Control method of high accuracy video-stabilization with airstream disturbance for opto-electronic system

Zhang Weiming; Shi Zelin; Ma Depeng

doi:10.3788/IRLA201948.1013008

Attitude disturbance caused by the random impact of airstream is the main disturbance source of the aircraft opto-electronic system. At the effect of the axis friction and mass imbalance of the system, the line-of-sight(LOS) stabilization is affected seriously due to the disturbance. In order to effectively suppress the influence of disturbance moment, a two-axis opto-electronic system dynamic model with outer pitch and inner azimuth was established, and the disturbance transfer relationship which contained the disturbance factors and movement coupling was obtained. A disturbance torque estimated method with extended Kalman filter(EKF) based on the dynamics model was proposed, and the feed-forward control loop of disturbance torque was established, consequently the disturbance torque was compensated at the real time, the system LOS stabilization was improved substantially. A semi-physical simulation experiment using flght simulation test table was carried out. The experiment result shows that the RMS result of LOS stabilization accuacy is 0.026 4 mrad of pitch and 0.029 0 mrad of azimuth frame with feed-forward method, which improve 64.1% and 69.6% compared to disturbance observer (DOB) method.

Control method of high accuracy video-stabilization with airstream disturbance for opto-electronic system

1. Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;

2. Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China;

3. Key Laboratory of Opto-Electronic Information Processing,Chinese Academy of Sciences,Shenyang 110016,China;

4. University of Chinese Academy of Sciences,Beijing 100049,China

Received Date: 2019-05-05

Rev Recd Date: 2019-06-15

Publish Date: 2019-10-25

Key words:

Abstract: Attitude disturbance caused by the random impact of airstream is the main disturbance source of the aircraft opto-electronic system. At the effect of the axis friction and mass imbalance of the system, the line-of-sight(LOS) stabilization is affected seriously due to the disturbance. In order to effectively suppress the influence of disturbance moment, a two-axis opto-electronic system dynamic model with outer pitch and inner azimuth was established, and the disturbance transfer relationship which contained the disturbance factors and movement coupling was obtained. A disturbance torque estimated method with extended Kalman filter(EKF) based on the dynamics model was proposed, and the feed-forward control loop of disturbance torque was established, consequently the disturbance torque was compensated at the real time, the system LOS stabilization was improved substantially. A semi-physical simulation experiment using flght simulation test table was carried out. The experiment result shows that the RMS result of LOS stabilization accuacy is 0.026 4 mrad of pitch and 0.029 0 mrad of azimuth frame with feed-forward method, which improve 64.1% and 69.6% compared to disturbance observer (DOB) method.

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Reference (17)

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Control method of high accuracy video-stabilization with airstream disturbance for opto-electronic system

doi: 10.3788/IRLA201948.1013008

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通讯作者: 陈斌, bchen63@163.com

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