基于内模控制的CCD像机消旋控制器

Conceling image rotation control system of CCD camera based on internal model control

针对CCD(ChargeCoupledDevices)像机消旋控制系统中存在的不规则干扰力矩和模型不确定性等问题,利用经典的滞后 超前校正无法得到满意的控制结果,提出采用改进的内模控制方法(IMC:InternalModelCon trol)。该方法既含有被控对象模型本身的闭环反馈形式,又加入了直接针对模型误差及外界干扰的滤波反馈。分别针对系统含有增益误差和极点误差的情况进行了仿真,两种系统输入阶跃信号仿真的结果表明:对于存在增益误差的系统,采用改进的IMC,系统的上升时间减小了一半,峰值减小了3%;对存在极点误差的系统,改进的IMC能很好地消除采用经典控制方法时系统存在的严重震荡问题。改进的IMC设计简便,为类似的控制问题提供了简单实用的控制方法。

Improved IMC(Internal Model Control) is introduced in dealing with that existed in the CCD(Charge Coupled Devices) camera conceling Image rotation control system such as anomaly disturbance moment and model uncertainty, so that the application result of the classic delay-leading method is not satisfied. The method includes the closed loop of the controlled object, the filter feed back aiming at the model error and the outside disturbance. Emulations are made in the system with gain error and pole error. The result shows that when using unit step as input to the system with gain error, the improved IMC reduces the rising time by half, and cuts the peak value by 3%.When using unit step as input to the system with pole error,it diminishes the severe vibration compared with using the classic delay-leading method in the system. And the improved IMC is simple and new, and it is an applicable method to analogous control problems.