红外与激光工程, 2004, 33 (1): 83, 网络出版: 2006-05-25
基于速度估计的成像器稳定装置摩擦补偿
Friction compensation of camera stabilizing device based on velocity estimation
摘要
针对成像器稳定装置中由于摩擦力距造成的跟踪误差这一问题,采用自适应滑模控制的方法对摩擦力矩进行有效补偿,并且提出了基于改进欧拉近似法从位置测量信号中获取速度信号的方法.通过在成像器稳定装置控制系统中的实际应用,表明提出的方法有效地减小了成像器稳定装置的跟踪误差,算法简单、易于实现.
Abstract
Considering the tracking error caused by friction in camera stabilizing device, a control method of adaptive slide mode is adopted to compensate the friction torque. Furthermore, an improved Eulor method of estimating velocity from position signal is studied in this paper. The application of the two methods in the control system of camera stabilizing device shows that the tracking error caused by friction is weaken effectively, and the methods are also easy to realize.
张羽飞, 张建立, 冯汝鹏. 基于速度估计的成像器稳定装置摩擦补偿[J]. 红外与激光工程, 2004, 33(1): 83. 张羽飞, 张建立, 冯汝鹏. Friction compensation of camera stabilizing device based on velocity estimation[J]. Infrared and Laser Engineering, 2004, 33(1): 83.
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