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Rotating mirror servo control system based on sliding-mode active-disturbance-rejection control

A servo control system and active disturbance rejection control technology, applied in the field of control, can solve problems such as poor control effects, and achieve the effects of improving performance, fast tracking, enhancing rapid response ability and stability

Active Publication Date: 2021-08-10
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is: how to solve the problems of poor control effect in the control mode adopted by the existing rotating mirror servo control system, and provide a rotating mirror servo control system based on sliding mode active disturbance rejection control

Method used

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  • Rotating mirror servo control system based on sliding-mode active-disturbance-rejection control
  • Rotating mirror servo control system based on sliding-mode active-disturbance-rejection control
  • Rotating mirror servo control system based on sliding-mode active-disturbance-rejection control

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Embodiment 2

[0063] like figure 1 As shown, it is a schematic diagram of a rotating mirror servo control system. This embodiment proposes a rotating mirror servo control system based on sliding mode active disturbance rejection control. The rotating mirror servo control system uses an optical method to control the viewing angle direction of the high-speed camera, which is fixed for the camera itself, and the moving part only has a reflective lens. The lens is directly fixed on the shaft of the DC motor, the mass is very small, and the interference to the DC motor can be ignored. At the same time, compared with the traditional gimbal directly equipped with a high-speed camera, the inertia of the system is greatly reduced.

[0064] like figure 2 As shown, it is an exploded view of the three-dimensional coordinates of the simulated missile reflected by the rotating mirror to the high-speed camera.

[0065] The high-speed camera captures the missile launched by the analog launcher through t...

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Abstract

The invention discloses a rotating mirror servo control system based on sliding-mode active-disturbance-rejection control, which belongs to the technical field of control and comprises a high-speed camera, an upper computer, a sliding-mode active-disturbance-rejection controller, a driver, a direct-current motor and a rotating mirror. A control strategy combining a sliding mode control theory and active-disturbance-rejection control is adopted, so that the performance of the rotating mirror servo control system is improved; the sliding mode optimal control function is introduced into the extended state observer and the nonlinear error feedback control law, so that the quick response capability and the stability of the rotating mirror servo control system are enhanced, the rotating mirror servo control system can track the moving target more accurately and more quickly, and the method is worthy of popularization and application.

Description

technical field [0001] The invention relates to the technical field of control, in particular to a mirror-rotating servo control system based on sliding mode active disturbance rejection control. Background technique [0002] When the camera captures moving objects, it can adjust the viewing angle direction in real time, so that the tracked object always appears in the camera screen. This technology is called visual servoing. However, due to the high-speed movement, the displacement of the target in the screen is large. Using a high-speed camera to receive images will result in "motion blur" caused by relative motion. Therefore, in order to reduce the relative motion between the camera and the target and reduce "motion blur", the traditional method is to use various PTZs for servo control. However, even if the visual direction of the high-speed camera is quickly controlled by rotating the gimbal, sufficient high-speed performance cannot be obtained, especially the inertia g...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02P90/02
Inventor 刘丙友赵瑞杨潘王力超陶亮齐晶晶罗建
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE