Optical axis stability control method and system based on linear acceleration feedforward compensation

Abstract

The embodiment of the invention provides an optical axis stability control method and system based on linear acceleration feed-forward compensation, and the method comprises the steps: introducing a feed-forward compensation path based on a linear acceleration measurement value into a disturbance path from online disturbance to angular disturbance; the feedforward compensation path executes the following steps: acquiring a linear acceleration signal measured by a linear accelerometer arranged on the optoelectronic equipment in real time; multiplying the linear acceleration signal by a preset feed-forward compensation coefficient to generate a feed-forward compensation torque instruction; and the feedforward compensation torque instruction and a feedback torque instruction output by a servo control system speed ring controller are superposed to form a composite torque instruction, and a motor is driven to suppress angular disturbance generated by coupling of external line vibration through an equipment mechanical structure. According to the technical scheme, on the premise that an existing mechanical structure and a main feedback control framework are not changed, disturbance is actively predicted and counteracted by introducing a feed-forward compensation path, and the optical axis stability precision of the photoelectric equipment in a main vibration frequency band is improved.

Description

Technical Field

[0001] This invention belongs to the field of optical axis stabilization control technology for optoelectronic equipment, and specifically relates to an optical axis stabilization control method and system based on linear acceleration feedforward compensation. Background Technology

[0002] For airborne two-axis, two-frame optoelectronic equipment, most disturbances are linear disturbances generated by the aircraft engine, transmitted through the optoelectronic equipment via dampers, azimuth axis system, and pitch axis system to the pitch packet of the optoelectronic equipment, and then angular disturbances coupled eccentrically. The final stabilization effect is achieved by suppressing angular disturbances using a closed-loop motor servo system. Optoelectronic equipment typically employs a combination of active and passive damping to improve the stability accuracy of the optical axis. The external disturbance suppression capability of servo control is usually considered as a high-pass filter, capable of blocking low frequencies and passing high frequencies. For high-frequency vibration isolation, passive damping, such as dampers, is often relied upon. Because dampers have the characteristic of amplifying low-frequency disturbances in the first mode, the jitter of the equipment's optical axis often has a large component in the low-frequency range (within 20Hz), leading to insufficient stability accuracy.

[0003] Therefore, how to provide an optical axis stabilization control method and system based on linear acceleration feedforward compensation that can overcome the shortcomings of existing servo feedback control in suppressing low-frequency angular disturbances caused by linear vibration coupling, and improve the optical axis stabilization accuracy of optoelectronic devices in the main vibration frequency band by introducing a feedforward compensation path to actively predict and cancel disturbances without changing the existing mechanical structure and main feedback control architecture has become an urgent technical problem to be solved. Summary of the Invention

[0004] This invention provides an optical axis stabilization control method and system based on linear acceleration feedforward compensation, which can overcome the shortcomings of existing servo feedback control in suppressing low-frequency angular disturbances caused by linear vibration coupling. Without changing the existing mechanical structure and main feedback control architecture, it actively predicts and cancels disturbances by introducing a feedforward compensation path, thereby improving the optical axis stabilization accuracy of optoelectronic devices in the main vibration frequency band.

[0005] In this embodiment of the invention, an optical axis stabilization control method based on linear acceleration feedforward compensation is provided, comprising: introducing a feedforward compensation path based on linear acceleration measurements into the disturbance path from linear disturbance to angular disturbance; the feedforward compensation path performs the following steps:

[0006] S101. Acquire the linear acceleration signal measured in real time by the linear accelerometer installed on the photoelectric device;

[0007] S102. Multiply the linear acceleration signal by a preset feedforward compensation coefficient to generate a feedforward compensation torque command;

[0008] S103. The feedforward compensation torque command is superimposed with the feedback torque command output by the speed loop controller of the servo control system to form a composite torque command, which is used to drive the motor to suppress the angular disturbance caused by external linear vibration coupled through the mechanical structure of the equipment.

[0009] Furthermore, the feedforward compensation coefficient is determined through the following steps:

[0010] Under actual vibration excitation conditions, the linear acceleration signal measured by the linear accelerometer and the angular velocity signal measured by the gyroscope are acquired synchronously.

[0011] A frequency sweep test was performed on the servo closed-loop system of the optoelectronic device to identify its disturbance rejection ratio transfer function.

[0012] Based on the linear acceleration signal, angular velocity signal, and disturbance suppression ratio transfer function, the angular velocity disturbance actually acting on the optical axis is calculated, and the open-loop transfer function from linear acceleration disturbance to angular velocity disturbance is identified.

[0013] The identified open-loop transfer function is fitted into an integral element model k / s within the effective frequency band, where the determined coefficient k is the feedforward compensation coefficient.

[0014] Furthermore, in S101, after acquiring the linear acceleration signal, it is also subjected to low-pass filtering to suppress high-frequency measurement noise; the cutoff frequency of the low-pass filter and the measurement delay of the linear accelerometer together define the effective frequency range of the feedforward compensation path.

[0015] Furthermore, the effective frequency range of the feedforward compensation path is limited to a frequency band in which the phase lag of the integrated transfer function formed by the low-pass filter and the measurement delay does not exceed 60 degrees.

[0016] Furthermore, the feedforward compensation coefficient is set to be less than the coefficient value determined according to the ideal model or perfect fit.

[0017] In one embodiment of the present invention, an optical axis stabilization control system based on linear acceleration feedforward compensation is provided. This system, based on any one of the preceding claims, is applied to optoelectronic devices and includes:

[0018] Linear acceleration measurement module, used to acquire the linear acceleration signal received by the optoelectronic device in real time;

[0019] The feedforward compensation calculation module is configured to: receive the linear acceleration signal, multiply it by a preset feedforward compensation coefficient, and output a feedforward compensation torque command;

[0020] The servo control module includes at least a speed loop controller and a current loop controller connected in series.

[0021] The instruction synthesis module is used to superimpose the feedforward compensation torque instruction with the feedback torque instruction output by the speed loop controller, and input the superimposed composite torque instruction to the current loop controller to control the actuator motor.

[0022] Furthermore, the system also includes a signal conditioning module connected between the linear acceleration measurement module and the feedforward compensation calculation module, used to perform low-pass filtering on the linear acceleration signal.

[0023] Furthermore, the system is integrated into the servo drive of the pitch axis and / or azimuth axis of the airborne two-axis, two-frame optoelectronic turret.

[0024] In another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that, when the program is executed by a processor, it implements the steps of the optical axis stabilization control method based on linear acceleration feedforward compensation as described in any of the above claims.

[0025] In another embodiment of the present invention, an optoelectronic stabilization platform is provided, including a carrier frame, a load platform, a motor servo mechanism connecting the carrier frame and the load platform, and an optical axis stabilization control system based on linear acceleration feedforward compensation as described in any of the above embodiments, for controlling the motor servo mechanism to isolate the influence of carrier vibration on the line of sight of the load platform.

[0026] The beneficial effects of this invention are as follows:

[0027] As can be seen from the above scheme, the embodiments of the present invention provide an optical axis stabilization control method and system based on linear acceleration feedforward compensation, including: introducing a feedforward compensation path based on linear acceleration measurement values ​​in the disturbance path from linear disturbance to angular disturbance; the feedforward compensation path performs the following steps: acquiring a linear acceleration signal measured in real time by a linear accelerometer installed on the optoelectronic device; multiplying the linear acceleration signal by a preset feedforward compensation coefficient to generate a feedforward compensation torque command; superimposing the feedforward compensation torque command with a feedback torque command output by the speed loop controller of the servo control system to form a composite torque command, which is used to drive the motor to suppress angular disturbances caused by external linear vibration coupled through the mechanical structure of the device. The technical solution of the present invention can overcome the shortcomings of existing servo feedback control in suppressing low-frequency angular disturbances caused by linear vibration coupling. Without changing the existing mechanical structure and main feedback control architecture, by introducing a feedforward compensation path, it actively predicts and cancels disturbances, improving the optical axis stabilization accuracy of the optoelectronic device in the main vibration frequency band. Attached Figure Description

[0028] Figure 1This is a block diagram of a feedforward compensation servo control architecture based on a linear accelerometer, provided in an embodiment of the present invention.

[0029] Figure 2 This is a schematic diagram of the frequency distribution of angular velocity disturbances measured by a gyroscope under aircraft vibration conditions.

[0030] Figure 3 This is a schematic diagram of the disturbance rejection ratio curve for a servo closed-loop system.

[0031] Figure 4 This is a schematic diagram of the frequency distribution of linear disturbances measured by a linear accelerometer under aircraft vibration conditions.

[0032] Figure 5 A schematic diagram comparing the transfer function from line disturbance to angular disturbance identified based on measured data with an ideal integral element;

[0033] Figure 6 Bode plot of the combined transfer function of the linear acceleration signal after low-pass filtering and delay (second-order 80Hz filter + 4ms delay);

[0034] Figure 7 Here is a block diagram of the feedforward compensation simulation architecture;

[0035] Figure 8 A comparison of the system disturbance suppression ratio curves under different feedforward compensation coefficients obtained from simulation;

[0036] Figure 9 The image shows a comparison of servo stability accuracy at different external vibration frequencies before and after adding feedforward compensation on the experimental equipment.

[0037] Figure 10 To determine the servo stability accuracy and spectrum before adding feedforward compensation under actual aircraft vibration conditions;

[0038] Figure 11 To determine the servo stability accuracy and spectrum after adding feedforward compensation under actual aircraft vibration conditions. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0040] To further improve the optical axis stability accuracy of optoelectronic equipment, relying solely on the low-frequency disturbance suppression capability of servo feedback control is insufficient. Therefore, based on feedback control, the transfer function from optical line disturbance to angular disturbance is identified through vibration experiments. Based on this transfer function and the linear acceleration measured in real time by the linear accelerometer, feedforward compensation is added to further improve the low-frequency disturbance suppression capability of the servo control system, thereby improving the overall stability accuracy of the equipment.

[0041] like Figures 1 to 11 As shown, Figure 1 This is a block diagram of a feedforward compensation servo control architecture based on a linear accelerometer, provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the frequency distribution of angular velocity disturbances measured by a gyroscope under aircraft vibration conditions. Figure 3 This is a schematic diagram of the disturbance rejection ratio curve for a servo closed-loop system. Figure 4 5 is a schematic diagram of the frequency distribution of linear disturbances measured by a linear accelerometer under aircraft vibration conditions; 6 is a schematic diagram comparing the transfer function from linear disturbance to angular disturbance identified based on measured data with the ideal integral element. Figure 6 Bode plot of the combined transfer function of the linear acceleration signal after low-pass filtering and delay (second-order 80Hz filter + 4ms delay); Figure 7 Here is a block diagram of the feedforward compensation simulation architecture; Figure 8 A comparison of the system disturbance suppression ratio curves under different feedforward compensation coefficients obtained from simulation; Figure 9 The image shows a comparison of servo stability accuracy at different external vibration frequencies before and after adding feedforward compensation on the experimental equipment. Figure 10 To determine the servo stability accuracy and spectrum before adding feedforward compensation under actual aircraft vibration conditions; Figure 11 To determine the servo stability accuracy and spectrum after adding feedforward compensation under actual aircraft vibration conditions.

[0042] Figure 1 A method for optical axis stabilization control based on linear acceleration feedforward compensation includes: introducing a feedforward compensation path based on linear acceleration measurements into the disturbance path from linear disturbance to angular disturbance; the feedforward compensation path performs the following steps:

[0043] S101. Acquire the linear acceleration signal measured in real time by the linear accelerometer installed on the photoelectric device;

[0044] S102. Multiply the linear acceleration signal by a preset feedforward compensation coefficient to generate a feedforward compensation torque command;

[0045] S103. The feedforward compensation torque command is superimposed with the feedback torque command output by the speed loop controller of the servo control system to form a composite torque command, which is used to drive the motor to suppress the angular disturbance caused by external linear vibration coupled through the mechanical structure of the equipment.

[0046] This invention presents an optical axis stabilization control method based on linear acceleration feedforward compensation. It studies a novel control architecture based on linear accelerometer-based angular spatial feedforward compensation, specifically addressing the situation where a two-axis, two-frame photoelectric turret device, under the influence of external linear disturbances, couples to angular disturbances via eccentric torque, thereby maximizing the optical axis stabilization accuracy of the device. This invention changes the "lag response" mode of traditional pure feedback control, achieving "synchronous cancellation" of specific disturbance sources through feedforward. Particularly for disturbances generated by a clear physical mechanism (eccentric coupling) and that are measurable (linear acceleration), feedforward control can fundamentally improve the system's disturbance suppression capability, especially in the frequency band where feedback control gain is low.

[0047] In one embodiment of the present invention, the feedforward compensation coefficient is determined through the following steps:

[0048] Under actual vibration excitation conditions, the linear acceleration signal measured by the linear accelerometer and the angular velocity signal measured by the gyroscope are acquired synchronously.

[0049] A frequency sweep test was performed on the servo closed-loop system of the optoelectronic device to identify its disturbance rejection ratio transfer function.

[0050] Based on the linear acceleration signal, angular velocity signal, and disturbance suppression ratio transfer function, the angular velocity disturbance actually acting on the optical axis is calculated, and the open-loop transfer function from linear acceleration disturbance to angular velocity disturbance is identified.

[0051] The identified open-loop transfer function is fitted into an integral element model k / s within the effective frequency band, where the determined coefficient k is the feedforward compensation coefficient.

[0052] In another embodiment of the present invention, in S101, after acquiring the linear acceleration signal, it is also subjected to low-pass filtering to suppress high-frequency measurement noise; the cutoff frequency of the low-pass filter and the measurement delay of the linear accelerometer together define the effective frequency range of the feedforward compensation path.

[0053] In another embodiment of the present invention, the effective frequency range of the feedforward compensation path is limited to a frequency band in which the phase lag of the integrated transfer function formed by the low-pass filter and the measurement delay does not exceed 60 degrees.

[0054] In another embodiment of the present invention, the feedforward compensation coefficient is set to be less than the coefficient value determined according to the ideal model or perfect fit.

[0055] like Figures 2 to 5As shown, a method for optical axis stabilization control based on linear acceleration feedforward compensation requires determining the transfer function from linear disturbance to angular disturbance. If the linear disturbance is transmitted only through eccentricity, assuming the eccentricity is l, the linear acceleration is a, the mass of the rotating body is m, and the moment of inertia is J, then the eccentric torque is mal, and the angular acceleration is mal / J. The disturbance angular velocity is... Let ml / J be a constant coefficient k. Therefore, the linear acceleration disturbance to the angular velocity disturbance is an integral element, i.e., k / s.

[0056] To test the transfer function from the upper corner disturbance to the linear disturbance on a real device, the frequency distribution L of the linear acceleration disturbance transmitted to the optical axis was measured using a linear accelerometer under actual aircraft vibration conditions. (s) The frequency distribution K of the angular velocity disturbance after servo closed-loop control is measured using a gyroscope sensor. (s) The disturbance rejection ratio curve S of the servo closed loop is obtained by frequency sweeping identification of the equipment. (s) Therefore, the angular velocity perturbation transmitted to the optical axis can be obtained. Obtain the transfer function from linear acceleration disturbance to angular velocity disturbance. Finally, the transfer function of the tested line-angle perturbation is plotted and compared with the transfer function of the integral element.

[0057] It can be seen that in the low-frequency range, the linear-angular transfer function can be equivalent to an integral element. However, in the high-frequency range, distortion occurs due to the limitation of the data sampling frequency. The data sampling period is 10ms. According to the sampling theorem, data distortion occurs above 50Hz. The results in the graph above show that the transfer function tested below 50Hz has the same slope as the integral element. Therefore, it can be considered that the linear acceleration disturbance to the angular velocity disturbance is an integral element, i.e., the conclusion of k / s is reasonable. Furthermore, the coefficient k can be identified by comparing the test results with the integral element. This k value is the feedforward compensation coefficient value.

[0058] Servo control feedforward compensation approach: If the linear acceleration value provided in real time by the accelerometer can be multiplied by a coefficient, the angular disturbance coupled by the eccentric torque can be obtained. Using this disturbance value as the current input can compensate for external angular disturbances in real time. This involves the issues of linear accelerometer delay and the accuracy of the linear acceleration signal due to noise. Because the signal-to-noise ratio of linear acceleration is poor, a low-pass filter is needed for signal filtering. Since the linear acceleration measurement itself has a delay, coupled with the phase lag of the low-pass filter, this feedforward compensation can only overcome disturbances within a certain range. According to the mathematical model of signal subtraction, when the measured signal lags behind the measured signal by 60°, the subtraction amplitude remains unchanged. Therefore, this compensation range is effective within the frequency range of the low-pass filter superimposed on the measurement delay, specifically within a 60° phase lag frequency. For example, if the linear accelerometer measurement delay is 4ms and the low-pass filter is a second-order 80Hz filter, its combined transfer function is... w = 80 * 2 * pi, Bird diagram Figure 6 As shown.

[0059] After the sensor signal is passed through a low-pass filter, the effective compensation frequency range is within 21.5Hz. This compensation range can cover the main vibration frequency range of the equipment.

[0060] Figure 7 In the feedforward compensation control architecture, a feedforward compensation architecture is added to the classic servo three-loop (current loop, speed loop, position loop) feedback control architecture. The feedforward compensation directly outputs the given current (torque), which is added to the given current of the speed loop, while the innermost current loop remains unchanged.

[0061] The technical solution of this invention assumes that external disturbances are all linear disturbances coupled to angular disturbances in angular space through eccentric torque. The linear accelerometer has a 4ms delay and an 80Hz second-order low-pass filter. A feedforward compensation coefficient of 1 indicates that the parameter is an optimal ideal value; a value of 0 indicates that no feedforward compensation is added. Figure 8 In this study, different feedforward coefficients were selected, assuming that it is impossible to adjust the feedforward coefficient to a perfect value in actual engineering debugging. Frequency sweep identification was performed on the entire system to obtain servo control disturbance suppression ratio curves under different feedforward coefficients. It can be seen that compared to before adding feedforward compensation, the low-frequency disturbance suppression capability is further improved after compensation. In actual engineering debugging, a feedforward coefficient less than 1 should be used as much as possible, i.e., the debugged value should be less than the perfect value. This minimizes the proportion of the feedforward compensation value in the current control quantity, which has the advantage of reducing the amplification of mid-to-high frequency disturbances.

[0062] Figures 9 to 11 middle, Figure 9 The image shows a comparison of servo stability accuracy at different external vibration frequencies before and after adding feedforward compensation on the experimental equipment. Figure 10 To determine the servo stability accuracy and spectrum before adding feedforward compensation under actual aircraft vibration conditions; Figure 11 To determine the servo stability accuracy and spectrum after adding feedforward compensation under actual aircraft vibration conditions.

[0063] The stability accuracy test results show that feedforward compensation improves stability accuracy by approximately 1.6 to 2.7 times between 1 Hz and 20 Hz. The ability to suppress vibrations is still present at 20 Hz, indicating that the linear accelerometer delay is less than 4 ms. After 30 Hz, due to sensor delay and low-pass filter phase lag, the stability accuracy decreases compared to before compensation. This experimental result is consistent with previous theoretical analysis. Under actual aircraft vibration conditions, the stability accuracy improved from 763 microarcs to 526 microarcs, representing an overall stability accuracy improvement of 31%.

[0064] In one embodiment of the present invention, an optical axis stabilization control system based on linear acceleration feedforward compensation is provided. This system, based on any one of the preceding claims, is applied to optoelectronic devices and includes:

[0065] Linear acceleration measurement module, used to acquire the linear acceleration signal received by the optoelectronic device in real time;

[0066] The feedforward compensation calculation module is configured to: receive the linear acceleration signal, multiply it by a preset feedforward compensation coefficient, and output a feedforward compensation torque command;

[0067] The servo control module includes at least a speed loop controller and a current loop controller connected in series.

[0068] The instruction synthesis module is used to superimpose the feedforward compensation torque instruction with the feedback torque instruction output by the speed loop controller, and input the superimposed composite torque instruction to the current loop controller to control the actuator motor.

[0069] In another embodiment of the present invention, the system further includes a signal conditioning module connected between the linear acceleration measurement module and the feedforward compensation calculation module, for performing low-pass filtering on the linear acceleration signal.

[0070] In another embodiment of the present invention, the system is integrated into the servo driver of the pitch axis and / or azimuth axis of an airborne two-axis, two-frame optoelectronic turret.

[0071] In another embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that, when the program is executed by a processor, it implements the steps of the optical axis stabilization control method based on linear acceleration feedforward compensation as described in any of the above claims.

[0072] In another embodiment of the present invention, an optoelectronic stabilization platform is provided, including a carrier frame, a load platform, a motor servo mechanism connecting the carrier frame and the load platform, and an optical axis stabilization control system based on linear acceleration feedforward compensation as described in any of the above embodiments, for controlling the motor servo mechanism to isolate the influence of carrier vibration on the line of sight of the load platform.

[0073] In this embodiment of the invention, a three-axis gyroscope with a linear accelerometer is used to enable the photoelectric turret equipment to have inertial stability and the ability to measure optical axis disturbances. Under the vibration conditions of the carrier aircraft, angular velocity and linear acceleration measured by the gyroscope and linear accelerometer are acquired. The transfer function from linear disturbance to angular disturbance is solved based on the disturbance suppression ratio curve of the servo closed loop. An integral element is used to fit this transfer function to obtain a suitable feedforward coefficient. Servo feedforward compensation is performed according to the control architecture. The effectiveness of the feedforward compensation is observed based on the imaging jitter and the gyroscope integral value. The linear acceleration value is measured by the linear accelerometer to obtain the real-time linear disturbance value. The linear disturbance value is multiplied by the feedforward coefficient to obtain the feedforward current setpoint. The feedforward coefficient is identified according to different controlled objects through the above operations. The calculated current setpoint is added to the current setpoint output by the velocity loop to obtain the final current control quantity, completing the feedforward + feedback composite control.

[0074] This invention provides a method and system for optical axis stabilization control based on linear acceleration feedforward compensation, comprising: introducing a feedforward compensation path based on linear acceleration measurements into a disturbance path from linear disturbance to angular disturbance; the feedforward compensation path performing the following steps: acquiring a linear acceleration signal measured in real time by a linear accelerometer installed on an optoelectronic device; multiplying the linear acceleration signal by a preset feedforward compensation coefficient to generate a feedforward compensation torque command; superimposing the feedforward compensation torque command with a feedback torque command output by the speed loop controller of the servo control system to form a composite torque command, used to drive the motor to suppress angular disturbances caused by external linear vibration coupled through the mechanical structure of the device.

[0075] The technical solution of this invention can overcome the shortcomings of existing servo feedback control in suppressing low-frequency angular disturbances caused by linear vibration coupling. Without changing the existing mechanical structure and main feedback control architecture, it can actively predict and cancel disturbances by introducing a feedforward compensation path, thereby improving the optical axis stability accuracy of optoelectronic devices in the main vibration frequency band.

[0076] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for optical axis stabilization control based on linear acceleration feedforward compensation, characterized in that, The method includes: introducing a feedforward compensation path based on linear acceleration measurements into the disturbance path from linear disturbance to angular disturbance; the feedforward compensation path performs the following steps: S101. Acquire the linear acceleration signal measured in real time by the linear accelerometer installed on the photoelectric device; S102. Multiply the linear acceleration signal by a preset feedforward compensation coefficient to generate a feedforward compensation torque command; S103. The feedforward compensation torque command is superimposed with the feedback torque command output by the speed loop controller of the servo control system to form a composite torque command, which is used to drive the motor to suppress the angular disturbance caused by external linear vibration coupled through the mechanical structure of the equipment.

2. The optical axis stabilization control method based on linear acceleration feedforward compensation according to claim 1, characterized in that, The feedforward compensation coefficient is determined through the following steps: Under actual vibration excitation conditions, the linear acceleration signal measured by the linear accelerometer and the angular velocity signal measured by the gyroscope are acquired synchronously. A frequency sweep test was performed on the servo closed-loop system of the optoelectronic device to identify its disturbance rejection ratio transfer function. Based on the linear acceleration signal, angular velocity signal, and disturbance suppression ratio transfer function, the angular velocity disturbance actually acting on the optical axis is calculated, and the open-loop transfer function from linear acceleration disturbance to angular velocity disturbance is identified. The identified open-loop transfer function is fitted into an integral element model k / s within the effective frequency band, where the determined coefficient k is the feedforward compensation coefficient.

3. The optical axis stabilization control method based on linear acceleration feedforward compensation according to claim 1, characterized in that, In S101, after acquiring the linear acceleration signal, it is also subjected to low-pass filtering to suppress high-frequency measurement noise; the cutoff frequency of the low-pass filter and the measurement delay of the linear accelerometer together define the effective frequency range of the feedforward compensation path.

4. The optical axis stabilization control method based on linear acceleration feedforward compensation according to claim 3, characterized in that, The effective frequency range of the feedforward compensation path is limited to a frequency band in which the phase lag of the integrated transfer function formed by the low-pass filter and the measurement delay does not exceed 60 degrees.

5. A method for optical axis stabilization control based on linear acceleration feedforward compensation according to claim 1 or 2, characterized in that, The feedforward compensation coefficient is set to be less than the coefficient value determined based on the ideal model or perfect fit.

6. A linear acceleration feedforward compensation-based optical axis stabilization control system, based on the linear acceleration feedforward compensation-based optical axis stabilization control as described in any one of claims 1 to 5, applied to optoelectronic equipment, characterized in that, The system includes: Linear acceleration measurement module, used to acquire the linear acceleration signal received by the optoelectronic device in real time; The feedforward compensation calculation module is configured to: receive the linear acceleration signal, multiply it by a preset feedforward compensation coefficient, and output a feedforward compensation torque command; The servo control module includes at least a speed loop controller and a current loop controller connected in series. The instruction synthesis module is used to superimpose the feedforward compensation torque instruction with the feedback torque instruction output by the speed loop controller, and input the superimposed composite torque instruction to the current loop controller to control the actuator motor.

7. The optical axis stabilization control system based on linear acceleration feedforward compensation according to claim 6, characterized in that, The system also includes a signal conditioning module connected between the linear acceleration measurement module and the feedforward compensation calculation module, which is used to perform low-pass filtering on the linear acceleration signal.

8. A linear acceleration feedforward compensation-based optical axis stabilization control system according to claim 6 or 7, characterized in that, The system is integrated into the servo drive of the pitch axis and / or azimuth axis of the airborne two-axis, two-frame optoelectronic turret.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the optical axis stabilization control method based on linear acceleration feedforward compensation as described in any one of claims 1 to 5.

10. A photoelectric stabilization platform, comprising a carrier frame, a load platform, and a motor servo mechanism connecting the carrier frame and the load platform, characterized in that, It also includes an optical axis stabilization control system based on linear acceleration feedforward compensation as described in any one of claims 6 to 8, used to control the motor servo mechanism to isolate the influence of carrier vibration on the line of sight of the load platform.

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