Topological structure design method and device for multiple actuators of aerial imaging equipment

Abstract

The invention relates to the field of automatic control, in particular to a topological structure design method and device for multiple actuators of aerial imaging equipment, and the method comprises the steps: presetting physical parameters, initial parameter values required by the topological structure design method and a parameter range; calculating a weighted adjacency matrix, communication intensity, a motion matrix and a plurality of constraints of the plurality of actuators according to the numerical values of the physical parameters, wherein the plurality of constraints comprise a communication intensity constraint, a time constraint, a space constraint, a communication energy constraint and a control energy constraint; solving an optimal topological structure under the constraint of a plurality of actuators; and outputting the constraint range of the optimal topological structure which is finally judged to meet the requirement. According to the method, a multi-actuator weighted adjacency matrix containing communication delay and fault probability is established, communication strength constraints, time constraints, space constraints, communication energy constraints and control energy constraints of multiple actuators are established, and an optimal topological structure meeting all the constraints is solved.

Description

Technical field [0001] The present invention relates to the field of automatic control, in particular, to a topological design method and apparatus of an aerial imaging apparatus multi-actuator. Background [0002] Aerial imaging equipment is mounted on various types of dynamic base carriers, which can flexibly obtain intuitive image information, and is widely used in important fields such as disaster prevention and rescue, geographical mapping, and precision agriculture. In the scanning imaging system, due to the active scanning of the scanning mirror to produce image rotation, image shift and other object image movements, it is necessary to improve the imaging quality by controlling various actuators in the imaging equipment to bend the beam. [0003] When multiple actuators are introduced into the imaging system to compensate for the movement of the object image, it is also necessary to consider the information interaction channel and information interaction structure between...

AI Technical Summary

Problems solved by technology

The existing multi-agent topology optimization methods generally directly solve the mathematical expression of the topology structure by setting the control performance indicators related to the convergence speed and control energy, without considering the constraints of communication delay and communication failure on the topology structure, so they cannot be directly applied In Topology Design in Aerial Imaging Equipment

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