Servo control system and method for trajectory tracking rotating mirror
By combining a laser target velocity measurement system and an embedded control system with a servo control system driven by a DC torque motor, the complexity of velocity calculation and large delay in existing ballistic tracking mirror control systems have been solved, enabling clear tracking and efficient image acquisition of high-speed projectiles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-05
- Publication Date
- 2026-04-07
AI Technical Summary
Existing ballistic tracking mirror servo control systems are highly complex and have large delays when calculating projectile flight speed, resulting in poor image quality and making it difficult to achieve real-time, clear tracking of high-speed projectiles.
A laser target velocity measurement system is used to measure the projectile velocity in real time. Combined with an embedded control system and a servo control system driven by a DC torque motor, the system drives the reflector to match the projectile's flight speed by accurately calculating the mirror start-up delay time and scanning rate curve, and works with a high-speed camera to acquire images.
It achieves timely and accurate field-of-view synchronous tracking of high-speed projectiles, obtains clear motion images, reduces system inertia and response time, and improves test success rate.
Smart Images
Figure CN121806646A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of ballistic testing technology, and in particular to a ballistic tracking rotating mirror servo control system and method. Background Technology
[0002] With the rapid development of high-speed sensing technology, various high-speed ballistic cameras have gradually replaced traditional film cameras. Digital high-speed ballistic cameras have become an important means of ballistic testing. Many digital testing cameras can realize real-time display of the testing process, accurately capture the real-time motion information of the projectile on the trajectory, store the acquired information in a computer, and use computer digital processing to query the projectile's flight conditions, target position, and dynamic information before and after contact with the target. Precise experimental parameters can be obtained from the test information, such as the position, velocity, acceleration, angle, and angular acceleration of the high-speed projectile.
[0003] The ballistic tracking rotating mirror servo control system is a system that can capture the real-time status of a moving projectile during its flight. To improve the success rate of related experiments while saving time and costs, it is particularly important to effectively observe the projectile's operational status in real time during flight.
[0004] Tracking photography technology can identify and analyze the trajectory of a weapon in flight in real time, and correct measurement parameters in real time so that it does not rely on previous estimates of variables related to the projector. It can also be used to track artillery and launch new missiles lacking relevant parameters. However, to estimate the trajectory of the ammunition in real time, many CCD cameras must be used in the direction of the ammunition's movement. Meanwhile, the calculation process for instantaneous velocity through image processing is complex, and the delay in controlling the motor is too large. Therefore, the captured results are not optimal. Summary of the Invention
[0005] The main objective of this invention is to provide a ballistic tracking rotating mirror servo control system, which aims to solve existing technical problems.
[0006] To achieve the above objectives, the present invention provides a ballistic tracking rotating mirror servo control system, comprising: A laser target velocity measurement system includes a first detector and a second detector arranged sequentially along the projectile's flight path. The first detector measures the time interval between the projectile's sequential passage through the first and second detectors, and calculates the projectile's velocity by combining this with a fixed distance between the first and second detectors. An embedded control system, communicatively connected to the laser target velocity measurement system, receives the velocity and calculates the mirror rotation start-up delay and a mirror rotation scan rate curve matching the velocity based on the velocity, a first fixed distance between the laser target velocity measurement system and a rotating mirror system, and a second fixed distance between the rotating mirror system and a preset image acquisition start position. A servo control system, communicatively connected to the embedded control system, includes a DC torque motor and a servo driver for driving the DC torque motor. The rotating mirror system includes a reflector. A high-speed camera acquisition system is directly and coaxially fixed to the output shaft of the DC torque motor; the high-speed camera acquisition system is communicatively connected to the embedded control system and is used to acquire images of the flying projectile through the light path reflected by the reflector after receiving a trigger command from the embedded control system; wherein, the embedded control system is further configured to: after calculating the delay time and the scan rate curve, synchronously perform the following operations: send the trigger command to the high-speed camera acquisition system and send the scan rate curve to the servo control system; the servo control system is configured to: after the delay time ends, drive the DC torque motor to run according to the received scan rate curve, so that the DC torque motor drives the reflector to rotate at an angular velocity matching the projectile's flight speed, thereby enabling the high-speed camera acquisition system to continuously capture clear images of the projectile's trajectory.
[0007] Furthermore, the laser target velocity measurement system also includes a signal processing circuit. Both the first detector and the second detector are laser emission and reception through-beam detectors. When the projectile passes through the first detector, a start electrical signal is generated, and when it passes through the second detector, a stop electrical signal is generated. The signal processing circuit processes the start electrical signal and the stop electrical signal to accurately obtain the time interval.
[0008] Furthermore, the embedded control system includes an embedded core board, peripheral circuits, and human-computer interaction software running on a host computer; the embedded core board runs a real-time operating system or a bare-metal program to receive the flight speed and calculate the delay time and scan rate curves; the host computer software is used to preset system geometric parameters, monitor system status, and store experimental data.
[0009] Furthermore, the mathematical model of the DC torque motor is described by the following set of frequency domain equations: ; in, For motor control voltage, For the motor armature current, For the motor armature resistance, This is the back electromotive force of the motor armature. For the armature inductance (H) of the motor For electromagnetic torque, This is the motor torque coefficient. For the disturbance torque, For rotational inertia, The angular velocity of the motor. The coefficient of viscous friction is... This is the back electromotive force coefficient.
[0010] Furthermore, the servo driver is a closed-loop controller built based on the mathematical model of the DC torque motor, which includes at least a multi-loop control structure of current loop, speed loop and position loop, for precisely controlling the angular position or angular velocity of the DC torque motor to track the scan rate curve.
[0011] Furthermore, the control algorithm of the servo control system also includes a feedforward compensation module and / or an adaptive correction module, which are used to adjust the control quantity online according to the deviation between the actual feedback position of the motor and the theoretical position predicted based on the projectile speed, so as to improve the tracking accuracy.
[0012] Furthermore, the high-speed camera acquisition system is a high frame rate digital camera operating in an external trigger mode; the camera is fixedly installed with its lens optical axis aligned with the reflector, and the direction of the actual observation optical path is changed by rotating the reflector, thereby achieving synchronous photography of high-speed moving projectiles outside the field of view.
[0013] Furthermore, the reflector is directly mounted on the output shaft of the DC torque motor via a lightweight rigid connector, so that the rotational inertia of the rotating mirror system mainly depends on the rotational inertia of the DC torque motor rotor itself.
[0014] Furthermore, when calculating the scanning rate curve, the embedded control system uses a uniform velocity model or a uniform deceleration model for the projectile motion.
[0015] A ballistic tracking method based on the above system, characterized by the following steps: S1: After the projectile is launched, it passes sequentially through two detection points of a laser target velocity measurement system, which measures the projectile's flight velocity and sends it to an embedded control system; S2: The embedded control system calculates the delay time required for the rotating mirror to start and the matching scan rate curve based on the received flight velocity; S3: The embedded control system sends the delay time and scan rate curve to a servo control system and simultaneously sends a start command to a high-speed camera acquisition system; S4: After the delay time ends, the servo control system drives a DC torque motor to operate according to the scan rate curve; S5: The DC torque motor drives a reflector fixed on its output shaft to rotate, so that the angular velocity of the reflector matches the projectile's flight velocity; S6: The high-speed camera acquisition system continuously acquires images of the flying projectile through the rotating reflector to obtain the projectile's motion trajectory image.
[0016] The beneficial effects of this invention are reflected in: This invention obtains the projectile's flight speed in real time and directly through a laser target velocity measurement system, avoiding the complexity and delay caused by the computational speed of traditional image processing methods. The embedded control system quickly calculates control parameters and, combined with a high-dynamic-performance DC torque motor for direct drive, significantly shortens the overall response time of the system from detection to execution, achieving more accurate and timely field-of-view synchronous tracking of high-speed projectiles, thereby obtaining clearer motion images. This invention employs a rotating mirror optical tracking scheme, requiring only the rotation of a lightweight reflector while the high-speed camera remains stationary. Compared to the traditional method of directly driving the entire camera gimbal, this significantly reduces the rotational inertia of the moving parts. This not only reduces the torque requirements of the drive motor but also enables the system to achieve extremely high angular acceleration and faster dynamic response, making it particularly suitable for tracking high-speed, highly maneuverable targets.
[0017] This invention constructs a closed-loop servo control system based on a precise mathematical model of a DC torque motor. It can combine multi-loop control (current loop, speed loop, position loop) and advanced algorithms such as feedforward and adaptive control to achieve high-precision and high-stability control of the rotating mirror angle or speed. All components of the system (speed measurement, calculation, drive, and data acquisition) are precisely synchronized and coordinated through an embedded control system, resulting in a clear and reliable workflow and improving the overall system's automation level and test success rate. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the ballistic tracking rotating mirror servo control system of the present invention; Figure 2 This is a schematic diagram of the laser velocimetry system of the present invention; Figure 3This is a schematic diagram of the servo control system structure of the present invention; Figure 4 This is a schematic diagram of the equivalent model of the DC torque motor of the present invention; Figure 5 This is a block diagram of the DC torque motor model of the present invention; Figure 6 This is a schematic diagram of the working principle of the ballistic tracking rotating mirror servo control system of the present invention; Figure 7 This is a flowchart of the ballistic tracking rotating mirror servo control system of the present invention. Detailed Implementation
[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0020] Please see Figure 1 The ballistic tracking rotating mirror servo control system provided by this invention mainly includes: a laser target velocity measurement system, an embedded control system, a servo control system, a high-speed camera acquisition system, and a rotating mirror system. These subsystems interact with each other through electrical connections and signals, forming a collaborative closed-loop tracking and acquisition system.
[0021] The basic principle is as follows: On the projectile's preset flight path, the initial velocity of the projectile is first measured non-contactly and rapidly by a laser target velocity measurement system. This velocity data is transmitted to the embedded control system in real time. The embedded control system, acting as the "brain," calculates two key parameters based on the known system geometry (such as the fixed distance between the velocity measurement target and the rotating mirror / camera) and the projectile's velocity: 1) the start-up delay time (i.e., the time required from the completion of velocity measurement to the projectile entering the camera's field of view); 2) the rotating mirror scanning rate curve (i.e., the law of change of the angular velocity of the motor driving the rotating mirror over time, which must ensure that the normal angular velocity of the reflector matches the projectile's flight linear velocity, so that the projectile image always falls in the center area of the camera sensor).
[0022] After the calculations are completed, the embedded control system simultaneously performs two operations: first, it sends a "prepare-trigger" command to the high-speed camera acquisition system, causing it to begin exposure at the appropriate time; second, it sends the calculated scan rate curve to the servo control system. The servo control system drives a DC torque motor, which in turn drives the reflector in the rotating mirror system to rotate strictly according to the predetermined curve. Finally, the high-speed camera captures a clear and continuous image of the projectile's flight attitude through the rapidly rotating reflector.
[0023] Detailed descriptions of each subsystem: 1. Laser target velocity measurement system, such as... Figure 2 As shown, in this embodiment, the laser target velocity measurement system employs the classic "dual-detector timing method." The system consists of two parallel laser emitter-receiver detector pairs (target 1 and target 2) and corresponding signal processing circuitry. The center distance S1 between the two detectors is a precisely calibrated fixed value (e.g., 1 meter).
[0024] Operating process: The projectile flies past target 1 and target 2 in sequence. When it blocks the light path of target 1, the electrical signal generated by the photoelectric receiver changes, forming a "start signal"; when the projectile flies away from target 1 and subsequently blocks the light path of target 2, a "stop signal" is generated.
[0025] Velocity calculation: The signal processing circuit (typically including a high-speed comparator, counter, etc.) captures the rising or falling edges of these two signals and accurately measures their time interval t. Since the distance S1 is known, the average flight velocity V of the projectile can be calculated using the formula... The calculated speed value is transmitted in real time to the embedded control system via a digital interface (such as RS422 or Ethernet). This system directly processes optical signal transitions through hardware circuitry, resulting in fast calculation speed and low latency, providing timely speed information for subsequent control.
[0026] 2. Embedded Control System: An embedded control system is an information processing and scheduling center.
[0027] Hardware composition: The core is a high-performance embedded core board (such as one based on an ARM Cortex-A series processor), equipped with ample memory and storage. Peripheral circuits include: interface circuits for communication with the laser target, interfaces for communication with the servo driver (such as CAN bus, EtherCAT), I / O ports for triggering the high-speed camera, and Ethernet or serial ports (connected to the host computer) for human-machine interaction and parameter preset.
[0028] Software and Functions: The system software runs on a real-time operating system (such as VxWorks, Linux with RT-Preempt) or is directly programmed in bare-metal mode to ensure deterministic real-time performance. The host computer software runs on a Windows system and is used to preset parameters before the experiment (such as geometric parameters S1, S2, S3, etc., see...). Figure 7 Monitoring status and post-event data export and analysis. The core algorithms of the embedded software include: Velocity Reception and Verification: Receive velocity data V from the laser target. Parameter Calculation: Based on a preset ballistic geometry model (a simplified model ignoring air resistance or a more complex model), calculate the time required for the projectile to travel from target 2 to the starting position (point D) of the rotating mirror's field of view. This is essentially the sum of two times: the time for traveling a fixed distance S2 (from target 2 to the virtual intersection of the reflector surface), and the system's own electrical and mechanical response delay compensation time. This calculation result is the "start-up delay time." Scan Curve Generation / Selection: Based on parameters such as velocity V and system optical magnification, calculate the rotating mirror angular velocity ω(t) required to keep the projectile image point relatively stationary on the camera sensor. Convert this ω(t) relationship into motor control commands (such as voltage or position command sequences) to form a "scan rate curve." Multiple curves can be pre-generated based on the theoretical trajectory and stored in the system, with the embedded system selecting the closest one based on the measured velocity V; alternatively, they can be calculated in real time. Synchronous Trigger: After completing the calculation, the embedded system precisely sends a trigger signal to the high-speed camera through the hardware I / O port, and simultaneously sends the scan curve command packet to the servo driver through the communication bus.
[0029] 3. Servo Control System and DC Torque Motor: The servo control system is the actuator, and its core is the DC torque motor and its driver.
[0030] Motor selection and modeling: such as Figure 4 As shown, a low-speed, high-torque, and fast-response DC torque motor is selected. Its mathematical model forms the basis for designing a high-precision controller. The motor's dynamic characteristics are described by the armature circuit equations and mechanical motion equations, which, after Laplace transform, yield the following... Figure 5 The transfer function block diagram is shown below. Key parameters in the model include: armature resistance Ra, inductance La, back electromotive force coefficient Ke, torque coefficient Kt, rotor moment of inertia J, and viscous friction coefficient B.
[0031] Control Implementation: The servo driver receives a scan rate curve (as a position or speed command) from the embedded system. Internally, the driver employs a closed-loop control strategy, typically a three-loop control system consisting of a position loop, a speed loop, and a current loop. It acquires the motor's actual position (via a high-precision encoder) and current in real time, compares this with the command values, and calculates the control voltage using PID or more advanced control algorithms (such as feedforward compensation or adaptive control), driving the motor to precisely follow the command curve. Figure 3 The diagram illustrates the closed-loop control structure. Because the DC torque motor directly drives the load (reflector), intermediate components such as the gearbox are eliminated, reducing backlash and nonlinearity, and improving the system's response speed and control accuracy.
[0032] 4. The rotating mirror system is an optical actuator with an extremely simple structure.
[0033] Composition: It consists of only a high-quality flat mirror and motor connectors. The mirror is directly fixed to the output shaft of the DC torque motor via a lightweight rigid bracket and rotates coaxially with the motor rotor.
[0034] Advantages: Due to the lightweight nature of the reflector and its extremely low moment of inertia, the load on the motor is negligible, enabling the motor to achieve extremely high angular acceleration and rapid start-stop response. Compared to traditional gimbals that integrate the entire camera, this system significantly reduces inertia, which is key to achieving high-speed synchronous tracking.
[0035] 5. The high-speed camera acquisition system employs a high-frame-rate, high-resolution digital high-speed camera. The camera itself is fixedly mounted, with its lens aligned with a rotating mirror system. The rotation of the mirror changes the direction of the optical path, thereby achieving high-speed scanning of the camera's field of view. The camera operates in external trigger mode, awaiting a precise trigger signal from the embedded system. Once triggered, the camera captures images according to the preset exposure time and frame rate, transmitting the captured sequence of images to a recording computer via a high-speed interface (such as CameraLink or CoaXPress) for storage and subsequent analysis.
[0036] System workflow and methodology combination Figure 6 and Figure 7 The complete workflow of this system is as follows: Launch and velocity measurement: After launch, the projectile passes sequentially through targets 1 and 2 of the laser target velocity measurement system. The system measures the flight time t and calculates the real-time velocity V.
[0037] Data Upload and Calculation: The velocity V is uploaded to the embedded control system. The embedded system immediately runs the control algorithm: a) Calculate the start delay time T_delay based on V and the known distance (S2, S3); b) Generate or select the corresponding rotating mirror scanning rate curve C(t) based on V.
[0038] Synchronization command issuance: After the calculation is completed, the embedded system performs a synchronization operation: it sends a "prepare" command and a "trigger" command after a delay T_delay to the high-speed camera through the I / O port; at the same time, it sends the scanning curve C(t) to the servo control system through the communication bus.
[0039] Servo drive and mirror tracking: After receiving the curve C(t), the servo control system begins to drive the DC torque motor to rotate strictly according to C(t) at the end of the delay time T_delay. The motor drives the reflector to rotate, and its angular velocity quickly matches the projectile's flight speed.
[0040] Image Acquisition: When the projectile flies to the preset observation starting position (point D), the high-speed camera is triggered to start acquiring images. Since the rotation of the rotating mirror is synchronized with the projectile speed, the image of the projectile on the camera sensor remains almost stationary or moves slowly, thus enabling the camera to capture clear, motion-free images of the projectile's attitude throughout the entire observation distance.
[0041] Process completion: When the projectile leaves the observation field of view or the preset shooting time ends, the camera stops acquiring data, the servo motor stops rotating, and one tracking and shooting task is completed.
[0042] Preferred implementation methods and variations In a preferred embodiment, when the embedded control system calculates the scanning curve, it not only considers the uniform speed model, but also integrates a simple uniform deceleration model to roughly compensate for the influence of air resistance, making the tracking and matching more accurate.
[0043] In the servo control algorithm, the slight difference between the actual position and the theoretical ballistic prediction position based on the feedback from the motor encoder can be added for online adaptive correction, forming a composite control system with visual information feedforward, which further improves the tracking accuracy.
[0044] Multi-beam laser targets can be used to improve velocity measurement accuracy and reliability. High-speed cameras can be equipped with telephoto lenses and calibrated together with a rotating mirror system to accurately determine optical magnification and field of view.
[0045] The critical timing sequences of the entire system (speed measurement, calculation, communication, drive, triggering) need to be precisely measured and compensated for to ensure global synchronization accuracy.
[0046] In summary, this invention innovatively integrates and coordinates mature laser velocimetry, embedded computing, high-response servo drive, and lightweight rotating mirror optical structure to design a ballistic tracking rotating mirror servo control system with fast response and accurate tracking. This effectively solves the problem of poor shooting effect caused by large control system delay and large load inertia in traditional methods.
[0047] It should be noted that if the embodiments of the present invention involve directional indicators such as up, down, left, right, front, back, etc., the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indicators will also change accordingly.
[0048] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent.
[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A ballistic tracking rotating mirror servo control system, characterized in that, include: A laser target velocity measurement system includes a first detector and a second detector arranged sequentially along the projectile's flight path. The first detector measures the time interval between the projectile's sequential passage through the first and second detectors, and calculates the projectile's velocity by combining this with a fixed distance between the first and second detectors. An embedded control system, communicatively connected to the laser target velocity measurement system, receives the velocity and calculates the mirror rotation start-up delay and a mirror rotation scan rate curve matching the velocity based on the velocity, a first fixed distance between the laser target velocity measurement system and a rotating mirror system, and a second fixed distance between the rotating mirror system and a preset image acquisition start position. A servo control system, communicatively connected to the embedded control system, includes a DC torque motor and a servo driver for driving the DC torque motor. The rotating mirror system includes a reflector. A high-speed camera acquisition system is directly and coaxially fixed to the output shaft of the DC torque motor; the high-speed camera acquisition system is communicatively connected to the embedded control system and is used to acquire images of the flying projectile through the light path reflected by the reflector after receiving a trigger command from the embedded control system; wherein, the embedded control system is further configured to: after calculating the delay time and the scan rate curve, synchronously perform the following operations: send the trigger command to the high-speed camera acquisition system and send the scan rate curve to the servo control system; the servo control system is configured to: after the delay time ends, drive the DC torque motor to run according to the received scan rate curve, so that the DC torque motor drives the reflector to rotate at an angular velocity matching the projectile's flight speed, thereby enabling the high-speed camera acquisition system to continuously capture clear images of the projectile's trajectory.
2. The ballistic tracking rotating mirror servo control system according to claim 1, characterized in that, The laser target velocity measurement system also includes a signal processing circuit. The first detector and the second detector are both laser emission and reception through-beam detectors. When the projectile passes through the first detector, a start electrical signal is generated, and when it passes through the second detector, a stop electrical signal is generated. The signal processing circuit processes the start electrical signal and the stop electrical signal to accurately obtain the time interval.
3. The ballistic tracking rotating mirror servo control system according to claim 1, characterized in that, The embedded control system includes an embedded core board, peripheral circuits, and human-machine interaction software running on a host computer. The embedded core board runs a real-time operating system or a bare-metal program to receive the flight speed and calculate the delay time and scan rate curves. The host computer software is used to preset system geometric parameters, monitor system status, and store experimental data.
4. The ballistic tracking rotating mirror servo control system according to claim 1, characterized in that, The mathematical model of the DC torque motor is described by the following set of frequency domain equations: ； in, For motor control voltage, For the motor armature current, For the motor armature resistance, This is the back electromotive force of the motor armature. For the armature inductance (H) of the motor For electromagnetic torque, This is the motor torque coefficient. For the disturbance torque, For rotational inertia, The angular velocity of the motor. The coefficient of viscous friction is... This is the back electromotive force coefficient.
5. The ballistic tracking rotating mirror servo control system according to claim 4, characterized in that, The servo driver is a closed-loop controller built based on the mathematical model of the DC torque motor. It includes a multi-loop control structure with at least a current loop, a speed loop, and a position loop, and is used to precisely control the angular position or angular velocity of the DC torque motor to track the scan rate curve.
6. The ballistic tracking rotating mirror servo control system according to claim 5, characterized in that, The control algorithm of the servo control system also includes a feedforward compensation module and / or an adaptive correction module, which are used to adjust the control quantity online according to the deviation between the actual feedback position of the motor and the theoretical position predicted based on the projectile speed, so as to improve the tracking accuracy.
7. The ballistic tracking rotating mirror servo control system according to claim 1, characterized in that, The high-speed camera acquisition system is a high frame rate digital camera operating in an external trigger mode; the camera is fixedly installed with its lens optical axis aligned with the reflector, and the direction of the actual observation optical path is changed by rotating the reflector, thereby realizing synchronous photography of high-speed moving projectiles outside the field of view.
8. The ballistic tracking rotating mirror servo control system according to claim 1, characterized in that, The reflector is directly mounted on the output shaft of the DC torque motor via a lightweight rigid connector, so that the rotational inertia of the rotating mirror system mainly depends on the rotational inertia of the DC torque motor rotor itself.
9. The ballistic tracking rotating mirror servo control system according to any one of claims 1 to 8, characterized in that, When calculating the scanning rate curve, the embedded control system uses a uniform velocity model or a uniform deceleration model for the projectile motion.
10. A ballistic tracking method based on the system according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1: After the projectile is launched, it passes sequentially through two detection points of the laser target velocity measurement system, which measures the projectile's flight speed and sends the data to the embedded control system. S2: The embedded control system calculates the delay time required to start the rotating mirror and the matching scan rate curve based on the received flight speed. S3: The embedded control system sends the delay time and scan rate curve to the servo control system and simultaneously sends a start command to the high-speed camera acquisition system. S4: After the delay time, the servo control system drives the DC torque motor to operate according to the scan rate curve. S5: The DC torque motor drives the reflector fixed on its output shaft to rotate, matching the reflector's angular velocity with the projectile's flight speed. S6: The high-speed camera acquisition system continuously acquires images of the flying projectile through the rotating reflector, obtaining the projectile's trajectory image.