Aircraft camera anti-shake control method and system

Abstract

The application discloses an airborne camera anti-shake control method and system, relates to the field of camera anti-shake control, and constructs a hysteresis deformation tensor field, generates a visual hysteresis residual tensor through difference operation and hysteresis characteristic analysis, takes the visual hysteresis residual tensor as observation input, carries out state estimation through a LuGre dynamic friction model, solves micro bristle deformation states and equivalent friction torque values of an obstacle holder, carries out visual compensation analysis based on the equivalent friction torque values of the obstacle holder, judges whether the system is in a static friction zero-crossing critical area based on the micro bristle deformation estimated values, generates a reverse feed-forward compensation torque instruction according to a generalized full-source anti-disturbance torque, dynamically resets an integral term of a controller, carries out vector synthesis on the reverse feed-forward compensation torque instruction and a basic instruction of a main image stabilization control loop, generates a final driving voltage applied to a holder motor, and suppresses step picture lag and jump caused by instantaneous energy release under a long-focus field of view.

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