Dual-actuator visual axis stable imaging method and system based on sum-difference mode cooperative control

Abstract

The invention relates to the technical field of precision optical control, in particular to a sum-difference mode cooperative control double-actuator visual axis stable imaging method and system, and the method comprises the steps: calculating a sum mode variable and a difference mode variable between the angular velocity information of a first actuator and the angular velocity information of a second actuator; performing inverse mode transformation on the two mode variables to obtain independent control commands for respectively controlling the first actuator and the second actuator; the two independent control commands are correspondingly input into the first actuator and the second actuator after being processed through a control algorithm based on data driving. The ultra-high precision of the two actuators is effectively combined, stable control over the optical axis of the optical imaging system is achieved, and the imaging definition and stability of the optical imaging system in the disturbance environment are remarkably improved.

Description

Technical Field

[0001] This invention belongs to the field of precision optical control technology, and in particular relates to a dual-actuator line-of-sight stabilization imaging method and system with sum and difference mode cooperative control. Background Technology

[0002] In the field of airborne optical imaging, external disturbances (such as aircraft vibration, wind resistance, and wiring harness disturbances) can cause line-of-sight jitter, resulting in image blur and a decrease in signal-to-noise ratio. To compensate for these disturbances, fast mirrors (FSMs) are often used for line-of-sight stabilization. However, a single actuator often struggles to meet the demands of both large stroke (high-bandwidth disturbance compensation) and ultra-high precision (nanometer-level fine tracking).

[0003] Voice coil fast reflectors (VFRs) offer advantages such as large angles and high dynamic response, but their positioning accuracy and low-frequency stability are limited by the nonlinearity and thermal drift of their electromagnetic structures. Piezoelectric ceramic-driven micro-scanning platforms possess nanometer-level resolution and extremely high rigidity, but their stroke is limited. Existing technologies employ schemes using two actuators in series, but this structure suffers from complex control coupling, bandwidth limitations due to mechanical resonance, and difficulty in achieving synergistic effects across the two degrees of freedom. Therefore, how to coordinate the control of two complementary actuators as a whole, fully leveraging their respective advantages to achieve full-spectrum disturbance suppression from low frequencies to large bandwidths and from large amplitudes to ultra-high precision, has become a pressing technical problem in the field of airborne optical imaging. Summary of the Invention

[0004] In view of this, the present invention aims to provide a dual-actuator line-of-sight stabilization imaging method and system with sum and difference mode cooperative control. By decoupling the motion of the two actuators into "sum mode" and "difference mode", and designing control strategies for different modes, the system achieves line-of-sight stabilization control with high speed, long stroke and high precision, and ultimately achieves clear imaging of optical payloads under load airborne environment.

[0005] To achieve the above objectives, the technical solution created by this invention is implemented as follows: A dual-actuator line-of-sight stabilization imaging method based on sum-difference modal cooperative control includes: S1: The first actuator controls the detector, and the second actuator controls the reflector. The light beam emitted by the target to be imaged is reflected by the reflector and enters the detector to form an image. S2: Calculate the sum modal variable and difference modal variable between the angular velocity information of the first actuator and the second actuator; S3: Perform inverse mode transformation on the two modal variables obtained in step S2 to obtain independent control commands that control the first actuator and the second actuator respectively; S4: The two independent control commands obtained in step S3 are processed by the data-driven control algorithm and then input into the first actuator and the second actuator respectively.

[0006] Furthermore, in step S2, the sum modal variable is the sum of the two angular velocity information, and the difference modal variable is the difference between the two angular velocity information.

[0007] Furthermore, in step S3, the inverse mode transformation is performed using the following formula: ; ; in, and These represent independent control commands for the first and second actuators, respectively. and These represent the sum modal variable and the difference modal variable, respectively.

[0008] Furthermore, in step S4, the two independent control commands are processed separately using the following formula: ; ; Where u(k) represents the independent control command input at time k, and y d y(k) represents the desired independent control command at time k, y(k) represents the actual independent control command at time k, ρ represents the first step length factor, and λ represents the factor that limits the independent control command. c (k) represents the time-varying parameter at time k. Let represent the estimated value of the time-varying parameter at time k, η represent the second step size factor, and μ represent the weighting factor. .

[0009] A dual-actuator line-of-sight stabilized imaging system with sum-difference modal cooperative control includes: a detector for imaging a target; a reflector for reflecting a light beam emitted from the target into the detector; a first actuator for controlling the movement of the detector; a second actuator for controlling the movement of the reflector; a displacement sensor for acquiring position information of the first and second actuators; and a cooperative controller for receiving information acquired by the displacement sensor and executing the dual-actuator line-of-sight stabilized imaging method with sum-difference modal cooperative control as provided in this invention, thereby controlling the first and second actuators.

[0010] Furthermore, the first actuator includes a piezoelectric micro-scanning platform, and the second actuator includes a voice coil motor.

[0011] Furthermore, a lens is provided between the detector and the reflector in the transmission optical path. The light beam emitted by the target to be imaged is reflected by the reflector and enters the lens. After being converged by the lens, the light beam enters the detector.

[0012] Furthermore, it also includes: an integrated platform for integrating the detector, reflector, first actuator, and second actuator; an image processor for processing the image information acquired by the detector to obtain line-of-sight stabilization error information; and an inertial sensor for acquiring angular velocity disturbance information of the integrated platform.

[0013] Furthermore, the collaborative controller includes: a modal variable output module, which calculates the sum modal variable and difference modal variable between the angular velocity information of the first actuator and the second actuator; an inverse modal transformation module, which performs inverse modal transformation on the two modal variables to obtain independent control commands that control the first actuator and the second actuator respectively; and a control command output module, which processes the two independent control commands based on a data-driven control algorithm and inputs the two processed commands into the first actuator and the second actuator respectively.

[0014] Furthermore, when the displacement sensor detects that the displacement of the second actuator has reached the physical stroke limit, the co-controller outputs an independent control command to the first actuator, causing the first actuator to move in the opposite direction in a stepped manner, so that the equivalent working point of the second actuator returns to the stroke center region.

[0015] Compared with the prior art, the present invention can achieve the following beneficial effects: (1) The present invention provides a dual-actuator line-of-sight stabilization imaging method and system based on sum-difference mode cooperative control. By constructing a cooperative control framework based on sum-difference mode decoupling, the present invention achieves high-performance cooperative line-of-sight stabilization control of two actuators. The present invention decouples the overall line-of-sight motion of the system from the relative motion between the actuators into sum mode and difference mode by performing modal transformation on the motion state of the two actuators. This effectively solves the problems of strong coupling of actuators and unclear control allocation in traditional series control, and realizes unified modeling and coordinated control of composite actuators. (2) The dual actuator line-of-sight stabilization imaging method and system of sum-difference mode cooperative control described in this invention addresses the problem that there are significant differences between the two actuators in terms of stroke capacity, dynamic characteristics and control accuracy. It designs a dynamic load distribution strategy for actuators in the differential mode space, so that the two actuators can undertake large stroke rapid compensation and high precision fine adjustment tasks respectively according to different working conditions, thereby giving full play to the performance advantages of the two types of actuators and overcoming the problem of dual actuator synergistic efficiency in the prior art.

[0016] (3) The dual-actuator line-of-sight stable imaging method and system of sum-difference mode cooperative control described in this invention further introduces an anti-saturation constraint mechanism to realize the dynamic reset of the first actuator, thereby improving the stroke utilization rate of the first actuator and the long-term working stability of the system.

[0017] (4) The dual-actuator line-of-sight stabilization imaging method and system of sum-difference mode cooperative control described in this invention combines the above-mentioned modal decoupling method, cooperative control strategy and data-driven model-free adaptive control algorithm to achieve high bandwidth and high precision suppression of line-of-sight jitter in complex disturbance environments, significantly improves the line-of-sight stabilization accuracy and imaging quality of airborne optical imaging system, and further enhances the applicability and reliability of dual-actuator line-of-sight stabilization imaging system in complex engineering application scenarios. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 A schematic flowchart of the dual-actuator line-of-sight stabilization imaging method with sum and difference modal cooperative control as described in the embodiments of the present invention; Figure 2 A schematic flowchart of the model-free adaptive control algorithm based on tight-form dynamic linearization as described in the embodiments of the present invention; Figure 3 A schematic diagram of the dual-actuator line-of-sight stabilized imaging system with sum-difference modal cooperative control as described in the embodiment of the present invention; Figure 4 A comparative schematic diagram of the stroke utilization of the first actuator under conventional series control and differential mode control as described in the embodiments of the present invention; wherein: Figure 4 (a) A schematic diagram of the first actuator stroke utilization in conventional series control as described in an embodiment of the present invention; Figure 4 (b) A schematic diagram of the first actuator stroke utilization under the sum-difference modal control of the present invention as described in the embodiments of the present invention; Figure 5 The disturbance tracking compensation curve diagram of the dual actuator cooperative line-of-sight stabilization control described in the embodiment of the present invention; Figure 6 Error curve diagram of dual actuator cooperative line-of-sight stabilization control as described in the embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Detector; 2. Reflector; 3. First actuator; 4. Second actuator; 5. Lens; 6. Target. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be 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 merely illustrative of the invention and do not constitute a limitation thereof.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0022] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] like Figure 1 As shown in the embodiment of the present invention, the dual-actuator line-of-sight stabilization imaging method with sum-difference modal cooperative control includes: S1: The first actuator controls the detector, and the second actuator controls the reflector. The light beam emitted by the target to be imaged is reflected by the reflector and enters the detector to form an image.

[0026] S2: Calculate the sum modal variable and difference modal variable between the angular velocity information of the first actuator and the second actuator. The sum modal variable represents the overall output angular velocity of the composite actuator (i.e., the first actuator and the second actuator), which is directly used to counteract external disturbances and stabilize the line of sight. The difference modal variable represents the relative motion velocity between the two actuators, which is used to adjust the internal attitude between them, avoid saturation, and optimize dynamic allocation.

[0027] In some embodiments, the sum modal variable is the sum of two angular velocity information items, and the difference modal variable is the difference between the two angular velocity information items. In embodiments of the present invention, the sum modal variable and the difference modal variable are obtained by the following formulas: ; ; in, and Let ω1 and ω2 represent the sum modal variable and difference modal variable, respectively, and let ω1 and ω2 represent the angular velocities of the first actuator and the second actuator, respectively.

[0028] In this invention, step S2 further includes filtering and synchronizing the output two angular velocity information, and then calculating the sum modal variable and difference modal variable of the synchronized two angular velocity information.

[0029] S3: Perform inverse mode transformation on the two modal variables obtained in step S2 to obtain independent control commands that control the first actuator and the second actuator respectively.

[0030] In some embodiments, the inverse mode transformation is performed by the following formula: ; ; in, and These represent independent control commands for the first and second actuators, respectively.

[0031] S4: The two independent control commands obtained in step S3 are processed by the data-driven control algorithm and then input into the first actuator and the second actuator respectively.

[0032] In some embodiments, two independent control commands are processed separately: ; ; Where u(k) represents the independent control command input at time k, and y dy(k) represents the desired independent control command at time k, y(k) represents the actual independent control command at time k, ρ represents the first step length factor, and λ represents the factor that limits the independent control command. c (k) represents the time-varying parameter at time k. Let represent the estimated value of the time-varying parameter at time k, η represent the second step size factor, and μ represent the weighting factor. .

[0033] The two-modal control command output method of the present invention specifically adopts the following... Figure 2 The model-free adaptive control algorithm based on tight-form dynamic linearization is shown. Figure 2 Z in -1 This represents a delay. The core idea of ​​this algorithm is to use online input / output data to perform an equivalent linearization description of the system in each sampling period, and then achieve adaptive control of the unknown system through online estimation of pseudo-partial derivatives (PPD). The algorithm specifically includes: Consider a system that achieves line-of-sight stabilized imaging, which is a SISO (Single Input Single Output) discrete-time nonlinear system. In this case, we have: y(k+1)=f(y(k),...,y(kn y ),u(k),...,u(kn u )); Where f represents the nonlinear function corresponding to the nonlinear system, and n y and n u These represent the output and input orders of the nonlinear system, respectively.

[0034] The following assumptions are made for the above nonlinear system: Assumption 1: For a bounded desired output signal y, the nonlinear system... d (k+1), there exists a bounded feasible control input signal, under the action of this control input signal, the output of the nonlinear system is equal to the desired output; Assumption 2: Except for finite time points, the nonlinear function f has the same effect on the (n)th time point. y The partial derivatives of the +2) variables are continuous; Assumption 3: Except for finite time points, the nonlinear system satisfies the generalized Lipschitz condition, that is, for any two different times k1 and k2 of the input signal, i.e., u(k1) ≠ u(k2), the following relationship exists: |y(k1+1)-y(k2+1)|≤b|u(k1)-u(k2)|; Where b is a constant greater than 0.

[0035] For a nonlinear system that satisfies the above assumptions, when When this happens, a pseudo-partial derivative (PPD) must exist. c (k) transforms the nonlinear system into the following data model: ; in, , It is bounded for any time k.

[0036] The linear dynamic time-varying increment model of the compact scheme linearization method is a general input-output representation for discrete-time linear and nonlinear systems, and this model has universality. For discrete-time systems, to reduce steady-state error and avoid the risk of damaging the control system due to excessive control input, consider the following control input criterion function: ; Where J represents the criterion function.

[0037] Substituting the data model into the criterion function above, and setting the derivative of the input u(k) to 0, we obtain the following input u(k): .

[0038] The model of a general nonlinear system is uncertain, and pseudo-partial derivatives are used. c The value of (k) is time-varying, and its precise value is difficult to obtain, therefore this control input formula cannot be used directly. Therefore, a parameter estimation method is needed to estimate the pseudo-partial derivatives. c (k) performs online estimation, and its estimation criterion function expression is: ; The pseudo-partial derivatives in the estimation criterion function c (k) Take the derivative and let the pseudo-partial derivatives be... c After (k) equals 0, we get the following formula: .

[0039] Based on the above formula, we can obtain the formula for converting two-mode variables into two-mode control commands, when the pseudo-partial derivatives... c (k) satisfies or or hour, ε is a sufficiently small positive number.

[0040] As can be seen from the control strategy described above, this strategy constructs the control law by analyzing the real-time input and output values ​​of the closed-loop controlled system, without requiring any information about the system's dynamic model or parameters. The pseudo-partial derivatives in the control law... c (k) It is not greatly affected by time-varying parameters, time-varying structures, unknown parameters, phases that change with time, or even lag. Therefore, the control strategy adopted in this invention has strong anti-interference ability and universal applicability.

[0041] This invention also provides a dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control, such as... Figure 3 As shown, the system includes a detector 1, a reflector 2, a first actuator 3 and a second actuator 4, a displacement sensor, and a cooperative controller. The detector 1 is used to image the target, the reflector 2 is used to reflect the light beam emitted by the target into the detector, the first actuator 3 is used to control the movement of the detector 1, the second actuator 4 is used to control the movement of the reflector 2, the displacement sensor is used to acquire the position information of the first actuator 3 and the second actuator 4, and the cooperative controller is used to receive the information acquired by the displacement sensor and execute the dual-actuator line-of-sight stabilized imaging method of sum-difference mode cooperative control as described in this invention, controlling the first actuator 3 and the second actuator 4.

[0042] In this invention, the displacement sensor employs either a photoelectric encoder or a capacitive sensor, and the collaborative controller specifically uses an embedded STM32 series controller, which is loaded with the relevant operating program for the dual-actuator line-of-sight stabilization imaging method with sum and difference mode collaborative control provided by this invention. Furthermore, in this embodiment, the second actuator 4 has a stroke of ±5 mrad and a bandwidth of 500 Hz, while the first actuator 3 has a stroke of ±100 μrad and a resolution of 0.1 μrad. The inertial gyroscope has a bandwidth of 1 kHz, and the collaborative controller's operating cycle is 100 μs.

[0043] In some embodiments, the first actuator 3 includes a piezoelectric micro-scanning platform, and the second actuator 4 includes a voice coil motor.

[0044] In some embodiments, a lens 5 is provided between the detector 1 and the reflector 2 in the transmission optical path. The light beam emitted by the target 6 to be imaged is reflected by the reflector 2 and enters the lens 5. After being converged by the lens 5, the light beam enters the detector 1.

[0045] In some embodiments, the dual-actuator line-of-sight stabilized imaging system further includes an integrated platform, an inertial sensor, and an image processor. The integrated platform integrates the detector 1, the reflector 2, the first actuator 3, and the second actuator 4. The image processor processes the image information acquired by the detector to obtain line-of-sight stabilization error information. The inertial sensor acquires angular velocity disturbance information from the integrated platform. In this embodiment, the inertial sensor is specifically a gyroscope.

[0046] In some embodiments, the cooperative controller includes a modal variable output module, an inverse modal transformation module, and a control command output module. The modal variable output module calculates the sum and difference modal variables between the angular velocity information of the first actuator 3 and the second actuator 4. The inverse modal transformation module performs inverse modal transformation on the two modal variables to obtain independent control commands for controlling the first actuator 3 and the second actuator 4, respectively. The control command output module processes the two independent control commands based on a data-driven control algorithm and inputs the two processed commands into the first actuator 3 and the second actuator 4, respectively.

[0047] In some embodiments, when the displacement sensor detects that the displacement of the second actuator 4 has reached its physical stroke limit, the co-controller outputs an independent control command to the first actuator 3, causing the first actuator 3 to move in the opposite direction in a stepped manner, so that the equivalent operating point of the second actuator 4 returns to the stroke center region. Figure 4 As shown, the embodiments of the present invention are similar to those described above. Figure 4 (a) shows a traditional control method, which controls the first actuator 3 and the second actuator 4 to move directly to both sides from their initial positions. In this embodiment of the invention, the cooperative controller outputs an independent control command containing stepped motion to the first actuator 3, controlling the first actuator 3 to move in opposite directions in a stepped manner, such as... Figure 4 As shown in (b), this pulls the second actuator 4 back to near the center of its stroke, achieving dynamic reset. This process has minimal impact on the modal (overall view axis) and allows for seamless operation.

[0048] Furthermore, in this embodiment of the invention, when the displacement sensor detects that a large-angle, rapid maneuver is required, the cooperative controller outputs commands to the first actuator 3 and the second actuator 4 respectively, so that the second actuator 4 undertakes the main motion and the first actuator 3 follows the motion; when ultra-high precision fine adjustment is required, the first actuator 3 performs fine compensation, while the second actuator 4 slowly returns to zero or remains in the middle position to release the stroke of the first actuator 3.

[0049] Figure 5The figure shows the tracking compensation curve of the compensation angle formed by the first actuator 3 and the second actuator 4 under the action of the method provided by the present invention. The curve shows that the control scheme has a good compensation effect on random disturbances.

[0050] Figure 6 The residual line-of-sight error curve of the system after disturbance compensation is shown when the model-free adaptive control strategy based on sum / difference modes provided in the embodiment of the present invention is used to characterize the stabilization accuracy and compensation effect of the control method for disturbance suppression. It can be seen from this curve that the compensation result of the control scheme for random disturbances has a small error and is feasible.

[0051] 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 this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0052] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A dual-actuator line-of-sight stabilization imaging method based on sum-difference mode cooperative control, characterized in that, include: S1: The first actuator controls the detector, and the second actuator controls the reflector. The light beam emitted by the target to be imaged is reflected by the reflector and enters the detector to form an image. S2: Calculate the sum modal variable and difference modal variable between the angular velocity information of the first actuator and the second actuator; S3: Perform inverse mode transformation on the two modal variables obtained in step S2 to obtain independent control commands that control the first actuator and the second actuator respectively; S4: The two independent control commands obtained in step S3 are processed by the data-driven control algorithm and then input into the first actuator and the second actuator respectively.

2. The dual-actuator line-of-sight stabilized imaging method with sum and difference modal cooperative control according to claim 1, characterized in that, In step S2, the sum modal variable is the sum of the two angular velocity information, and the difference modal variable is the difference between the two angular velocity information.

3. The dual-actuator line-of-sight stabilized imaging method with sum and difference modal cooperative control according to claim 1, characterized in that, In step S3, the inverse mode transformation is performed using the following formula: ； ； in, and These represent independent control commands for the first and second actuators, respectively. and These represent the sum modal variable and the difference modal variable, respectively.

4. The dual-actuator line-of-sight stabilized imaging method with sum and difference modal cooperative control according to claim 1, characterized in that, In step S4, the two independent control commands are processed separately using the following formula: ； ； Where u(k) represents the independent control command input at time k, and y d y(k) represents the desired independent control command at time k, y(k) represents the actual independent control command at time k, ρ represents the first step length factor, and λ represents the factor that limits the independent control command. c (k) represents the time-varying parameter at time k. Let represent the estimated value of the time-varying parameter at time k, η represent the second step size factor, and μ represent the weighting factor. .

5. A dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control, comprising: A detector used to image a target; A reflector is used to reflect a beam of light emitted from a target into the detector. The first actuator is used to control the movement of the detector; The second actuator is used to control the movement of the reflector; A displacement sensor is used to acquire the position information of the first actuator and the second actuator; A cooperative controller is used to receive information acquired by a displacement sensor and execute the dual-actuator line-of-sight stabilization imaging method of sum-difference mode cooperative control as described in any one of claims 1 to 4, controlling the first actuator and the second actuator.

6. The dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control according to claim 5, characterized in that, The first actuator includes a piezoelectric micro-scanning platform, and the second actuator includes a voice coil motor.

7. The dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control according to claim 5, characterized in that, A lens is also provided between the detector and the reflector in the transmission optical path. The light beam emitted by the target to be imaged is reflected by the reflector and enters the lens. After being converged by the lens, the light beam enters the detector.

8. The dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control according to claim 5, characterized in that, Also includes: An integrated platform for integrating a detector, a reflector, a first actuator, and a second actuator; The image processor is used to process the image information acquired by the detector to obtain line-of-sight stabilization error information; Inertial sensors are used to collect angular velocity disturbance information of the integrated platform.

9. The dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control according to claim 5, characterized in that, The collaborative controller includes: The modal variable output module calculates the sum and difference modal variables between the angular velocity information of the first actuator and the second actuator; The inverse mode transformation module is used to perform inverse mode transformation on two modal variables to obtain independent control commands that control the first actuator and the second actuator respectively; The control command output module processes two independent control commands based on a data-driven control algorithm and then inputs the two processed commands into the first and second actuators respectively.

10. The dual-actuator line-of-sight stabilized imaging system with sum and difference modal cooperative control according to claim 9, characterized in that, When the displacement sensor detects that the displacement of the second actuator has reached the physical stroke limit, the co-controller outputs an independent control command to the first actuator, causing the first actuator to move in the opposite direction in a stepped manner, so that the equivalent working point of the second actuator returns to the stroke center region.

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