CN103309363B - A kind of bidirection control method revolved for scanning imaging system elimination picture - Google Patents
A kind of bidirection control method revolved for scanning imaging system elimination picture Download PDFInfo
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- CN103309363B CN103309363B CN201310254033.4A CN201310254033A CN103309363B CN 103309363 B CN103309363 B CN 103309363B CN 201310254033 A CN201310254033 A CN 201310254033A CN 103309363 B CN103309363 B CN 103309363B
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Abstract
Eliminate a method of servo-controlling for picture rotation for scanning imaging system, relate to technical field of imaging.Solve existing employing mechanical linkage, or motor servo is eliminated as revolving in conjunction with the method for mechanical linkage, cause transmission accuracy low, or adopt motor servo to drive, but there is the problem being difficult to the strict cooperative motion realizing scanning mirror and racemization mechanism simultaneously, single motor command tracking control unit receives scanning mirror rotation command, controls respectively to the rotation of scanning mirror servomotor and racemization mechanism servomotor; Moment estimator respectively estimate sheet motor command tracking control unit acts on the equivalent driving moment that motor shaft fastens, for four-way reversible controller provides moment information.Described four-way reversible controller is electric-linked by both the position/force square Hybrid mode realizations between scanning mirror servomotor and this two covers servo-drive system of racemization mechanism servomotor.Invention increases the cooperative motion performance between scanning mirror and racemization mechanism in motor servo racemization system.
Description
Technical field
The present invention relates to a kind of motion control method eliminated scanning imaging system picture and rotate, belong to technical field of imaging.
Background technology
In imaging systems, the visual field of optical lens limits areas imaging.The mode of transversal scanning is adopted to be the effective way being expanded into picture system ovelay range.For reducing the moment of inertia of scanning mechanism, before camera lens, usually installing 45 ° of scanning mirrors additional, being rotated by gated sweep mirror and realizing transversal scanning.But scanning mirror rotation can cause the image of object scene to produce in picture plane to rotate.For ensureing the image integrity of scanning imagery, high precision must be designed and disappear as revolving system.
Revolve for eliminating picture, the normal racemization prism that adopts coordinates with 45 ° of scanning mirrors, makes the corner of racemization prism remain the half of 45 ° of scanning mirror corners; Another kind method does not use racemization prism and directly rotates the image-forming assemblies such as CCD or CMOS, makes the Angle Position of image-forming assembly synchronous with angular velocity and scanning mirror scanning motion thus eliminate picture to revolve.At present, realize racemization prism or image-forming assembly and 45 ° of scanning mirror cooperative motion many employings mechanical linkages, or motor servo is in conjunction with the method for mechanical linkage.Mechanical linkage method utilizes gear, friction pulley, sheave to add rope driven form, and racemization prism or image-forming assembly are rotated with 45 ° of scanning mirrors.But this method causes the axle system size of camera comparatively large, and practical application has significant limitation.Further, also there is the problems such as backlash, skidding, slack rope in link gear, transmission accuracy is difficult to be protected, and needs often to safeguard.
Motor servo method is driven with motor servo system respectively 45 ° of scanning mirrors, racemization prism or image-forming assembly, when scanning mirror rotates, identical rotation command is multiplied by certain proportion and sends to racemization prism or image-forming assembly servo-drive system.The outstanding advantages of this method is that Machine Design is simple, and not needing increases mechanical axis system, and volume is little, lightweight, is particularly suitable for Aviation maintenance etc. to the exigent occasion of volume weight.But incomplete same due to its moment of inertia of different servo-drive systems, the moment of friction be subject to and external disturbance, be difficult to the strict cooperative motion realizing scanning mirror and racemization mechanism.Therefore, between motor servo system, still add link gear in actual applications to improve the precision of synergic rotation between scanning mirror and racemization mechanism, thus the advantage of motor servo racemization method cannot be given full play to.
Summary of the invention
The present invention is for solving existing employing mechanical linkage, or motor servo is eliminated as revolving in conjunction with the method for mechanical linkage, cause transmission accuracy low, or adopt motor servo to drive, but there is the problem being difficult to the strict cooperative motion realizing scanning mirror and racemization mechanism simultaneously, a kind of bidirection control method revolved for scanning imaging system elimination picture is provided.
A kind of bidirection control method revolved for scanning imaging system elimination picture, comprise single motor command tracking control unit A, single motor command tracking control unit B, two equivalent moment estimators and four-way reversible controller, described single motor command tracking control unit A and single motor command tracking control unit B is respectively used to scanning mirror servomotor and racemization mechanism servomotor to the tracking of instruction; Described equivalent moment estimator provides moment information for the calculating of four-way reversible controller; Described four-way reversible controller is for coordinating the rotation of scanning mirror servomotor and racemization mechanism servomotor; Concrete grammar is:
Step one, according to scanning mirror rotation command, obtain the angle position information θ of scanning mirror servomotor respectively
1and angular velocity information
and the angle position information θ of racemization mechanism servomotor
2, angular velocity information
then poor with the angle position information of scanning mirror servomotor after the angle position information of racemization mechanism servomotor being multiplied by scale-up factor a, obtain position difference a θ
2-θ
1; It is poor with the angle position information of racemization mechanism servomotor to be multiplied by by scanning mirror servomotor angle position information after scale-up factor 1/a, obtains position difference θ
1/ a-θ
2; By the angle of the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor speed information computing velocity information gap
with
Step 2, single motor command tracking control unit A, according to the difference of the angle position information of scanning mirror rotation command and scanning mirror servomotor, obtain the instruction trace controlled quentity controlled variable u of scanning mirror servomotor
c1; Single motor command tracking control unit B, according to described scanning mirror rotation command and the difference of angle position information of racemization mechanism servomotor being multiplied by scale-up factor a, obtains the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
c2;
The equivalent moment estimated value of step 3, calculating scanning mirror servomotor and racemization mechanism servomotor;
Detailed process is: the angle position information θ of scanning mirror servomotor step one obtained
1after the transport function of the standard electromotor inversion model in equivalent moment estimator and low-pass filter product, with the double-direction control amount u of a upper cycle through the scanning mirror servomotor of low-pass filter
b1subtract each other the output valve of difference as the equivalent moment estimator on scanning mirror servomotor of gained; According to the angle position information θ of the racemization mechanism servomotor that step one obtains
2after the transport function of the standard electromotor inversion model in equivalent moment estimator and low-pass filter product, with the double-direction control amount u of a upper cycle through the racemization mechanism servomotor of low-pass filter
b2subtract each other the output valve of difference as the equivalent moment estimator on racemization mechanism servomotor of gained;
Step 4, the position difference a θ that step one is obtained
2-θ
1and θ
1/ a-θ
2the equivalent moment estimated value of the scanning mirror servomotor obtained with step 3 and racemization mechanism servomotor recalculates the double-direction control amount u of scanning mirror servomotor
b1with the double-direction control amount u of racemization mechanism servomotor
b2;
Step 5, the instruction trace controlled quentity controlled variable u of scanning mirror servomotor that step 2 is obtained
c1with the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
c2the double-direction control amount u of the scanning mirror servomotor obtained with step 4 respectively
b1with the double-direction control amount u of racemization mechanism servomotor
b2superposition, the output valve after superposition acts on corresponding motor.
Beneficial effect of the present invention:
One, the present invention's assisting without the need to mechanical linkage which controls, realizes cooperative motion strict between the completely isolated scanning mirror servo-drive system of mechanical drive and racemization mechanism servo-drive system.The volume of scanning imaging system, weight can not only be reduced, can also effectively avoid problem in mechanical linkage method, the problem includes: the problem such as backlash, skidding, flexible drive element be lax, effectively improve the maintainability of whole scanning imaging system.
Two, the present invention adopts double-direction control thought, compares existing method of scanning mirror and racemization servo-drive system being carried out respectively to instruction trace control and have outstanding advantage in two cover motor servo system concertednesses.The present invention effectively can ensure to have different moment of inertia, is subject to differentiated friction moment, the harmony of the scanning mirror of external disturbance impact and the servo-drive system motion of racemization mechanism, improves the precision eliminated picture and revolve.
Accompanying drawing explanation
Fig. 1 is a kind of algorithm principle figure eliminating the bidirection control method that picture revolves for scanning imaging system of the present invention;
Fig. 2 of the present inventionly a kind ofly eliminates equivalent force moments estimation theory diagram in the bidirection control method that revolves of picture for scanning imaging system;
Fig. 3 is a kind of hardware configuration schematic diagram eliminating the bidirection control method that picture revolves for scanning imaging system of the present invention;
Fig. 4 is a kind of workflow diagram eliminating the software of the bidirection control method that picture revolves for scanning imaging system of the present invention.
Embodiment
Embodiment one, composition graphs 1 to Fig. 4 illustrate present embodiment, being driven by a set of motor servo system for 45 ° of scanning mirrors of scanning imaging system elimination as the imaging system in the bidirection control method revolved described in present embodiment, is called scanning mirror servomotor; Racemization prism or image-forming assembly are driven by another set of motor servo system, are called racemization mechanism servomotor; There is not mechanical connection between the two, by four-way reversible controller, namely a kind of double-direction control algorithm realization two overlaps the cooperative motion of servo-drive system.
Specifically comprise: the positioner in two single motor command tracking control units, two equivalent moment estimators and four-way reversible controllers; The single motor command tracking control unit A acting on scanning mirror servomotor receives scanning mirror rotation command, controls Angle Position that 45 ° of scanning mirrors plan according to instruction or angular velocity rotation; The single motor command tracking control unit B acted on racemization mechanism servomotor receives identical scanning mirror rotation command, controls racemization mechanism servomotor according to rotation proportional with scanning mirror rotation command.
Two equivalent moment estimators, respectively for scanning mirror servomotor and the servomotor design of racemization mechanism, realize the estimation of the equivalent moment to driving two electric machine rotations, respectively for four-way reversible controller provides moment information.Two cover motor servo systems connect as a whole by four-way reversible controller on a control level, make the rotational angle of the two, angular velocity completely the same, or in certain proportion; Thus make the image-forming assembly of mechanical interlock or the motion of racemization prism between scanning mirror meet the requirement disappeared as revolving.
Described four-way reversible controller comprises: send the position passage arriving racemization mechanism servomotor from scanning mirror servomotor; The moment passage of the servomotor arriving racemization mechanism is sent from the equivalent moment estimator scanning mirror servomotor; The position passage arriving scanning mirror servomotor is sent from racemization mechanism servomotor; The moment passage arriving scanning mirror servomotor is sent from the equivalent moment estimator racemization mechanism; And the positioner under four-way reversible controller.
Composition graphs 1 illustrates present embodiment, the equivalent moment of inertia of described scanning mirror servomotor and damping parameter J
1, B
1with equivalent moment of inertia and the damping parameter J of racemization mechanism servomotor
2, B
2between can there is difference.Single motor command tracking control unit A and single motor command tracking control unit B is the location/velocity tracking control unit overlapping independently Servo System Design respectively for two, realization be that scanning mirror servomotor and racemization mechanism servomotor are to the tracking of certain desired motion instruction (scanning mirror rotation command).Two single motor command tracking control units adopt lead-lag network to correct, and obtain the instruction trace controlled quentity controlled variable u of two motors
c1and u
c2.If the scanning mirror rotation command of imaging system is r, the corner of two motors is respectively θ
1and θ
2, then single motor command tracking control unit of two motors calculates controlled quentity controlled variable u
c1and u
c2process be respectively: u
c1=(r-θ
1) (τ
11s+1) (τ
21s+1)/[(T
11s+1) (T
21] and u s+1)
c2=(r-a θ
2) (τ
12s+1) (τ
22s+1)/[(T
12s+1) (T
22s+1)], wherein s is Laplace operator, T
11> τ
11> τ
21>T
21for the lead-lag network parameter of scanning mirror servo-drive system, T
12> τ
12> τ
22>T
22for the lead-lag network parameter of racemization mechanism servo-drive system.In Fig. 1, the positioner C in reversible controller
ps () is proportional plus derivative controller, for coordinating the rotation of scanning mirror servomotor and racemization mechanism motor; Equivalence interference d1 and d2 is respectively the equivalence interference acted on scanning mirror servomotor and racemization mechanism servomotor, and the factor comprising extraneous moment of friction suffered by motor, disturbing moment, motor realistic model unmatched models to that indicated in the drawings is disturbed in this equivalence.
Composition graphs 2 illustrates present embodiment, equivalent moment estimator be the control moment acted on motor (being produced by single motor controller) is overcome equivalence interference and parameter do not mate the moment of inertia and damping torque caused after surplus estimate.The moment estimator of two motors adopts identical parameter J and B, and what this group parameter described is a standard electromotor model.Therefore all there is actual equivalent inertia and damping and algorithm and adopt deviation delta J between parameter in two motors
1=J
1-J, Δ J
2=J
2-J, Δ B
1=B
1-B, Δ B
2=B
2-B.Wherein, low-pass filter is g
2/ (s
2+ 2gs+g
2), parameter g is larger, and then cutoff frequency is higher.At lower frequency region, low-pass filter can be considered that gain is the proportional component of 1.Then the output of two equivalent moment estimators is respectively:
With
Described four-way reversible controller utilizes harmonious (a motion according to a certain percentage of both the angle position information of scanning mirror servomotor and racemization mechanism servomotor and moment information realization motion, a really normal root determines according to concrete racemization scheme, as racemization mechanism driven by servomotor is racemization prism, then a is 2; As racemization mechanism driven by servomotor is the image-forming assemblies such as CCD or CMOS, then a is 1).In four-way reversible controller, there are two position passages and two moment passages, be respectively angle position information that scanning mirror servomotor provides to racemization mechanism motor, moment information that angle position information that racemization mechanism servomotor provides to Scan Mirror Motor, scanning mirror servomotor provide to racemization mechanism servomotor and the moment information that racemization mechanism servomotor provides to scanning mirror servomotor.
There is positioner under four-way reversible controller, calculate corresponding position control amount according to scanning mirror servomotor to the difference of the Angle Position between racemization mechanism servomotor and angular velocity information.This controller adoption rate differential form, proportional gain and the differential gain are set to K respectively
pand K
d.Then under the effect of four-way double-direction control, the dynamics of scanning mirror servo-drive system and racemization mechanism servo-drive system is respectively:
Then under four-way double-direction control, the two ends, left and right of above-mentioned two kinetics equations are subtracted each other respectively and can be obtained:
Due to J, B, K
dand K
pbe positive number, then known under algorithm effect of the present invention by above-mentioned equation, the angular motion of scanning mirror servomotor and racemization mechanism servomotor meets: θ
1-a θ
2→ 0, then θ
1/ θ
2→ a.Therefore, the present invention is for having different moment of inertia, being subject to the scanning racemization imaging system of the external disturbances such as differentiated friction moment, the strict coordinated movement of various economic factors pro rata of the corner of scanning servo motor and racemization servomotor can be made, under the prerequisite not increasing additional machinery gear train, realized the high precision interlock of the two by the mode of electricity.By regulating the positioner gain under four-way double-direction control, the adjustment to the two interlock precision, speed of convergence can be realized.
Fig. 3 is hardware structure diagram; The background of hardware that algorithm runs is scanning racemization system.Light beam is turned back through 45 ° of scanning mirrors, enters optical frames group; Described 45 ° of scanning mirrors, by the scanning mirror driven by servomotor of annular, are fastened at scanning mirror servo motor shaft and are provided with angular rate gyroscope and photoelectric encoder.For dwindling into picture system dimension, light path also can be used to turn back mirror to light path of turning back.Arrange that racemization prism in the optical path or image-forming assembly rotate by racemization mechanism driven by servomotor, realize eliminating picture and revolve.The axle of racemization mechanism servomotor is fastened and is also provided with angular rate gyroscope and photoelectric encoder.The implementation algorithm of present embodiment is core with DSP, utilizes DSP timer internal function that algorithm is run according to certain loop cycle.Utilize external interface photoelectric encoder and the angular rate gyroscope of DSP.Scanning servo motor and the racemization mechanism servomotor angular position of rotation relative to imaging device framework measured by the photoelectric encoder fastened by being arranged on motor shaft, obtains angle position information θ required in algorithm
1and θ
2; Utilize the high precision angular rate gyroscope be arranged on scanning mirror servomotor and racemization mechanism servomotor, measure the rotational angular velocity of two cover servo-drive systems
with
be supplied to the proportion differential positioner C in four-way reversible controller
p(s).DSP calculates the controlled quentity controlled variable that total drive motor rotates, and acts on motor with the form of PWM ripple through separate power amplification circuit, and make motor produce the driving moment needed for moving, drive motor rotates.By Laplace operator bilinear transformation s=(2z-1)/(T all in control algolithm
sz+1) mode conversion is discrete form, wherein T
sfor the sampling period.Discrete transfer function is rewritten as difference equation, then by the control algolithm of programming realization the present invention proposition in dsp.
Fig. 4 is the software flow pattern of the control method described in present embodiment; First obtain scanning mirror rotation command, read the measured value of photoelectric encoder and angular rate gyroscope, obtaining Angle Position, the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor, is variable assignments each in program; Then enter circulation, start algorithm routine: the output valve calculating single motor command tracking control unit A according to the angle position information of scanning mirror rotation command and scanning mirror servomotor; The controlled quentity controlled variable of single motor command tracking control unit B is calculated according to the angle position information of scanning mirror rotation command and racemization mechanism servomotor; According to the double-direction control amount u calculated in the scanning mirror servomotor measured and the Angle Position of racemization mechanism servomotor, a upper control cycle
b1, u
b2calculate the output valve of the equivalent moment estimator of scanning mirror servomotor and racemization mechanism servomotor; Utilize the readout calculating location information difference a θ of the photoelectric encoder of scanning mirror servomotor and racemization mechanism servomotor
2-θ
1and θ
1/ a-θ
2; Utilize scanning mirror and racemization mechanism angular rate gyroscope readout computing velocity information gap
with
new double-direction control amount u is calculated according to the description taken in conjunction Fig. 1 about four-way double-direction control algorithm
b1and u
b2; Next, the double-direction control amount of scanning mirror servomotor and racemization mechanism servomotor be added with respective single motor command tracking control unit output valve, the form being converted to PWM ripple exports to power amplification circuit from DSP; If Sustainable Control, from first step repetitive cycling, control if need stop, each variate-value kept or resets, exiting circulation.
The present invention, when not increasing mechanical transmission mechanism, realizes scanning mirror servomotor and racemization mechanism servomotor strictly rotates according to scanning mirror rotation command synergistically.This algorithm can be applicable to moment of inertia, moment of friction, external disturbance moment etc. between diverse scanning mirror servo-drive system and racemization mechanism servo-drive system.Algorithm of the present invention can realize based on dsp program.
Claims (6)
1. the bidirection control method revolved for scanning imaging system elimination picture, comprise single motor command tracking control unit A, single motor command tracking control unit B, two equivalent moment estimators and a four-way reversible controller, described single motor command tracking control unit A and single motor command tracking control unit B is respectively used to scanning mirror servomotor and racemization mechanism servomotor to the tracking of instruction; Described equivalent moment estimator provides moment information for the calculating of four-way reversible controller; Described four-way reversible controller is for coordinating the rotation of scanning mirror servomotor and racemization mechanism servomotor; It is characterized in that, concrete grammar is:
Step one, according to scanning mirror rotation command, obtain the angle position information θ of scanning mirror servomotor respectively
1and angular velocity information
and the angle position information θ of racemization mechanism servomotor
2, angular velocity information
then poor with the angle position information of scanning mirror servomotor after the angle position information of racemization mechanism servomotor being multiplied by scale-up factor a, obtain position difference a θ
2-θ
1; It is poor with the angle position information of racemization mechanism servomotor to be multiplied by by scanning mirror servomotor angle position information after scale-up factor 1/a, obtains position difference θ
1/ a-θ
2; By the angle of the angular velocity information of scanning mirror servomotor and racemization mechanism servomotor speed information computing velocity information gap
with
Step 2, single motor command tracking control unit A, according to the difference of the angle position information of scanning mirror rotation command and scanning mirror servomotor, obtain the instruction trace controlled quentity controlled variable u of scanning mirror servomotor
c1; Single motor command tracking control unit B, according to described scanning mirror rotation command and the difference of angle position information of racemization mechanism servomotor being multiplied by scale-up factor a, obtains the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
c2;
The equivalent moment estimated value of step 3, calculating scanning mirror servomotor and racemization mechanism servomotor;
Detailed process is: the angle position information θ of scanning mirror servomotor step one obtained
1after the transport function of the standard electromotor inversion model in equivalent moment estimator and low-pass filter product, with the double-direction control amount u of a upper cycle through the scanning mirror servomotor of low-pass filter
b1subtract each other the output valve of difference as the equivalent moment estimator on scanning mirror servomotor of gained; According to the angle position information θ of the racemization mechanism servomotor that step one obtains
2after the transport function of the standard electromotor inversion model in equivalent moment estimator and low-pass filter product, with the double-direction control amount u of a upper cycle through the racemization mechanism servomotor of low-pass filter
b2subtract each other the output valve of difference as the equivalent moment estimator on racemization mechanism servomotor of gained;
Step 4, the position difference a θ obtained according to step one
2-θ
1and θ
1/ a-θ
2, velocity information is poor
with
and the scanning mirror servomotor that obtains of step 3 and the equivalent moment estimated value of racemization mechanism servomotor recalculate the double-direction control amount u of scanning mirror servomotor
b1with the double-direction control amount u of racemization mechanism servomotor
b2;
Step 5, the instruction trace controlled quentity controlled variable u of scanning mirror servomotor that step 2 is obtained
c1with the instruction trace controlled quentity controlled variable u of racemization mechanism servomotor
c2the double-direction control amount u of the scanning mirror servomotor obtained with step 4 respectively
b1with the double-direction control amount u of racemization mechanism servomotor
b2superposition, the output valve after superposition acts on corresponding motor.
2. a kind of bidirection control method revolved for scanning imaging system elimination picture according to claim 1, is characterized in that, the double-direction control amount u of described scanning mirror servomotor
b1with the double-direction control amount u of racemization mechanism servomotor
b2computation process be: the position difference a θ that step one is obtained
2-θ
1poor with velocity information
a positioner in four-way reversible controller calculates controlled quentity controlled variable, and described controlled quentity controlled variable is added with the equivalent moment estimator output valve on the racemization mechanism servomotor being multiplied by scale-up factor a again; Obtain the double-direction control amount u of scanning mirror servomotor
b1; The double-direction control amount u of described racemization mechanism servomotor
b2acquisition process be: the position difference θ that step one is obtained
1/ a-θ
2poor with velocity information
another location controller in four-way reversible controller calculates controlled quentity controlled variable, and described controlled quentity controlled variable is added with the equivalent moment estimator output valve on the scanning mirror servomotor being multiplied by scale-up factor 1/a again, obtains the double-direction control amount u of racemization mechanism servomotor
b2.
3. a kind of bidirection control method revolved for scanning imaging system elimination picture according to claim 1, is characterized in that, when the upper cycle described in step 3 is first performance period, through the double-direction control amount u of the scanning mirror servomotor of low-pass filter
b1, with the double-direction control amount u of the racemization mechanism servomotor through low-pass filter
b2value be initial value.
4. eliminate the bidirection control method that picture revolves according to claim 1, it is characterized in that: described single motor command tracking control unit A and single motor command tracking control unit B adopts lead and lag correction network.
5. eliminate the bidirection control method that picture revolves according to claim 1, it is characterized in that: the positioner under described four-way reversible controller is proportion-plus-derivative control.
6. eliminate the bidirection control method that picture revolves according to claim 1, it is characterized in that: the equivalent moment estimator on described scanning mirror servomotor is identical with the structure of the equivalent moment estimator on racemization mechanism servomotor, and in described equivalent moment estimator, accepted standard motor inversion model is Js
2+ Bs, wherein J is standard electromotor equivalent inertia, B is standard electromotor equivalent damping, and s is Laplace operator; Described low-pass filter is g
2/ (s
2+ 2gs+g
2), g is the parameter of adjustment low pass filter cutoff frequency.
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| CN104049646B (en) * | 2014-06-11 | 2017-02-01 | 中国科学院长春光学精密机械与物理研究所 | Multi-directional control method for eliminating image rotation of multi-detector infusing scan imaging system |
| CN104216086B (en) * | 2014-08-18 | 2016-09-21 | 北京空间机电研究所 | The racemization system of a kind of aviation optical remote sensor and racemization method |
| CN107643525A (en) * | 2017-08-24 | 2018-01-30 | 南京理工大学 | Linear array laser radar based on 45 ° of tilting mirrors is circumferential without as revolving imaging system |
| CN109597437B (en) * | 2018-12-06 | 2020-07-21 | 中国科学院长春光学精密机械与物理研究所 | Haptic interaction control method and device based on speed sensor and differentiator force |
| CN109857162B (en) * | 2018-12-06 | 2020-07-24 | 中国科学院长春光学精密机械与物理研究所 | Force and touch interaction control method and device |
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| CN1426022A (en) * | 2002-12-31 | 2003-06-25 | 中国科学院上海技术物理研究所 | Method for eliminating image rotation caused by 45 degree scanning lens |
| CN103017903A (en) * | 2012-12-09 | 2013-04-03 | 中国科学院光电技术研究所 | Optical despinning and slit scanning integrated device based on solar telescope grating spectrometer |
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| JP3290698B2 (en) * | 1992-05-20 | 2002-06-10 | 中野 栄二 | Speed control bilateral servo control method and device |
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| CN1426022A (en) * | 2002-12-31 | 2003-06-25 | 中国科学院上海技术物理研究所 | Method for eliminating image rotation caused by 45 degree scanning lens |
| CN103017903A (en) * | 2012-12-09 | 2013-04-03 | 中国科学院光电技术研究所 | Optical despinning and slit scanning integrated device based on solar telescope grating spectrometer |
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