Design method of self-resetting fast reflector system and switchable controller thereof

Abstract

The present invention belongs to the field of servo control technology, and in particular relates to a self-resetting fast reflector system and a controller design method thereof. The method comprises: S1: setting the elastic coefficient of the reset element to 0, performing identification processing on the fast reflector system without self-resetting, and obtaining the basic open-loop transfer function of the fast reflector system; S2: introducing the elastic coefficient of the reset element into the basic open-loop transfer function, and obtaining the compensation system model and the 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 requirements of the imaging system; S4: constructing a Lyapunov function of a switchable controller to ensure that the self-resetting fast reflector system always remains stable. The present invention improves the comprehensive performance of the reflector in all working modes by introducing a self-resetting elastic structure and a controller design method that switches with the working mode.

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 remote sensing imaging. As vehicles, ships, aircraft, and satellites move, relative displacement occurs between the imaging system and the object being imaged, resulting in image blur during the exposure period. To address image motion, some high-precision remote sensing imaging systems incorporate fast mirrors in the optical path. This technology compensates for image motion by performing a reverse motion at the time of exposure, maintaining the relative stationary position between the image plane and the detector. However, due to travel limitations, the fast mirror must quickly return to its initial position after image motion compensation, resulting in a "compensation-reset" cycle during continuous imaging. During this process, the scanning mode requires smooth motion, while the reset mode requires rapid positioning. Therefore, the fast mirror system must possess an extremely high control bandwidth. With the growing demand for high-quality imaging, the requirements for the dynamic performance of fast mirrors are also increasing. Currently, fast mirrors typically employ a symmetrical structure, with the compensation and reset systems sharing the same controller. However, due to the constraints of the motor drive torque within the limited optical-mechanical dimensions, increasing the bandwidth of fast mirror systems in practical applications is extremely difficult.

[0003] Current fast mirrors often feature a symmetrical design, ensuring consistent dynamic characteristics in all directions throughout their range of motion, thus maintaining a constant closed-loop transfer function. To meet the demand for rapid response during the reset process, existing fast mirror control systems often employ aggressive control strategies, even incorporating nonlinear control mechanisms. However, this strategy can lead to fluctuations in position response during compensation and severe overshoot during command switching, potentially damaging the mirror's structure. 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:

[0006] A self-resetting fast reflector system includes a reflector mechanism and an electrical control mechanism, wherein:

[0007] The reflector mechanism includes 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 via 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 mounted on the base, and both are located within 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.

[0008] 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, driver, sensor communication circuit and 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.

[0009] Furthermore, the reflector module includes a reflector and a reflector base, the reflector is assembled on the reflector base, and the reset element is connected to the reflector base.

[0010] Furthermore, the voice coil motor group includes no less than four voice coil motors, and all the voice coil motors are arranged on the base.

[0011] Furthermore, the displacement measurement group includes no less than four displacement measurement devices, the displacement measurement devices are arranged in a one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are arranged on the base.

[0012] Furthermore, the displacement measuring device is a displacement sensor or a grating ruler.

[0013] Furthermore, the reset element includes a reset spring.

[0014] A method for designing a switchable controller for a self-resetting fast mirror system is implemented using the self-resetting fast mirror system, specifically comprising the following steps:

[0015] 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:

[0016] ;

[0017] 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;

[0018] 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;

[0019] S3: Based on sliding mode control, a compensation controller and a reset controller are established. According to the image motion compensation requirements of the imaging system, a compensation-reset periodic switching control strategy is designed.

[0020] S4: Based on the compensation system model, reset system model, compensation controller and reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable during the execution of the periodic switching control strategy by the compensation controller and the reset controller.

[0021] Furthermore, 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 assembly.

[0022] Furthermore, in step S2:

[0023] Compensation system model for:

[0024] ;

[0025] in, is the elastic coefficient of the reset element;

[0026] Reset system model for:

[0027] .

[0028] Furthermore, step S3 specifically includes the following steps:

[0029] S31: Design a basic controller based on the classic linear sliding surface. The linear sliding surface z is:

[0030] ;

[0031] ;

[0032] 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 ;

[0033] S32: Calculate the approach rate of the basic controller by the following formula to obtain the output of the basic controller :

[0034] ;

[0035] ;

[0036] 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 mirror system;

[0037] S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , obtain the compensation controller with linear feedback :

[0038] ;

[0039] in, The time domain model of the compensation mode transfer function of the self-resetting fast reflector system is presented;

[0040] Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , obtain the reset controller with nonlinear feedback :

[0041] ;

[0042] in, The time domain model of the reset mode transfer function of the self-resetting fast reflector system is given;

[0043] 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.

[0044] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0045] (1) The present invention creates the self-resetting fast mirror system and its controller design method, 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 fast response. In addition, by adjusting the zero position of the reset element, it can be ensured that the fast mirror is subjected to the reverse constraint force when approaching the limit, thereby reducing the safety hazards 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.

[0046] (2) The present invention creates the self-resetting rapid mirror system, which improves and enhances traditional rapid mirror technology. The present invention designs a rapid 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 rapid mirror movement. At the same time, during the reset process, the reset element releases energy to increase the reset speed. The self-resetting rapid mirror system of the present invention achieves enhanced dynamic performance and has high practical value.

[0047] (3) The present invention proposes a modeling and controller design method for a reciprocating dynamics model, and designs a specific controller for the working mode of a fast reflector, emphasizing the key control characteristics required to achieve the working mode while eliminating control characteristics that are irrelevant 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, by designing linear and nonlinear parameters under different working modes, the present invention can obtain a control strategy that adapts to the requirements of the current working mode, thereby improving the image motion compensation performance within the entire working cycle.

[0048] (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 vehicle, but also compensate for the image shift caused by non-vehicle movement whose compensation direction is consistent with the compensation direction of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 A schematic structural diagram of a self-resetting fast reflector system according to an embodiment of the present invention;

[0051] Figure 2 A schematic cross-sectional view of a self-resetting fast reflector system according to an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of the structure of the electrical control mechanism according to an embodiment of the present invention;

[0053] Figure 4 A design flow chart of the controller according to an embodiment of the present invention;

[0054] 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;

[0055] Figure 6 A schematic diagram comparing the command tracking errors of different control methods described in the embodiments of the present invention.

[0056] Description of reference numerals:

[0057] 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

[0058] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and do not constitute a limitation of the present invention.

[0059] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0060] 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 orientations or positional relationships based on the orientations 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" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, features defined as "first", "second" and the like 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.

[0061] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art can understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0063] The present invention provides a self-resetting rapid mirror system designed for image motion compensation. The system consists of a mirror mechanism and an electrical control mechanism. The mirror mechanism, positioned within the imaging optical path, is responsible for performing image motion compensation. The electrical control mechanism precisely controls the motion of the mirror, adjusting its cyclical motion to compensate for image motion caused by vehicle motion.

[0064] like Figure 1-Figure 2As 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 a 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.

[0065] like Figure 3 As shown, the electrical control mechanism is intended to achieve 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.

[0066] The reflector module 1 includes a reflector and a reflector base. The reflector is assembled on the reflector base. The resetting element 4 is connected to the reflector base.

[0067] The voice coil motor group 3 includes no less than four voice coil motors, and all the voice coil motors are arranged on the base 2 .

[0068] The displacement measurement group 5 includes no less than four displacement measurement devices. The displacement measurement devices are arranged in a one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are distributed on the base 2 .

[0069] The displacement measuring device is a displacement sensor or a grating ruler.

[0070] The reset element 4 includes a reset spring. In addition, other types of elastic mechanisms may also be used.

[0071] Based on the above hardware design, a control system with self-reset function was constructed.

[0072] Through system modeling, controller design and stability analysis, the present invention proposes a controller design method for a self-resetting fast reflector system with switching characteristics. It has different dynamic models and control methods in the image motion compensation mode and the reset mode. Compared with the existing single-controller symmetrical reflector system, its comprehensive control performance is greatly improved.

[0073] 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 the self-resetting fast reflector system and specifically includes the following steps:

[0074] First, a mathematical model of a mirror without a self-resetting structure is constructed. Given the asymmetry of the dynamic model of a self-resetting rapid mirror system, traditional system identification techniques cannot directly obtain a model of the self-resetting rapid mirror system, necessitating optimization of the identification process. The reset element 4 employed in the present invention is detachable, allowing it to be controlled as a conventional symmetrical mirror even after disassembly.

[0075] 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:

[0076] ;

[0077] 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.

[0078] 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.

[0079] 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 less than the maximum control torque value output by the voice coil motor group 3, so as to avoid excessive elastic torque causing oscillation of the self-resetting fast reflector system and destroying stability.

[0080] Compensation system model for:

[0081] ;

[0082] in, is the elastic coefficient of the reset element 4;

[0083] Reset system model for:

[0084] .

[0085] Controller design is performed for different controlled objects. This paper uses sliding mode control with both linear and nonlinear feedback as an example to specifically introduce controller design methods. Regardless of model differences, a basic controller can be set up, using a classic linear sliding surface for representation.

[0086] 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.

[0087] S31: Design a basic controller based on the classic linear sliding surface. The linear sliding surface z is:

[0088] ;

[0089] ;

[0090] 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 ;

[0091] S32: Calculate the approach rate of the basic controller by the following formula to obtain the output of the basic controller :

[0092] ;

[0093] ;

[0094] 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 mirror system;

[0095] S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , obtain the compensation controller with linear feedback :

[0096] ;

[0097] in, The time domain model of the compensation mode transfer function of the self-resetting fast reflector system is presented;

[0098] Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , obtain the reset controller with nonlinear feedback :

[0099] ;

[0100] in, The time domain model of the reset mode transfer function of the self-resetting fast reflector system is given;

[0101] 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 stationary during the exposure period, thereby obtaining a periodic switching control strategy.

[0102] Because the compensation controller discards nonlinear terms, the self-resetting fast mirror system's response does not produce high-frequency fluctuations such as chattering, resulting in a smoother response. During the reset phase, response fluctuations have no impact on the system's functionality. The reset controller leverages the high output gain of the nonlinear terms to facilitate rapid convergence.

[0103] S4: Based on the compensation system model, reset system model, compensation controller and reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable during the execution of the periodic switching control strategy by the compensation controller and the reset controller.

[0104] A stability analysis is performed on a self-resetting fast mirror system with switching functionality. For each subcontroller (compensation controller or reset controller), a Lyapunov function must be constructed. Based on the upper bounds of the subcontroller parameters, a unified Lyapunov function covering the parameter ranges of both subcontrollers can be 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 using other stability analysis methods from switching control theory. For the compensation controller and reset controller, in addition to sliding mode control techniques, other appropriate control methods can be adopted based on the design requirements of the operating mode.

[0105] The processor 8 is used to execute the calculation of the switchable controller of the self-resetting fast mirror system.

[0106] like Figure 6 As shown in the figure, for a self-resetting fast mirror system with an unchanged transfer function, command tracking simulation verification is performed using a single linear controller, a single nonlinear controller, and a switchable controller. The compensation controller of the switchable control is the same as the linear controller, and the reset controller of the switchable control is the same as the nonlinear controller.

[0107] Simulation results show that compared to a single linear controller, the switchable controller maintains smoothness in the compensation mode while achieving a smaller reset mode error. Compared to a single nonlinear controller, the switchable controller maintains a small reset mode error while achieving better smoothness in the compensation mode. The switching control method of the switchable controller combines the advantages of multiple controllers in image motion compensation control, achieving smaller errors throughout the entire image motion compensation cycle and achieving optimal overall performance.

[0108] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved. This is not limited herein.

[0109] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A method for designing a switchable controller for a self-resetting fast mirror system, implemented using a self-resetting fast mirror system, characterized by: The self-resetting fast reflector system includes: a reflector mechanism and an electrical control mechanism, wherein: The reflector mechanism includes 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 via 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 mounted on the base, and both are located within 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, driver, sensor communication circuit and 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 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; The design method of the switchable controller of the self-resetting fast reflector system specifically includes the following steps: S1: Setting the elastic coefficient of the reset element of the self-resetting fast mirror system to 0 to obtain a fast mirror system, performing identification processing on the fast mirror system to obtain 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: Based on sliding mode control, a compensation controller and a reset controller are established. According to the image motion compensation requirements of the imaging system, a compensation-reset periodic switching control strategy is designed. S4: Based on the compensation system model, reset system model, compensation controller and reset controller, a Lyapunov function of the switchable controller is constructed so that the self-resetting fast mirror system always remains stable during the execution of the periodic switching control strategy by the compensation controller and the reset controller.

2. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: The reflector module includes a reflector and a reflector base, the reflector is assembled on the reflector base, and the reset element is connected to the reflector base.

3. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: The voice coil motor group includes no less than four voice coil motors, and all the voice coil motors are arranged on the base.

4. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 3, wherein: The displacement measurement group includes no less than four displacement measurement devices, the displacement measurement devices are arranged in a one-to-one correspondence with the voice coil motors, and all the displacement measurement devices are distributed on the base.

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

6. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: The return element includes a return spring.

7. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: 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 assembly.

8. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: In step S2: Compensation system model for: ； in, is the elastic coefficient of the reset element; Reset system model for: 。 9. The method for designing a switchable controller for a self-resetting fast mirror system according to claim 1, wherein: Step S3 specifically includes the following steps: S31: Design a basic controller based on the 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 mirror system; S33: The nonlinear feedback coefficient Set to 0 and set the linear feedback coefficient to ,and , obtain the compensation controller with linear feedback : ； in, The time domain model of the compensation mode transfer function of the self-resetting fast reflector system is presented; Set the nonlinear feedback coefficient to , set the linear feedback coefficient to , 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 given; 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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