Self-resetting fast reflecting mirror system and design method of switchable controller of self-resetting fast reflecting mirror system

Abstract

The invention belongs to the technical field of servo control, and particularly relates to a self-resetting fast reflector system and a controller design method thereof. The method comprises the following steps: S1, setting an elastic coefficient of a reset element to be 0, and carrying out identification processing on a non-self-reset fast reflector system to obtain a basic open-loop transfer function of the fast reflector system; s2, introducing an elastic coefficient of a reset element into the basic open-loop transfer function to obtain a compensation system model and a reset system model; s3, establishing a compensation controller and a reset controller based on sliding mode control, and designing a compensation-reset periodic switching control strategy according to the image motion compensation requirement of the imaging system; and S4, constructing a Lyapunov function of the switchable controller, so that the self-resetting fast reflector system is always kept stable. According to the invention, by introducing a design method of a self-resetting elastic structure and a controller which is switched along with the working mode, the comprehensive performance of the reflector in the full working mode is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of servo control, and in particular relates to a self-resetting fast reflection mirror system and a controller design method thereof. Background Art

[0002] Image motion is a common image degradation phenomenon in the field of remote sensing imaging. With the movement of vehicles, ships, aircraft, satellites and other platforms, there will be relative displacement between the imaging system and the object, resulting in image blur during the exposure period. In order to solve the image motion problem, some high-precision remote sensing imaging systems introduce fast reflectors in the optical path. This technology achieves image motion compensation by performing reverse motion at the exposure time to keep the image plane and the detector relatively still. However, due to travel limitations, the fast reflector must quickly return to the initial position after image motion compensation, which forms a "compensation-reset" cycle working mode in the continuous imaging process. In this process, the scanning mode requires smooth movement, while the reset mode requires rapid arrival, so the fast reflector system must have an extremely high control bandwidth. With the growing demand for high-quality imaging, the requirements for the dynamic performance of the fast reflector are also increasing. At present, the fast reflector usually adopts a symmetrical structure, and the compensation system and the reset system share the same controller. It is extremely difficult to improve the bandwidth of the fast reflector system in actual engineering due to the constraints of the motor drive torque under the limited optical and mechanical size.

[0003] Currently, most fast mirrors are designed with symmetrical structures. Within the range of motion, the dynamic characteristics in all directions remain consistent, so that the closed-loop transfer function of the system remains constant. In order to meet the needs of fast response during the reset process, the control systems of existing fast mirrors often adopt more aggressive control strategies, and even introduce nonlinear control mechanisms. However, this strategy will cause fluctuations in the position response during the compensation process, and produce serious overshoot when switching commands, causing structural damage to the mirror equipment. Summary of the invention

[0004] In view of this, the present invention aims to provide a self-resetting fast reflector system and a controller design method thereof, so as to solve the controller design problem of the prior art that it is difficult to simultaneously achieve smooth compensation control and fast reset response under a single controller design framework. The present invention proposes a fast reflector with a self-resetting function in response to the application requirements of image motion compensation. By introducing a self-resetting elastic structure and a controller design method that switches with the working mode, the comprehensive performance of the reflector in all working modes is greatly improved.

[0005] To achieve the above object, the technical solution created by the present invention is implemented as follows: A self-resetting fast reflector system comprises: a reflector mechanism and an electrical control mechanism, wherein: The reflector mechanism comprises a reflector module, a base, a voice coil motor group, a displacement measurement group, a reset element and a flexible hinge. The reflector module and the base are assembled by the flexible hinge, and an installation space is provided between the reflector module and the base. The voice coil motor group and the displacement measurement group are installed on the base, and the voice coil motor group and the displacement measurement group are both located in the installation space. One end of the reset element is connected to the base, and the other end of the reset element is connected to the reflector module, and the rotation axis of the flexible hinge coincides with the axis of the reset element. The electrical control mechanism includes a power supply, a processor, a driver, a sensor communication circuit and an external communication circuit. The power supply converts the voltage value of the external power supply into the rated voltage value of the processor, the driver, the sensor communication circuit and the external communication circuit; the sensor communication circuit is connected to the processor and the displacement measurement group respectively, the sensor communication circuit receives the displacement signal sent by the displacement measurement group, and converts the displacement signal into a reflector angle value and sends it to the processor; the external communication circuit is connected to the host computer using serial communication, the external communication circuit sends the reflector angle value to the host computer, and receives the position control instruction sent by the host computer; the processor solves the drive signal based on the position control instruction and the reflector angle value, and sends the solved drive signal to the driver; the driver converts the drive signal into a drive current, and uses the drive current to drive the voice coil motor assembly to adjust the reflector module.

[0006] Furthermore, the reflector module includes a reflector and a reflector base, the reflector is assembled on the reflector base, and the resetting element is connected to the reflector base.

[0007] Furthermore, the voice coil motor group includes no less than four voice coil motors, and all the voice coil motors are evenly distributed on the base.

[0008] Furthermore, the displacement measurement group includes no less than four displacement measurement devices, the displacement measurement devices are arranged in one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are evenly distributed on the base.

[0009] Furthermore, the displacement measuring device is a displacement sensor or a grating ruler.

[0010] Further, the reset element includes a reset spring.

[0011] A method for designing a switchable controller for a self-resetting fast reflector system is implemented using the self-resetting fast reflector system, and specifically comprises the following steps: S1: Set the elastic coefficient of the reset element of the self-resetting fast mirror system to 0, obtain the fast mirror system, perform identification processing on the fast mirror system, and obtain the basic open-loop transfer function of the fast mirror system: ; in, is the open-loop transfer function, is the moment of inertia of the self-resetting fast mirror system, is the damping coefficient of the self-resetting fast mirror system, is the elastic coefficient of the flexible hinge, s is the transformation parameter; S2: Introducing the elastic coefficient of the reset element into the basic open-loop transfer function to obtain the compensation system model and the reset system model; S3: A compensation controller and a reset controller are established based on sliding mode control, and a compensation-reset periodic switching control strategy is designed according to the image motion compensation requirements of the imaging system; S4: Based on the compensation system model, the reset system model, the compensation controller and the reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable when the compensation controller and the reset controller execute the periodic switching control strategy.

[0012] Further, in step S2, the maximum elastic torque of the reset element is smaller than the maximum control torque value output by the voice coil motor group.

[0013] Furthermore, in step S2: Compensation system model for: ; in, is the elastic coefficient of the reset element; Reset system model for: .

[0014] Furthermore, step S3 specifically includes the following steps: S31: Design the basic controller based on the classic linear sliding surface. The linear sliding surface z is: ; ; in, It is the position control instruction sent by the host computer to the external communication circuit. is the angle value of the reflector, e is the angle instruction tracking error, is a constant, and ; S32: Calculate the approach rate of the basic controller by the following formula to obtain the output of the basic controller : ; ; in, is the nonlinear feedback coefficient, is the linear feedback coefficient, sgn() is the sign function, t is the time, The time domain model of the transfer function of the self-resetting fast reflector system; S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , and obtain the compensation controller with linear feedback : ; in, A time domain model of the compensation mode transfer function of the self-resetting fast reflector system; Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , and obtain the reset controller with nonlinear feedback : ; in, The time domain model of the reset mode transfer function of the self-resetting fast reflector system is provided; S34: According to the image motion compensation requirement of the imaging system, the compensation controller and the reset controller are periodically switched between compensation and reset, so that the image plane and the detector of the imaging system remain relatively still during the exposure period, thereby obtaining a periodic switching control strategy.

[0015] Compared with the prior art, the invention can achieve the following beneficial effects: (1) The present invention creates the self-resetting fast mirror system and the controller design method thereof, and proposes a new design idea. By introducing a self-resetting elastic structure (resetting element), the compensation mode and the reset mode have different dynamic characteristics. In the compensation stage, the self-resetting elastic structure provides reverse resistance, and cooperates with the linear feedback controller to achieve smooth compensation control, and stores elastic potential energy in the process. In the reset mode, the elastic potential energy is released, and combined with the nonlinear controller, the torque output is significantly improved to achieve rapid response. In addition, by adjusting the zero position of the reset element, it can be ensured that the fast mirror is subject to the reverse constraint force when approaching the limit, thereby reducing the safety hazard caused by overshoot. Therefore, the present invention improves the dynamic performance of the fast mirror under the condition of driving torque constraint by adjusting the dynamic characteristics and control strategy.

[0016] (2) The invention creates the self-resetting fast mirror system, which improves and enhances the traditional fast mirror technology. The invention designs a fast mirror with a self-resetting structure. The reset element provides resistance and stores elastic potential energy during the compensation process, thereby enhancing the smoothness of the fast mirror movement. At the same time, during the reset process, the reset element releases energy to increase the reset speed. The self-resetting fast mirror system of the invention achieves enhanced dynamic performance and has high practical value.

[0017] (3) The present invention proposes a modeling and controller design method for a reciprocating dynamics model, designs a specific controller for the working mode of the fast reflector, emphasizes the key control characteristics required to achieve the working mode, and excludes control characteristics that are not related to the function. Compared with the traditional single controller system, the present invention achieves an improvement in the control performance of the entire working cycle in the time dimension. That is, the present invention can obtain a control strategy that adapts to the requirements of the current working mode by designing linear and nonlinear parameters under different working modes, thereby improving the image motion compensation performance within the entire working cycle.

[0018] (3) The self-resetting fast reflection mirror system created by the present invention can not only compensate for the image shift caused by the movement of the carrier, but also compensate for the image shift caused by non-carrier movement whose compensation direction is consistent with the compensation direction of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings: Figure 1 A schematic diagram of the structure of the self-resetting fast reflection mirror system according to an embodiment of the present invention; Figure 2 A cross-sectional schematic diagram of a self-resetting fast reflection mirror system according to an embodiment of the present invention; Figure 3 A schematic diagram of the structure of the electrical control mechanism according to an embodiment of the present invention; Figure 4 A design flow chart of a controller for creating an embodiment of the present invention; Figure 5 A flow chart of a controller design method for a self-resetting fast reflector system according to an embodiment of the present invention; Figure 6 A schematic diagram comparing instruction tracking errors of different control methods described in an embodiment of the present invention.

[0020] Description of reference numerals: 1. Reflector module; 2. Base; 3. Voice coil motor group; 4. Reset element; 5. Displacement measurement group; 6. Flexible hinge; 7. Power supply; 8. Processor; 9. Driver; 10. External communication circuit; 11. Sensor communication circuit. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the invention more clear, the invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the invention and do not constitute a limitation of the invention.

[0022] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the invention can be understood according to specific circumstances.

[0025] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0026] The present invention provides a self-resetting fast reflector system, which is designed for image motion compensation. The self-resetting fast reflector system consists of a reflector mechanism and an electrical control mechanism. The reflector mechanism is placed in the imaging optical path and is responsible for performing the image motion compensation function. The electrical control mechanism is responsible for accurately controlling the motion state of the reflector, and by adjusting the cyclic motion of the reflector, the image motion caused by the motion of the vehicle is compensated. like Figure 1-Figure 2 As shown, the reflector mechanism includes a reflector module 1, a base 2, a voice coil motor group 3, a displacement measurement group 5, a reset element 4 and a flexible hinge. The reflector module 1 and the base 2 are assembled through the flexible hinge, so that the reflector module 1 rotates around the rotation axis of the flexible hinge, and an installation space is provided between the reflector module 1 and the base 2; the voice coil motor group 3 and the displacement measurement group 5 are installed on the base 2, and the voice coil motor group 3 and the displacement measurement group 5 are both located in the installation space, providing necessary displacement feedback information for the control of the reflector module 1; one end of the reset element 4 is connected to the base 2, and the other end of the reset element 4 is connected to the reflector module 1, and the rotation axis of the flexible hinge coincides with the axis of the reset element 4.

[0027] like Figure 3 As shown, the electrical control mechanism is intended to realize the electrical integration of the control algorithm and the motor drive. The electrical control mechanism includes a power supply 7, a processor 8, a driver 9, an external communication circuit 10 and a sensor communication circuit 11. The power supply 7 converts the voltage value of the external power supply into the rated voltage value of the processor 8, the driver 9, the sensor communication circuit 11 and the external communication circuit 10; the sensor communication circuit 11 is connected to the processor 8 and the displacement measurement group 5 respectively, the sensor communication circuit 11 receives the displacement signal sent by the displacement measurement group 5, and converts the displacement signal into a reflector angle value and sends it to the processor 8; the external communication circuit 10 is connected to the host computer using serial communication, and the external communication circuit 10 is also connected to the processor 8, the external communication circuit 10 sends the reflector angle value to the host computer, and receives the position control instruction sent by the host computer; the processor 8 solves the drive signal based on the position control instruction and the reflector angle value sent by the external communication circuit 10, and sends the solved drive signal to the driver 9; the driver 9 converts the drive signal into a drive current, and uses the drive current to drive the voice coil motor group 3 to adjust the reflector module 1.

[0028] The reflector module 1 comprises a reflector and a reflector base, the reflector is assembled on the reflector base, and the resetting element 4 is connected to the reflector base.

[0029] The voice coil motor group 3 includes no less than four voice coil motors, and all the voice coil motors are evenly distributed on the base 2 .

[0030] The displacement measurement group 5 includes no less than four displacement measurement devices, the displacement measurement devices are arranged in one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are evenly distributed on the base 2 .

[0031] The displacement measuring device is a displacement sensor or a grating ruler.

[0032] The reset element 4 includes a reset spring. In addition, other types of elastic mechanisms may also be used.

[0033] Based on the aforementioned hardware design, a control system with a self-reset function is constructed.

[0034] The present invention proposes a controller design method for a self-resetting fast reflector system with switching characteristics through system modeling, controller design and stability analysis. It has different dynamic models and control methods in image motion compensation mode and reset mode. Compared with the existing single-controller symmetrical reflector system, its comprehensive control performance is greatly improved.

[0035] like Figure 4-Figure 5 The present invention provides a method for designing a switchable controller for a self-resetting fast reflector system, which is implemented using a self-resetting fast reflector system and specifically includes the following steps: First, a mathematical model of a reflector without a self-resetting structure is constructed. In view of the asymmetry of the dynamic model of the self-resetting rapid reflector system, the traditional system identification technology cannot directly obtain the model of the self-resetting rapid reflector system, and the identification process must be optimized. The reset element 4 used in the present invention is detachable, and even after being disassembled, it can still be controlled as an existing symmetrical reflector.

[0036] S1: Set the elastic coefficient of the reset element 4 of the self-resetting fast mirror system to 0 (equivalent to removing the reset element 4), obtain the fast mirror system, perform identification processing on the fast mirror system, and obtain the basic open-loop transfer function of the fast mirror system: ; in, is the open-loop transfer function, is the moment of inertia of the self-resetting fast mirror system, is the damping coefficient of the self-resetting fast mirror system, is the elastic coefficient of the flexible hinge 6, and s is the transformation parameter.

[0037] S2: Introducing the elastic coefficient of the reset element 4 into the basic open-loop transfer function to obtain a compensation system model and a reset system model.

[0038] The elastic coefficient K should be designed based on the stability constraints of different working modes, that is, the maximum elastic torque of the reset element 4 is smaller than the maximum control torque value output by the voice coil motor group 3 to avoid excessive elastic torque causing oscillation of the self-resetting fast reflector system and destroying stability.

[0039] Compensation system model for: ; in, is the elastic coefficient of the reset element 4; Reset system model for: .

[0040] Controller design is carried out for different controlled objects. The present invention takes the sliding mode control method with both linear and nonlinear feedback as an example to specifically introduce the controller design method. Without considering the model difference, a basic controller can be set and represented by a classic linear sliding surface.

[0041] S3: A compensation controller and a reset controller are established based on sliding mode control, and a compensation-reset periodic switching control strategy is designed according to the image motion compensation requirements of the imaging system.

[0042] S31: Design the basic controller based on the classic linear sliding surface. The linear sliding surface z is: ; ; in, It is the position control instruction sent by the host computer to the external communication circuit 10. is the angle value of the reflector, e is the angle instruction tracking error, is a constant, and ; S32: Calculate the approach rate of the basic controller by the following formula to obtain the output of the basic controller : ; ; in, is the nonlinear feedback coefficient, is the linear feedback coefficient, sgn() is the sign function, t is the time, The time domain model of the transfer function of the self-resetting fast reflector system; S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , and obtain the compensation controller with linear feedback : ; in, A time domain model of the compensation mode transfer function of the self-resetting fast reflector system; Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , and obtain the reset controller with nonlinear feedback : ; in, The time domain model of the reset mode transfer function of the self-resetting fast reflector system is provided; S34: According to the image motion compensation requirement of the imaging system (determined according to the working requirements of the imaging system), the compensation controller and the reset controller are periodically switched between compensation and reset, so that the image plane and the detector of the imaging system remain relatively still during the exposure period, and a periodic switching control strategy is obtained.

[0043] Since the compensation controller discards the nonlinear term, the response of the self-resetting fast mirror system will not produce high-frequency fluctuations such as chattering, and has the advantage of speed smoothness. In the reset stage, the response fluctuation has no effect on the function of the self-resetting fast mirror system. The reset controller can use the high output gain of the nonlinear term to prompt the self-resetting fast mirror system to converge quickly.

[0044] S4: Based on the compensation system model, the reset system model, the compensation controller and the reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable when the compensation controller and the reset controller execute the periodic switching control strategy.

[0045] A stability analysis is performed on a self-resetting fast mirror system with switching function. For each subcontroller (compensation controller or reset controller), a Lyapunov function must be constructed, and based on the upper bound of the subcontroller parameters, a unified Lyapunov function covering the parameter range of the two subcontrollers is derived. If the Lyapunov function is stable, the entire switching control system is stable. For controllers with more complex structures, parameter design can also be achieved based on other stability analysis methods in switching control theory. For compensation controllers and reset controllers, in addition to sliding mode control technology, other appropriate control methods can be used according to the design requirements of the working mode.

[0046] The processor 8 is used to execute the calculation of the switchable controller of the self-resetting fast mirror system.

[0047] like Figure 6As shown in the figure, for the self-resetting fast reflector system with unchanged transfer function, single linear controller, single nonlinear controller and switchable controller are used to carry out command tracking simulation verification. Among them, the compensation controller of switchable control is the same as the linear controller, and the reset controller of switchable control is the same as the nonlinear controller.

[0048] From the simulation results, it can be seen that compared with the single linear controller, the switchable controller has a smaller reset mode error while maintaining the smoothness of the compensation mode; compared with the single nonlinear controller, the switchable controller has better compensation mode smoothness while maintaining a small error in the reset mode. The switching control method of the switchable controller combines the advantages of multiple controllers in image motion compensation control, has a smaller error in the entire image motion compensation working cycle, and has the best comprehensive performance.

[0049] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the disclosure of the present invention can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0050] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A self-resetting fast reflector system, characterized in that: include: A reflector mechanism and an electrical control mechanism, wherein: The reflector mechanism comprises a reflector module, a base, a voice coil motor group, a displacement measurement group, a reset element and a flexible hinge, wherein the reflector module and the base are assembled through a flexible hinge, and an installation space is provided between the reflector module and the base; the voice coil motor group and the displacement measurement group are installed on the base, and both the voice coil motor group and the displacement measurement group are located in the installation space; one end of the reset element is connected to the base, and the other end of the reset element is connected to the reflector module, and the rotation axis of the flexible hinge coincides with the axis of the reset element; The electrical control mechanism includes a power supply, a processor, a driver, a sensor communication circuit and an external communication circuit, wherein the power supply converts the voltage value of the external power supply into the rated voltage value of the processor, the driver, the sensor communication circuit and the external communication circuit; the sensor communication circuit is respectively connected to the processor and the displacement measurement group, the sensor communication circuit receives the displacement signal sent by the displacement measurement group, and converts the displacement signal into a reflector angle value and sends it to the processor; the external communication circuit is connected to the host computer by serial communication, the external communication circuit sends the reflector angle value to the host computer, and receives the position control instruction sent by the host computer; the processor solves the drive signal based on the position control instruction and the reflector angle value, and sends the solved drive signal to the driver; The driver converts the driving signal into a driving current, and uses the driving current to drive the voice coil motor assembly to adjust the reflector module.

2. The self-resetting fast reflection mirror system according to claim 1, characterized in that: The reflector module comprises a reflector and a reflector base, the reflector is assembled on the reflector base, and the resetting element is connected to the reflector base.

3. The self-resetting fast reflection mirror system according to claim 1, characterized in that: The voice coil motor group includes no less than four voice coil motors, and all the voice coil motors are evenly distributed on the base.

4. The self-resetting fast reflection mirror system according to claim 3, characterized in that: The displacement measurement group includes no less than four displacement measurement devices, the displacement measurement devices are arranged in one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are distributed on the base.

5. The self-resetting fast reflection mirror system according to claim 4, characterized in that: The displacement measuring device is a displacement sensor or a grating ruler.

6. The self-resetting fast reflection mirror system according to claim 1, characterized in that: The return element comprises a return spring.

7. A method for designing a switchable controller of a self-resetting fast reflector system, implemented by using the self-resetting fast reflector system according to any one of claims 1 to 6, characterized in that: The specific steps include: S1: setting the elastic coefficient of the reset element of the self-resetting fast mirror system to 0, obtaining a fast mirror system, performing identification processing on the fast mirror system, and obtaining a basic open-loop transfer function of the fast mirror system: ； in, is the open-loop transfer function, is the moment of inertia of the self-resetting fast mirror system, is the damping coefficient of the self-resetting fast mirror system, is the elastic coefficient of the flexible hinge, s is the transformation parameter; S2: Introducing the elastic coefficient of the reset element into the basic open-loop transfer function to obtain a compensation system model and a reset system model; S3: A compensation controller and a reset controller are established based on sliding mode control, and a compensation-reset periodic switching control strategy is designed according to the image motion compensation requirements of the imaging system; S4: Based on the compensation system model, the reset system model, the compensation controller and the reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable when the compensation controller and the reset controller execute the periodic switching control strategy.

8. The method for designing a switchable controller for a self-resetting fast reflector system according to claim 7, characterized in that: In step S2, the maximum elastic torque of the reset element is smaller than the maximum control torque value output by the voice coil motor group.

9. The method for designing a switchable controller for a self-resetting fast reflector system according to claim 7, characterized in that: In step S2: Compensation system model for: ； in, is the elastic coefficient of the reset element; Reset system model for: 。 10. The method for designing a switchable controller for a self-resetting fast reflector system according to claim 7, characterized in that: Step S3 specifically includes the following steps: S31: Design a basic controller based on a classic linear sliding surface, where the linear sliding surface z is: ； ； in, It is the position control instruction sent by the host computer to the external communication circuit. is the angle value of the reflector, e is the angle instruction tracking error, is a constant, and ; S32: Calculate the approach rate of the basic controller by the following formula to obtain the output of the basic controller : ； ； in, is the nonlinear feedback coefficient, is the linear feedback coefficient, sgn() is the sign function, t is the time, The time domain model of the transfer function of the self-resetting fast reflector system; S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , and obtain the compensation controller with linear feedback : ； in, A time domain model of the compensation mode transfer function of the self-resetting fast reflector system; Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , and obtain the reset controller with nonlinear feedback : ； in, The time domain model of the reset mode transfer function of the self-resetting fast reflector system is provided; S34: According to the image motion compensation requirement of the imaging system, the compensation controller and the reset controller are periodically switched between compensation and reset, so that the image plane and the detector of the imaging system remain relatively still during the exposure period, thereby obtaining a periodic switching control strategy.

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