CN115097590B - Infrared optical system zooming guide driving mechanism and control method - Google Patents
Infrared optical system zooming guide driving mechanism and control method Download PDFInfo
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- G—PHYSICS
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- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
- G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
- G02B7/10—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens
- G02B7/102—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification by relative axial movement of several lenses, e.g. of varifocal objective lens controlled by a microcomputer
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
- G03B13/32—Means for focusing
- G03B13/34—Power focusing
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Abstract
An infrared optical system zooming guide driving mechanism and a control method thereof belong to the technical field of infrared imaging, and particularly relate to an optical system zooming guide driving mechanism and a control method thereof. The zooming guide driving mechanism of the infrared optical system comprises a polished rod guide rail, a rack guide rail and a motor with an incremental encoder, wherein the two guide rails are arranged on the same plane in parallel, and the zooming optical system and the compensating optical system are arranged on the two guide rails through sliding blocks. In the control method of the zooming guiding driving mechanism of the infrared optical system, a motor of the zooming optical system rotates at a constant speed, and a motor of the compensating optical system rotates at a non-constant speed according to a compensation curve equation. The mechanism has compact structure, small occupied space and easy realization of miniaturization; the operation speed is high, and the quick zooming or the field switching is easy to realize; the vertical axial stability is good, and the optical axis thermal stability and consistency are good; the parallel double guide rails have large load bearing capacity and the like.
Description
Technical Field
The invention belongs to the technical field of infrared imaging, and particularly relates to an optical system zooming guide driving mechanism and a control method thereof.
Background
The infrared optical system can be classified into a discontinuous zoom system (switching type zoom system) according to whether the focal length of the optical system is continuously changed in the zooming process, namely, the focal length of the optical system is changed by switching the relevant lens group in the optical system, namely, the switching type zoom structure is generally used for mainly changing the magnification by two gears and changing the magnification by three gears, and a continuous zoom system according to whether the focal length of the optical system is continuously changed by changing the axial gaps of the lens group and the compensating lens group, namely, the continuous zoom structure is used for changing the focal length of the optical system.
The basic principle of a varifocal optical system is to change the combined focal length of the system by utilizing the movement of two or more optical lens groups in the optical system, and simultaneously keep the image plane position unchanged, and the image quality is always good in the zooming process. The common zoom optical system generally comprises four lens groups, namely a front fixed group, a zoom group, a compensation group and a rear fixed group. A set of mechanism is designed in the structural design to realize the continuous zooming function, so that the zoom lens group and the compensation lens group can continuously move along the optical axis direction according to different movement tracks. The variable magnification lens group and the compensation lens group can cause the jumping of the system optical axis in the process of moving along the optical axis direction, and the size of the jumping amount of the optical axis directly influences the imaging quality of the optical system, so the design of the guiding driving mechanism for the movement of the variable magnification lens group and the compensation lens group is the core technology of the structural design.
The existing guiding driving mechanisms are various, and the common mechanisms have the following forms:
1. a combination mechanism is driven by a smooth guide rail and a ball screw motor. The structure has higher precision and high running speed, and because the track of simultaneous movement of zoom and compensation is different, two sets of guide driving mechanisms are needed, larger space is occupied, and the design of a control system is difficult. The vertical axis direction of the mechanism is poor in stability, and in the continuous zooming process, vibration of the ball screw is easily transmitted to the moving lens group, so that the phenomenon of image shake can occur. Therefore, the mechanism is mostly used for infrared optical systems such as a two-view-field single-motion lens group (the lens has the functions of zooming and focusing).
2. The two parallel smooth guide rails and the ball screw motor drive the combined mechanism. The structure has high deflection precision, high running speed and large load bearing. The track of simultaneous movement of zoom and compensation is different, two sets of guiding driving mechanisms are needed, larger space is occupied, and the design of a control system is difficult. In the continuous zooming process, vibration of the ball screw is easily transmitted to the lens, and image shake phenomenon can occur.
3. Two perpendicular feed beam guide rails and ball screw motor drive combined mechanism of placing. The structure has high deflection precision and large bearing capacity, is a positioning structure, has large assembly and adjustment difficulty, has poor optical axis thermal stability when the environmental temperature changes greatly, and is easy to cause the phenomenon of locking of the mechanism. The track of simultaneous movement of zoom and compensation is different, two sets of guiding driving mechanisms are needed, larger space is occupied, and the design of a control system is difficult. In the continuous zooming process, vibration of the ball screw is easily transmitted to the lens, and image shake phenomenon can occur.
4. The combined mechanism is driven by the smooth guide rail and the cam rod motor. The mechanism is comfortable and stable in the movement process, the blocking phenomenon is not easy to occur, the cam rod drives the zoom group and the compensation group lens to move according to the cam curve rule, and a group of focusing groups are designed to perform high-low temperature image plane thermal compensation. The cam rod guide mechanism has the advantages of high processing difficulty, large space occupation, low movement precision and poor thermal stability of the vertical axial optical axis. In addition, the mechanism has low running speed, and is not easy to realize fast field switching and fast zooming.
5. Three groups of cam cylinders are combined with a nested motor driving mechanism. The mechanism is formed by combining and nesting three groups of cam cylinders, namely a zoom group, a compensation group and a focusing group, has high processing difficulty of the cam cylinders, and is poor in optical axis thermal stability, optical axis consistency and inconvenient to assemble and tune after nested combination, and is mainly used in the civil field. In addition, the mechanism has low running speed, and is not easy to realize fast field switching and fast zooming.
Disclosure of Invention
The invention aims to provide a novel direct-drive zoom focusing mechanism based on a rack guide rail and an incremental motor encoder, which has the advantages of simplified structure, easy assembly and adjustment and good stability.
The zooming guide driving mechanism of the infrared optical system comprises a polished rod guide rail, a rack guide rail and a motor with an incremental encoder, wherein the two guide rails are arranged on the same plane in parallel, and the zooming optical system and the compensating optical system are arranged on the two guide rails through sliding blocks.
The control method of the zooming guiding driving mechanism of the infrared optical system comprises the steps that in the method, a variable-magnification optical system motor rotates at a constant speed, and a compensating optical system motor rotates at a non-constant speed according to a compensating curve equation;
zero searching is needed to be carried out at the two ends of a stroke range by the variable-magnification optical system motor and the compensation optical system motor, and the forward and reverse position counters of the two groups of motors are cleared in sequence; each group of motors has two counting zero positions in the forward direction and the backward direction so as to eliminate the influence of the meshing gaps of the motor and the gears on the motion control precision;
the motor compensation curve equation of the compensation optical system is obtained by the following method:
step 1, calibrating forward direction, gradually switching an infrared system from a short focus to a long focus position, and compensating the number and the direction of square wave signals of a motor encoder when a plurality of images are acquired and recorded clearly in the process;
step 2, performing least square method curve fitting on the number and the direction of square wave signals according to the obtained encoder information to obtain a forward compensation curve equation;
step 3, calibrating reversely, gradually switching the infrared system from the long focus to the short focus position, and compensating the number and the direction of square wave signals of the motor encoder when a plurality of images are acquired and recorded clearly in the process;
step 4, performing least square method curve fitting according to the number and the direction of the square wave signals according to the obtained encoder information to obtain a reverse compensation curve equation;
and 5, performing calibration fitting on curves of different temperature areas, dividing the working temperature range into a plurality of temperature areas, and obtaining a forward compensation curve and a reverse compensation curve of each temperature area by adopting the method of step 1-4 in each temperature area.
In the continuous zooming process, a plurality of common focal points are selected as fixed viewing fields, and the positions and directions of motors of the focal points are stored. When in use, the calibration data is directly called to control the motor, so that the quick switching of the view field is facilitated. The calibration data is stored in the servo control circuit board data storage unit
The zoom optical system and the compensation optical system perform smooth linear motion in the optical axis direction on the guide rail to realize optical zoom or compensate the imaging plane drift caused by the motion of the zoom lens so as to realize stable and clear imaging of the imaging plane; or the ambient temperature of the optical system changes or the image plane drifting is caused by the existence of temperature gradient, the image plane is ensured to be clear by focusing through the linear motion of the compensation group, and the compensation group has the function of thermal compensation focusing.
The continuous zooming process of the zoom group driving motor is generally set to rotate at a constant speed, and if the compensation group driving motor is controlled according to an optical compensation curve, an ideal clear image is often not obtained, mainly because of optical and structural member processing errors and adjustment errors. Therefore, the control of the compensation group driving motor needs to perform forward and reverse calibration fitting according to the actual clear image motor position in the continuous zooming process. The more the position data acquisition points are, the more accurate the curve fitting is, and the higher the control precision is. And finally, controlling the compensation driving motor in the continuous zooming process from short focus to long focus according to the fitted forward calibration curve.
In addition, the infrared optical lens is greatly affected by temperature, the refractive index of the material can change linearly with the temperature, and then the image plane position of the whole optical system can also change with the temperature. At this time, the compensation group has the function of thermal compensation of the image plane position, and stable and clear imaging of the image plane can be kept through axial movement of the compensation group. Therefore, the driving motor control curves of the compensation groups with different working environment temperatures of the infrared optical system are also different. Therefore, the working temperature range is divided into a plurality of temperature areas, each temperature area needs to be subjected to calibration fitting of a control curve of the compensation group driving motor, and the more the temperature areas are divided, the higher the thermal compensation precision is. When the system works normally, the compensation curve of the current temperature zone is called to control the motor according to the working temperature, each temperature zone of the compensation group has two compensation control curves of forward direction and reverse direction, and all temperature zones of the variable-magnification group use the same group of forward direction or reverse direction linear variable-magnification curves.
The compensation group also has a real-time focusing function, the driving motor rotates forward or backward, small steps or large steps according to the instruction to focus the optical system, and generally, the real-time focusing value is not stored and called.
The mechanical compensation continuous zooming optical system is widely applied because of simple optical-mechanical structure, good imaging quality and easy realization of larger zoom ratio and smaller image plane drift, and becomes a mainstream design method of an infrared optical system. The mechanical compensation continuous zooming optical system consists of a front fixed group, a zoom group, a compensation group and a rear fixed group, and the secondary imaging system also has a relay group, wherein the relay group has the functions of restraining the effective aperture of the front fixed group and utilizing an intermediate real image surface to eliminate stray light. As shown in fig. 10, the zoom group realizes the change of the optical focal length, the compensation group realizes the stable and clear imaging of the image plane, and the compensation group has the functions of thermal compensation and focusing of the image plane. In the continuous zooming process, the zoom group and the compensation group move oppositely, the zoom group moves linearly, and the compensation group moves non-linearly according to a compensation curve.
In the invention, a design method of mechanical compensation is generally adopted in a continuous zooming optical system, the zoom group moves along the optical axis direction to realize optical zoom, and meanwhile, the compensation group moves along the optical axis direction to compensate the drift of an image plane, so that stable and clear imaging of the image plane is realized. In addition, the compensation group also has the optical thermal compensation focusing function.
The motor is provided with the incremental encoder, the rotation quantity, the rotation speed, the rotation direction and the rotation position of the motor can be accurately measured through the photoelectric encoder, and the measured physical quantities form closed loop feedback to accurately control the motor. The direction, speed and position of the motion of the variable-magnification group and the compensation group can be accurately controlled in real time through motor control. The resolution ratio of the photoelectric encoder is much higher than that of electromagnetic and mechanical encoders, and the optical focusing compensation precision requirement can be met. The incremental encoder can output a specific number of pulses which are uniformly distributed when the motor rotates for one circle, the encoder is provided with at least two channels, the two channels both output square wave signals, the phase difference between the two channels is 90 degrees e, namely 1/4 period, and the phase difference can be used for judging the rotation direction of the motor. The incremental encoder measures not an absolute position but a relative position, i.e. the position of a point relative to another reference point. For this purpose, the signal edges must be counted up or down in an orthogonal manner, depending on the motor direction and in combination with its phase sequence. Once the power is interrupted, the location is lost, so that each time the commissioning or outage is restarted, the positioning system must be moved to a predetermined reference location to initialize the location counter (zero-seek). The reference position is typically determined using an external sensor, such as a reference point switch or limit switch.
The mechanism is provided with two guide rails which are arranged in parallel, and has the advantages of strong bearing capacity and good vertical axial stability; the zoom group and the compensation group (with the image plane thermal compensation focusing function) independently move and control, and have the advantages of simple structure, compact volume and easy control; the motor with the incremental encoder is arranged and fixed on the mirror base, and is meshed with the rack on the guide rail through the gear on the motor shaft, so that the direct driving of the zoom group and the compensation group is realized, the structure is simplified, the miniaturization layout design is easy, and the motor is simple to control and high in precision; in addition, the direct-drive structure eliminates the interference such as the rotation vibration of the screw rod, so that the zooming process is smooth, the consistency of the optical axis and the thermal stability are good, the assembly and the adjustment are easy, and the quick visual field switching or the quick continuous zooming can be realized. On the other hand, the driving motor control method based on the variable-magnification group and the compensation group with the structure is also introduced, and the method has high control precision, can eliminate the clearance error of the mechanical movement mechanism, and has clear logic and easy realization. The mechanism has compact structure, small occupied space and easy realization of miniaturization; the operation speed is high, and the quick zooming or the field switching is easy to realize; the vertical axial stability is good, and the optical axis thermal stability and consistency are good; the parallel double guide rails have large load bearing capacity and the like.
Drawings
Fig. 1 is a front side view of a zoom mechanism.
Fig. 2 is a rear side view of the zoom mechanism.
Fig. 3 is a top view of the zoom mechanism.
Fig. 4 is a bottom view of the zoom mechanism.
FIG. 5 is a schematic diagram of the positions of the long focal length zoom and compensation groups.
Fig. 6 is a schematic diagram of the focal length variable magnification group and the compensation group.
FIG. 7 is a schematic diagram of the positions of the short focal length zoom and compensation groups.
FIG. 8 is a schematic diagram of motion curves of a continuous zoom magnification-varying group and a compensation group.
FIG. 9 is a schematic diagram of motion curves of a zoom magnification-varying group and a compensation group with different operating temperatures.
Fig. 10 is a view of the optical-mechanical system of the continuous-zoom thermal imager according to embodiment 1.
FIG. 11 is a thermal imager optomechanical system diagram of example 2.
Fig. 12 is a graph of variable magnification and compensation group motion.
Fig. 13 is variable magnification group and focusing group position data.
Fig. 14 is a graph of the fitted variable magnification set motion curve and compensation set motion curve.
The system comprises a rack guide rail 1, a polished rod guide rail 2, a zoom group sliding block 3, a compensation group sliding block 4, a zoom lens seat 5, a zoom lens seat and sliding block fixing bolt 6, a zoom lens frame 7, a zoom optical lens 8, a zoom lens frame and zoom lens seat fixing bolt 9, a zoom group driving motor 10, a driving gear 11, a motor support 12, a motor driving component and zoom lens seat fixing bolt 13, a compensation lens seat 14, a compensation lens frame 15, a compensation optical lens 16, a compensation lens frame and compensation lens seat fixing bolt 17, a compensation lens seat and sliding block fixing bolt 18, a compensation group driving motor 19, a motor reduction gearbox 20, an incremental photoelectric encoder 21, a motor output shaft and driving gear fixing bolt 22, a continuous zoom mechanical compensation optical system front fixing group 23, a zoom group 24, a compensation group 25, a rear fixing group 26, a folding mirror 27, a relay group 28, a first infrared detector component 29, a three-view optical compensation optical system front fixing group 30, a zoom front lens group 31, a zoom rear lens group 32, an intermediate fixing group 33, a zoom front and rear group fixing 34, a motor component 35, a driving motor component 36, a folding mirror 37 and a second infrared detector component 37.
Detailed Description
Example 1: the zooming guide driving mechanism of the infrared optical system comprises a polished rod guide rail, a rack guide rail and two motors with incremental encoders, wherein the two guide rails are arranged on the same plane in parallel, and the zooming optical system and the compensating optical system are arranged on the two guide rails through two sliding blocks.
The zoom optical system comprises a zoom lens frame, a zoom lens seat and a zoom optical lens; the compensating optical system comprises a compensating lens frame, a compensating lens seat and a compensating optical lens.
The motor with the incremental encoder is provided with the incremental photoelectric encoder and a motor reduction box, and is respectively fixed on the side surfaces of the zoom lens seat and the compensation lens seat through a motor bracket, a gear is fixedly arranged on a motor shaft, and the gear is meshed with a rack guide rail;
the zoom lens frame is internally provided with a zoom optical lens, and is fixedly arranged on the zoom lens seat through bolts.
The motor support is fixed on the side surfaces of the variable-magnification lens seat and the compensation lens seat through bolts, so that a motor shaft driving gear is well meshed with the rack, and the rotation of the motor shaft drives the gear to rotate through the meshing of the gear and the rack.
The control method of the zooming guiding driving mechanism of the infrared optical system comprises the following steps that in the method, a motor of a zooming optical system rotates at a constant speed, and a motor of a compensating optical system rotates at a non-constant speed according to a compensation curve equation:
the variable magnification and compensation group motion profiles are shown in fig. 12, reflecting the displacement versus time of the two motion groups. The motion starting point of the zoom group short focal end is zero, the incidence direction of the optical axis is positive, uniform linear motion is realized, and the relation between displacement and time is a linear equation. The compensation group is non-uniform linear motion, and the relation between displacement and time is described by fitting a logarithmic function, an exponential function, a power function or a polynomial function, and is related to the compensation parameter design of the optical system.
As seen from fig. 12, in the process of continuously shifting the short focal length to the long focal length:
the short Jiao Shichang is designed as a T1 time point, the corresponding zoom group is positioned at the position of the guide rail S1, and the compensation group is positioned at the position of the guide rail S6; the middle focus view field is designed to be a T2 time point, the corresponding zoom group is positioned at the position of the guide rail S2, and the compensation group is positioned at the position of the guide rail S5; the length Jiao Shichang is designed to be at the time point T3, the corresponding variable-magnification group is at the position of the guide rail S3, and the compensation group is at the position of the guide rail S4.
Firstly, calibrating the forward direction, namely calibrating the incidence direction of an optical axis, wherein the zero searching position of the variable-magnification motor encoder is the S0 position in FIG. 12, and the zero searching position of the compensation motor encoder is the S7; changing from short focus to long focus, collecting and recording zoom group and focusing group position data of 10 points for 1 to 10 seconds, as shown in fig. 13; fitting a variable-magnification group motion curve and a compensation group forward motion curve according to the data by adopting a least square method, wherein the variable-magnification group is uniform linear motion, and the displacement of the variable-magnification group is S (variable-magnification) =19t-10 by adopting a linear equation description as shown in fig. 14; the compensation group is linear non-uniform motion and is described by adopting a logarithmic function, and the displacement of the compensation group is S (compensation) =50.1 ln (t) +296.5;
secondly, the calibration is reversed, the long focus is changed to the short focus position, and the zero searching positions of the encoders of the variable-magnification motor and the compensation motor are the other end points of the respective stroke ranges; and similarly, acquiring and recording position data of a variable-magnification group and a focusing group of 10 points in the reverse direction of 1 to 10 seconds, and fitting a motion curve of the variable-magnification group and a reverse motion curve of a compensation group by adopting a least square method according to the data.
And calibrating curves of different temperature areas, dividing the working temperature range into a plurality of temperature areas, and obtaining a forward compensation curve and a reverse compensation curve of each temperature area by adopting the method of steps 1-4 in each temperature area.
After the calibration of all the temperature areas is completed, the servo control program can call the corresponding compensation curve according to the current working temperature, so that continuous and clear imaging is realized.
The position information of the zoom group and the compensation group is monitored and recorded in real time through an encoder, the data is fed back to a control program through the encoder to count the number of pulse waves, and the control program controls the rotation speed, the direction and the like of the motor according to the data of the counter to form a closed-loop control loop. And according to the control program instruction, stopping moving once the variable-magnification group and the compensation group are monitored to move to the calibration set position.
The continuous zooming time is modified and adjusted by a motor control program, the corresponding variable-magnification group and compensation group motion curve functions and the time-related coefficients can be changed, and the constant items are not changed.
Example 2: the infrared optical system zoom guiding driving mechanism is provided with only one motor of an incremental encoder, the motor is fixedly arranged on the side surface of a fixed mirror frame of the front and rear groups of zoom, and the synchronous equidistant axial movement of the front and rear groups of zoom lenses is realized through the meshing rotation of a gear and a rack on a motor shaft. The axial synchronous large-step movement of the front lens and the rear lens of the zoom group can realize optical zoom, and the small-step movement can realize focusing and thermal compensation of an image plane.
A control method of an infrared optical system zooming guiding driving mechanism,
firstly, after the system is electrified, the motor rotates to perform zero searching at the two ends of a travel range, and the forward and reverse position counters of the motor are cleared in sequence. The incremental motor encoder has two counting zero positions in the forward direction and the backward direction, so that the influence of the inside of the motor and the meshing clearance of the gears on the motion control precision can be eliminated.
Secondly, firstly calibrating a forward zooming process, gradually switching from a short focus to a long focus position, respectively recording the number and the direction of square signals of a compensation motor encoder when a plurality of view field images are clear in the process, and storing the information and the corresponding field names in a data manner; and finally, switching the process from short focus to long Jiao Shichang to control the driving motor according to the position and direction information stored in the forward direction.
Thirdly, calibrating a reverse zooming process, namely gradually switching from long focus to short focus, respectively recording the number and the direction of square signals of a compensation motor encoder when a plurality of view field images are clear in the process, and storing the information and the corresponding field names in a corresponding way; and finally, the driving motor calls control according to the position and direction information stored in the forward direction in the switching process of the field of view from the long focus to the short focus.
Compared with the optical system in a mechanical compensation mode, the optical design difficulty of the optical compensation continuous zooming system is high, the zoom ratio is difficult to design greatly, but the structure simplifies the mechanical structure, is favorable for well controlling the visual axis and the calibration thereof, and is provided with a group of electromechanical control systems, so that the appearance, the cost and the quality of the whole system are reduced. In engineering application, as the design difficulty of the continuous zooming optical system in the optical compensation mode is very large, domestic researches are less, the optical system generally adopting the optical compensation mode only selects three or four fixed focal lengths as viewing fields, thus simplifying the optical design difficulty, simplifying servo control and rapidly switching among a plurality of fixed focal length and fixed fields in practical use.
The zoom mechanism can be applied to special application occasions, such as compact optical system layout, smaller optical lens size and severe requirements on the volume and weight of an optical system. In actual use, the polish rod guide rail can be removed, and only the rack guide rail is reserved, so that miniaturization and weight reduction can be realized, and the stability of the small-size moving lens in the vertical direction can be ensured.
Claims (2)
1. The zooming guide driving mechanism of the infrared optical system is characterized by comprising a polished rod guide rail, a rack guide rail and a motor with an incremental encoder, wherein the two guide rails are arranged on the same plane in parallel, and the zooming optical system and the compensating optical system are arranged on the two guide rails through sliding blocks;
the control method of the zooming guiding driving mechanism of the infrared optical system comprises the steps that in the method, a variable-magnification optical system motor rotates at a constant speed, and a compensating optical system motor rotates at a non-constant speed according to a compensating curve equation;
zero searching is needed to be carried out at the two ends of a stroke range by the variable-magnification optical system motor and the compensation optical system motor, and the forward and reverse position counters of the two groups of motors are cleared in sequence; each group of motors has two counting zero positions in the forward direction and the backward direction so as to eliminate the influence of the meshing gaps of the motor and the gears on the motion control precision;
the motor compensation curve equation of the compensation optical system is obtained by the following method:
step 1, calibrating forward direction, gradually switching an infrared system from a short focus to a long focus position, and compensating the number and the direction of square wave signals of a motor encoder when a plurality of images are acquired and recorded clearly in the process;
step 2, performing least square method curve fitting on the number and the direction of square wave signals according to the obtained encoder information to obtain a forward compensation curve equation;
step 3, calibrating reversely, gradually switching the infrared system from the long focus to the short focus position, and compensating the number and the direction of square wave signals of the motor encoder when a plurality of images are acquired and recorded clearly in the process;
step 4, performing least square method curve fitting according to the number and the direction of the square wave signals according to the obtained encoder information to obtain a reverse compensation curve equation;
and 5, performing calibration fitting on curves of different temperature areas, dividing the working temperature range into a plurality of temperature areas, and obtaining a forward compensation curve and a reverse compensation curve of each temperature area by adopting the method of step 1-4 in each temperature area.
2. The method for controlling the zoom guide driving mechanism of the infrared optical system according to claim 1, wherein a plurality of common focal points are selected as a fixed viewing field in the continuous zooming process, and the motor positions and directions of the focal points are stored, and calibration data are directly called for motor control during use, so that the quick switching of the field is facilitated; the calibration data is stored in the servo control circuit board data storage unit.
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| CN115097590A (en) | 2022-09-23 |
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