A SAKF-Based Composed Control Method for Improving Low-Speed Performance and Stability Accuracy of Opto-Electric Servomechanism

Abstract

The opto-electric servomechanism (OES) plays an important role in obtaining clear and stable images from airborne infrared detectors. However, the inherent torque disturbance and the noisy speed signal cause a significant decline in the inertial stability accuracy and low-speed performances of OESs. Traditional linear control schemes cannot deal with the nonlinear torque disturbance well, and the speed obtained by the finite difference (FD) method cannot effectively balance the tradeoff between the noise filtering and phase delay. Therefore, this paper proposes a strap-down stability control scheme, in the combination of a proportional-integral(PI) controller and a state-augmented Kalman filter (SAKF), where the PI is used to regulate the linear part of the servomechanism, and with the SAKF performing torque disturbance observation and speed estimation simultaneously. The principle and the implementation of the controller are introduced, and the tuning guidelines for the controller parameters are presented as well. Finally, the experimental verifications based on OESs with three transmission types (i.e., the direct-driving, the harmonic-driving, and the rotate vector-driving(RV-driving) OESs) are carried out respectively. The experimental results show that the proposed control scheme can perform better speed observation and torque disturbance compensation for various types of OESs, thus effectively improving the low-speed performance and stability accuracy of the mechanism.

Analysis on current opto-electronic transmission research and its materials with new perspectives

“…Other extended branches of opto-electric transmission include detection, processing, encryption and automated system which also attract increasing interest from research labs and corporations. For instance, one article in 2019 proposed a strap-down stability control scheme for opto-electric systems that involved a proportional integral controller (PI) and a state augmented Kalman filter (SAKF) [5]. This scheme excelled in mending nonlinear torque disturbance and speed estimation, which led to enhanced low speed performance and inertial stability accuracy of opto-electric servo systems [5].…”

“…For instance, one article in 2019 proposed a strap-down stability control scheme for opto-electric systems that involved a proportional integral controller (PI) and a state augmented Kalman filter (SAKF) [5]. This scheme excelled in mending nonlinear torque disturbance and speed estimation, which led to enhanced low speed performance and inertial stability accuracy of opto-electric servo systems [5]. The proposed scheme is one effort to upgrade the sensing and imaging capability of Airborne detectors of optical frequency from visible to microwave range.…”

“…This paper aims to present a general review of current hindrances and recent advancements in the field of optoelectronics, followed by a prospective vision of a near-future research focus. The first section is an overview of modern opto-electric transmission technologies, with the development of new materials, structures and theories in broadcasting, communication, detection and measurement [1][2][3][4][5].…”

Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems

“…Finally, a control method based on a state-augmented Kalman filter is proposed in [22] to improve the low-speed performance and stability of opto-electric servomechanisms. This is a relevant issue to be solved for motion control based on opto-electric systems.…”

Research on Dynamic Modeling Measurement and Control of Cable Traction Devices for Electro-Optical Unmanned Systems

“…The cable is a key component for traction and bearing. Due to its small size, lightweight, simple structure, strong variable orientation, and high bearing capacity, it plays a crucial role in the fields of transportation and machinery manufacturing [6][7][8][9] . At present, domestic and foreign scholars have relatively little research on the cable traction system of unmanned cars under the non-electromagnetic remote control mode.…”