基于多边控制的动基座成像系统物像运动补偿问题

The imaging systems with moving foundation support have important strategic significance, which is studied as a central issue in the world. There are the problems of image motion and rotation in this kind of systems. These issues seriously degrade the quality of imaging. Traditional researches on the image motion and rotation are relatively independent and without generalization. Besides, common compensation methods control each motion actuator independently. The requirement of high coordination among several actuators is hard to achieve. The compensation effects, therefore, is limited in practice. This research considers the two types of image moving as an identical problem,and starts the investigation from the aspect of control.Based on the idea of multilateral control, all the actuators are considered as a whole. Novel multilateral control is proposed facing to the compensation of image moving. The quality of optical imaging is improved from the aspect of control. In the dimension of acceleration, the dynamics of all the actuators is unified, which have different inertia, sizes and disturbances. From this point of breakthrough, traditional multilateral control is transferred into several general feedback structures. Then,the systematical design can be developed combining the robust control theory. On evaluation of the performance, residual error of the motion control is transferred into the influence on imaging quality. The evaluating indicator of optical imaging, modulation transfer function, is employed to realize direct evaluation and verification of the control system, which provides direct foundation for optimizing the controller.

动基座成像系统具有重要的战略意义，是国内外研究的热点。这类成像系统中存在像移和像旋转的问题，严重影响成像质量。传统研究中对像移、像旋的解决途径相对独立，通用性较低；并且现有的对各执行器分别控制的补偿方法，难以达到多执行器高度协调运动的要求，补偿效果有限。本课题将像的两种运动形式归结为同一类物像运动问题，以运动控制为突破点展开研究。基于遥操作领域的多边控制思想，将多个执行器从整体上进行考虑，面向物像运动补偿问题提出新的多边控制策略，从控制的角度提高光学成像的质量。研究在加速度层面上实现对具有不同惯量、尺寸、受不同扰动作用的各执行器动力学特性的统一，以此为契机将传统多边控制的复杂结构转化为一般反馈结构，结合鲁棒控制理论研究系统化的控制器设计方法。在性能的度量方面将运动控制残差转换为对成像质量的影响，采用光学成像指标--调制传递函数对控制系统进行直接的衡量和检验，为控制器的优化提供直接依据。

动基座成像系统广泛应用于军事侦察、资源遥感等领域，是国内外研究的热点。这类成像系统中存在像移和像旋转的问题，严重影响成像质量。本项目在对单一光学执行器的控制方法进行改良和优化的基础上，将遥操作领域的多边控制思想拓展到光电成像领域的物像运动补偿问题上，提出了多个执行器共同协调控制实现高精度运动补偿成像的多边控制方法。基于在加速度层面上的设计理念，结合基于H无穷控制思想的设计技术，项目组提出了较为系统化的成像系统物像运动补偿多边控制器的具体设计。实现了成像系统内部具有不同惯量、尺寸、受到不同扰动作用的各个光学执行器的协同运动。特别是在双电机同步扫描消旋应用中，基于本方法设计的控制器实现了0.002度的消旋精度，比传统方法提升一个数量级。此外，项目组还进行了运动对成像质量影响的定量评估，建立了运动造成成像质量下降的光学传递函数模型，为此类成像系统总体设计提供了可量化的设计约束。项目资助下共发表相关论文16篇（含待刊出论文2篇），出版专著1部，参加国际会议3次并作报告，组织国内学术研讨会1次，完成了预期研究目标。