variable u with racemization mechanism servomotor
B2Computation process be: the position difference a θ that step 1 is obtained
2-θ
1Poor with velocity information
Calculate controlled quentity controlled variable through a positioner in the four-way reversible controller, described controlled quentity controlled variable again with the racemization mechanism servomotor that multiply by scale-up factor a on the addition of equivalent moment estimator output valve; Obtain the two-way controlled quentity controlled variable u of scanning mirror servomotor
B1The two-way controlled quentity controlled variable u of described racemization mechanism servomotor
B2Acquisition process be: the position difference θ that step 1 is obtained
1/ a-θ
2Poor with velocity information
Calculate controlled quentity controlled variable through the another location controller in the four-way reversible controller, described controlled quentity controlled variable again with the scanning mirror servomotor that multiply by scale-up factor 1/a on the addition of equivalent moment estimator output valve, obtain the two-way controlled quentity controlled variable u of racemization mechanism servomotor
B2
3. according to claim 1ly a kind ofly eliminate the bidirection control method that picture revolves for scanning imaging system, it is characterized in that, when step 3 described one-period of lasting is first performance period, pass through the two-way controlled quentity controlled variable u of the scanning mirror servomotor of low-pass filter
B1, with the two-way controlled quentity controlled variable u of the racemization mechanism servomotor that passes through low-pass filter
B2Value be initial value.
4. the bidirection control method that described elimination looks like to revolve according to claim 1 is characterized in that: described single motor controller for following command A and single motor controller for following command B employing lead-lag corrective network.
5. the bidirection control method that described elimination looks like to revolve according to claim 1 is characterized in that: the positioner under the described four-way reversible controller is proportion differential control.
6. the bidirection control method that described elimination looks like to revolve according to claim 1, it is characterized in that: the structure of the equivalent moment estimator on the equivalent moment estimator on the described scanning mirror servomotor and the racemization mechanism servomotor is identical, and accepted standard motor inversion model is Js in the described equivalent moment estimator
2+ Bs, wherein J is that standard electromotor equivalence inertia, B are the standard electromotor equivalent damping, s is Laplace operator; Described low-pass filter is g
2/ (s
2+ 2gs+g
2), g is for adjusting the parameter of low pass filter cutoff frequency.
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| CN109597437A (en) * | 2018-12-06 | 2019-04-09 | 中国科学院长春光学精密机械与物理研究所 | Based on velocity sensor and differentiator power haptic interaction control method and device |
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| CN104049646A (en) * | 2014-06-11 | 2014-09-17 | 中国科学院长春光学精密机械与物理研究所 | Multi-directional control method for eliminating image rotation of multi-detector infusing scan imaging system |
| CN104049646B (en) * | 2014-06-11 | 2017-02-01 | 中国科学院长春光学精密机械与物理研究所 | Multi-directional control method for eliminating image rotation of multi-detector infusing scan imaging system |
| CN104216086A (en) * | 2014-08-18 | 2014-12-17 | 北京空间机电研究所 | Aviation optical remote sensor racemization system and method |
| CN107643525A (en) * | 2017-08-24 | 2018-01-30 | 南京理工大学 | Linear array laser radar based on 45 ° of tilting mirrors is circumferential without as revolving imaging system |
| CN109597437A (en) * | 2018-12-06 | 2019-04-09 | 中国科学院长春光学精密机械与物理研究所 | Based on velocity sensor and differentiator power haptic interaction control method and device |
| CN109857162A (en) * | 2018-12-06 | 2019-06-07 | 中国科学院长春光学精密机械与物理研究所 | A kind of power haptic interaction control method and device |
| CN109857162B (en) * | 2018-12-06 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Force and touch interaction control method and device |
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