The invention discloses an airborne camera anti-shake control method and
system, and relates to the field of camera anti-shake control, and the method comprises the steps: building a hysteretic deformation
tensor field, generating a visual hysteretic residual
tensor through differential operation and lagging feature analysis, taking the visual hysteretic residual
tensor as observation input, and carrying out the state
estimation through a LuGre dynamic friction model. Calculating a micro
bristle deformation state and an equivalent
friction torque value of a blocking holder, performing visual compensation analysis based on the equivalent
friction torque value of the blocking holder, judging whether the
system is in a
static friction zero-crossing critical region or not based on a micro
bristle deformation estimated value, generating a reverse feed-forward compensation torque instruction according to the generalized all-source anti-interference torque, and determining whether the
system is in a
static friction zero-crossing critical region or not. The integral term of the controller is dynamically reset, vector synthesis is carried out on a reverse feed-forward compensation torque instruction and a basic instruction of a main
image stabilization control loop, final driving
voltage is generated and applied to a pan-tilt motor, and stepped picture lagging and
jumping caused by instant release of energy in a long-focus view field are restrained.