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为解决航空相机摆扫成像过程中存在的像旋问题,采用四通道双向控制系统对像旋进行补偿。在系统中,基于鲁棒内环补偿器结构进行了内环补偿器设计。首先利用H∞混合灵敏度优化方法求解鲁棒内环补偿器中的鲁棒控制器,再结合参考模型确定系统的滤波器,进而得到系统化设计的内环补偿器。保证系统鲁棒稳定性的同时尽可能提高干扰抑制性能,进而在两者间折衷提高双向控制像旋补偿精度。实验结果显示,本方法能够有效抑制等效干扰的影响,提高消旋补偿的精度。动态扫描下位置补偿误差的最大值和均方根分别为(1.81×10~(-3))°、(5.224 74×10~(-4))°,与传统设计相比,补偿误差分别减小了41.99%、41.73%,提高了四通道双向控制系统的像旋补偿精度。
In order to solve the problem of image rotation existing in aerial camera imaging, a four-channel bi-directional control system is used to compensate the image rotation. In the system, the inner ring compensator is designed based on the robust inner compensator structure. First, the H∞ mixed sensitivity optimization method is used to solve the robust controller in the robust inner loop compensator. Then, the filter of the system is determined with reference to the model, and then a systematically designed inner loop compensator is obtained. To ensure robust stability of the system while improving the interference suppression performance, thereby compromising the two-way control image rotation compensation accuracy. Experimental results show that this method can effectively suppress the influence of equivalent interference and improve the accuracy of racemic compensation. The maximum and root mean square error of the position compensation under dynamic scanning are (1.81 × 10 -3) ° and (5.224 74 × 10 -4) °, respectively. Compared with the traditional design, the compensation error is reduced by Small 41.99%, 41.73%, improve the four-channel two-way control system image rotation compensation accuracy.