Two-way control method for eliminating imaging rotation of scanning imaging system

Abstract

The invention discloses a two-way control method for eliminating imaging rotation of a scanning imaging system, relates to the technical field of imaging, and solves the problems that the existing imaging rotation elimination methods using mechanical linkage or combination of a servo motor and the mechanical linkage results in low transmission accuracy, or meanwhile strictly coordinated movement of a scanning mirror and a rotation eliminating mechanism is hard to achieve by adopting the servo motor to drive to eliminate the imaging rotation. The two-way control method includes steps of adopting a single motor command tracking controller to receive a rotation command of the scanning mirror, and controlling rotation of a scanning mirror servo motor and a rotation eliminating mechanism servo motor respectively; adopting a torque estimator to estimate equivalent driving torques acted on a motor shafting by the single motor command tracking controller to provide torque information for a four-channel two-way controller. According to the arrangement, positions and torques between two servo systems of the scanning mirror servo motor and the rotation eliminating mechanism servo motor are mix-controlled to realize electrical linkages of the same. Besides, coordinated movement performance between the scanning mirror and the rotation eliminating mechanism in a servo motor rotation eliminating system is improved.

Description

Technical field [0001] The invention relates to a motion control method for eliminating image rotation of a scanning imaging system, and belongs to the field of imaging technology. Background technique [0002] In the imaging system, the field of view of the optical lens limits the imaging range. Using lateral scanning is an effective way to expand the coverage of the imaging system. In order to reduce the moment of inertia of the scanning mechanism, a 45° scanning mirror is usually installed in front of the lens, and horizontal scanning is realized by controlling the rotation of the scanning mirror. However, the rotation of the scanning mirror will cause the image of the target scene to rotate on the image plane. In order to ensure the image integrity of scanned imaging, a high-precision derotation system must be designed. [0003] In order to eliminate image rotation, a derotation prism is often used in conjunction with a 45° scanning mirror to keep the rotation angle of the d...

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the existing problem of using mechanical linkage, or motor servo combined with mechanical linkage to eliminate image rotation, resulting in low transmission accuracy, or adopting motor servo drive, but at the same time it is difficult to realize the strict coordinated movement of the scanning mirror and the derotation mechanism. , providing a bi-directional control method for image rotation elimination in scanning imaging systems

Images