CN114660601B - Vibration suppression method and device applied to synthetic aperture imaging system - Google Patents
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Abstract
The invention discloses a vibration suppression method and device applied to a synthetic aperture imaging system. The invention introduces an inertial sensor to realize vibration suppression by combining a classical negative feedback and a disturbance feedforward method, combines the classical negative feedback, forms a disturbance feedforward-based compound control method, and further realizes vibration observation and compensation on the basis. A novel disturbance suppression mode of the synthetic aperture imaging system is formed. The method provides theoretical support for vibration suppression of the synthetic aperture imaging system, can obviously improve the suppression capability of the system to internal disturbance and external disturbance, and relieves the limitation of the delay of the image sensor and the number of sub apertures on the vibration suppression capability of the synthetic aperture imaging system. The vibration suppression method has obvious improvement on the vibration suppression capability of the synthetic aperture imaging system.
Description
Technical Field
The invention belongs to the technical field of synthetic aperture imaging and disturbance control intersection, and particularly relates to a vibration suppression method and device applied to a synthetic aperture imaging system.
Background
The synthetic aperture imaging system breaks through the limitation of the caliber of the single-aperture telescope on the resolution based on the coherent imaging principle, has the advantages of high resolution, flexible layout, small volume and the like, and is one of the main development directions of high-resolution imaging. With the progress of modern technology, synthetic aperture imaging systems are increasingly widely used, synthetic aperture imaging systems based on motion platforms are widely used, and environmental effects which the systems need to cope with are more complex and variable, such as equipment vibration, thermal drift, carrier vibration, wind vibration and the like. These internal and external perturbations seriously affect the imaging performance of synthetic aperture imaging systems and may even render the system incapable of coherent imaging. The optical axis stability control capability and the anti-interference capability of the synthetic aperture imaging system are required to be higher, and the vibration is detected and inhibited in real time, so that the system stability coherent imaging is a difficulty in system design.
At present, a classical negative feedback control strategy based on an image sensor is mostly adopted in a synthetic aperture imaging system, as shown in fig. 2, an image detector is utilized to detect vibration, and a classical negative feedback model is adopted to realize closed-loop control of vibration.
The output θ(s) of the closed loop system at this time can be expressed as:
wherein H(s) is the image processing module IPU105, C(s) is the controller 1001, P(s) is the quick mirror correction unit, R(s) is the target input signal, e -τs Indicating the time delay from the sampling time to the delivery of the off-target amount of the image sensor, τ indicating the time of the delay, ω d And(s) is a disturbance input.
The transfer function of the system is:
vibration suppression function S D (s) is:
analysis of equation (3) shows that the vibration suppression capability of the system is determined by the image processing module H(s), the controller C(s), the quick mirror correction unit P(s), and the system delay e -τs And (3) determining. System delay e -τs Phase decay may result in insufficient system phase margin such that an otherwise stable system becomes unstable under the influence of delay. It is generally necessary to reduce the gain of the controller C to maintain the stability of the system, so that the bandwidth of the system is limited to a narrow rangeIn the process, the vibration suppression capability of the system is seriously reduced, so that effective suppression of medium-high frequency disturbance is difficult to realize.
Therefore, the system delay can reduce the vibration suppression bandwidth of the system while destroying the stability of the system, influence the imaging effect of the system, and even can not perform coherent imaging when serious, which does not meet the design requirement of the system. Therefore, a method and implementation scheme capable of measuring and stably controlling high-frequency vibration in real time in a synthetic aperture imaging system are needed to be studied.
Disclosure of Invention
The invention mainly solves the following problems: the problem that the current synthetic aperture imaging system cannot stably image under the action of medium-high frequency vibration due to insufficient vibration suppression bandwidth of the current synthetic aperture imaging system is solved. And the disturbance feedforward-based compound control method is adopted, so that the anti-interference capability of the control system on the medium-high frequency vibration is remarkably improved. The method introduces an inertial sensor to realize vibration suppression by combining a classical negative feedback method and a disturbance feedforward method, combines the classical negative feedback method, forms a disturbance feedforward-based compound control method, and further realizes vibration observation and compensation on the basis. A novel disturbance suppression mode of the synthetic aperture imaging system is formed. The method provides theoretical support for vibration suppression of the synthetic aperture imaging system, can obviously improve the suppression capability of the system to internal disturbance and external disturbance, and relieves the limitation of the delay of the image sensor and the number of sub apertures on the vibration suppression capability of the synthetic aperture imaging system. The control method has the advantage that the vibration suppression capability of the synthetic aperture imaging system is remarkably improved.
The technical scheme adopted for solving the technical problems is as follows: a vibration suppression method and device applied to a synthetic aperture imaging system. The external vibration signals are decomposed to an X axis and a Y axis, the first gyroscope 100-A and the second gyroscope 100-B are used for measuring respectively, the measured vibration angular rate signals are input into a high-pass filter for processing, and the medium-high frequency vibration angular rate signals are obtained and used for feedforward compensation and control a fast reflector to carry out servo correction in combination with a classical negative feedback control structure. The method can be implementedThe method has the advantages that the medium-high frequency vibration of the synthetic aperture imaging system is effectively controlled, and the stability of the system is improved. The block diagram of the implementation is shown in fig. 3, in which: c(s) is a controller unit, P(s) is a quick-reflecting mirror correction unit, R(s) is a target input signal, G i (s) is an inertial measurement unit, G h (s) is a high pass filter, G f (s) is a disturbance feedforward controller, G d (s) is a disturbance transfer function, ω d And(s) is a disturbance input. The implementation diagram is shown in fig. 1.
A vibration suppression device for use in a synthetic aperture imaging system, comprising:
the hardware comprises two gyroscopes, a first gyroscope 100-A and a second gyroscope 100-B; a multi-aperture carrier stage 101, a fast mirror FSM102, a beam splitting prism 103; two image detectors, a first image detector 104-A, a second image detector 104-B; the image processing module IPU105, the integrated control unit ICU 106, the quick reflector driver 107 and the goniometer 108; wherein FSM102 can achieve two degrees of freedom deflection control of the beam in orthogonal relationship, defined as X-axis and Y-axis, respectively; the first gyroscope 100-A and the second gyroscope 100-B are arranged on the multi-aperture carrier platform 101 and fixedly connected with the platform, the first gyroscope 100-A and the second gyroscope 100-B are mutually and vertically arranged, and the sensitive directions are in an orthogonal relationship and are respectively the horizontal direction and the direction vertical to the platform; the beam splitting prism 103 is placed on the imaging light path, and splits the beam after the system beam combination into two beams, and images the two beams on the first image detector 104-A and the second image detector 104-B respectively; the first image detector 104-A is located at the focal plane of the system, one beam of light is imaged on the detector, referred to as an imaging detector, the second image detector 104-B is located at the out-of-focus plane, and the other beam of light enters the detector to form an out-of-focus image, referred to as a probe beam detector; the image processing module IPU105 collects images on the detector, performs image algorithm processing on the images, and transmits the results to the integrated control unit ICU 106; the integrated control unit ICU 106 converts the processed digital signal into an analog signal and outputs the analog signal to the fast mirror driver 107; the input of the fast mirror driver 107 is connected to the integrated control unit ICU 106 and the output is connected to the inputs of the fast mirror FSM102 and the goniometer 108.
The software module comprises a controller 1001, a high-pass filter 1002 and a disturbance feedforward controller 1003; wherein the input of the controller 1001 is off-target data p output by the image processing module IPU105 * The output is a driving voltage U of the fast mirror driver 107, which is input to the fast mirror driver 107 and outputs a position deflection signal θ b Driving FSM102 to rotate precisely; the high pass filter 1002 receives the raw vibration angular rate ω measured by the first gyroscope 100-a and the second gyroscope 100-B A 、ω B ，ω A Angular velocity, ω, corresponding to the X-axis direction of the fast mirror B Corresponding to the angular velocity of the fast reflector in the Y-axis direction, high-pass filtering and sending out high-frequency vibration angular velocity signal omega * A ,ω * B The method comprises the steps of carrying out a first treatment on the surface of the The disturbance feedforward controller 1003 receives the dither angular rate signal ω output by the high pass filter 1002 * A ,ω * B Calculating corresponding compensation U * The compensation amount U * I.e. to counteract the effects of vibrations on the synthetic aperture imaging system.
Each software module runs on the host computer 111.
The control process comprises the following steps: as shown in fig. 1 and 4, the first gyroscope 100-a and the second gyroscope 100-B receive an external vibration signal ω d Decomposing the vibration angular velocity signal into an X axis and a Y axis, processing the vibration angular velocity signal by a gyroscope, and outputting the original vibration angular velocity signal omega A 、ω B Transmitting to a high-pass filter 1002, filtering low-frequency noise, and obtaining vibration medium-high frequency angular rate information omega * A ,、ω * B The method comprises the steps of carrying out a first treatment on the surface of the Angular rate information omega * A ,、ω * B The transfer disturbance controller 1003 performs signal reconstruction to obtain a corresponding compensation amount U * For counteracting the effects of vibrations on the synthetic aperture imaging system. Meanwhile, the first image detector 104-A and the second image detector 104-B output image information of the target, and the image information is transmitted to the image processing module IPU105, and after image algorithm processing, the off-target amount is calculated and transmitted to the integrated control unit ICU 106; iAnd the CU receives the off-target information, and obtains a corresponding voltage value U through processing of the controller, and drives the fast mirror to deflect.
The specific implementation steps are as follows:
(1) A composite control system for establishing synthetic aperture imaging, the system having two inputs-a target signal R(s) and an external vibration signal omega d (s) the external vibration signals are decomposed into an X axis and a Y axis, and are measured by the first gyroscope 100-A and the second gyroscope 100-B respectively, the measured vibration angular rate signals are input into a high-pass filter for processing, and medium-high frequency vibration angular rate signals are obtained and used for feedforward compensation, and the classical negative feedback control structure is combined to control the fast reflector FSM102 to perform servo correction and output a position signal theta(s) of a light beam.
The position θ(s) of the output beam can be expressed as:
wherein H(s) is the image processing module IPU105, C(s) is the controller 1001, P(s) is the quick mirror correction unit, R(s) is the target input signal, G i (s) is an inertial measurement unit, G h (s) is a high pass filter 1002, G f (s) disturbance feedforward controllers 1003, G d (s) is a disturbance transfer function, ω d And(s) is a disturbance input.
(2) Controller 1001 designed to run on host computer 111
Testing the frequency response characteristics of the corresponding quick reflectors of each sub-aperture system, wherein the frequency response characteristics comprise an X-axis (consistent with the sensitive direction of the first gyroscope 100-A) and a Y-axis (consistent with the sensitive direction of the second gyroscope 100-B); the test frequency response characteristic refers to an excitation signal a with a certain frequency emitted by a goniometer * And the position of the fast mirror is deflected by a given signal theta b When the frequency response data are respectively used as two paths of input of the goniometer, the frequency response data and the curve of the quick reflector system are obtained by the goniometer. The approximate frequency response characteristics are then obtained using a curve fitting tool and the controller parameters are designed accordingly.
The design controller C1001 is:
wherein a is i (i=1, 2, …, n) and b j (j=1, 2, …, m, m.ltoreq.n) is a controlled object transfer function coefficient related to the fast-reflection image frequency response characteristic, s is a laplace operator; the input of the controller is a light spot position signal p output by the image detector * (namely, off-target amount information), and after being regulated by C(s), outputting a corresponding voltage signal U to the FSM (102) for deflection control.
(3) Designing a high pass filter 1002G running on the host computer 111 h
Establishing a general model of gyroscope noise:
ω(t)＝ω * (t)+ω L (t)+e(t)+b(T)+N(t) (3)
wherein ω (t) is the angular rate of the gyroscope output, ω * (t) is the middle-high frequency angular rate part, ω L (T) is a low frequency angular rate portion, e (T) is random noise, b (T) represents temperature drift, cancellation is performed by temperature compensation, and N (T) represents the total influence caused by other factors.
Establishing a high pass filter (1002) G h The general transfer function model of (2) is: :
wherein alpha and beta j (j=1, 2, 3) is the filter parameter to be designed. The filtered input is the angular rate information omega output by the first gyroscope 100-A and the second gyroscope 100-B A 、ω B Selecting proper filter parameters according to the noise characteristics of the gyroscope; warp G h After filtering, the disturbance signal omega is output * A ,、ω * B To the disturbance feedforward controller 1003.
(4) Disturbance feedforward control designed to run on host computer 111Device 1003G f Output θ of system under disturbance d (s) is:
the design disturbance feedforward controller is as follows:
namely: g i (s)G h (s)G f (s)P(s)+G d (s) =0, and as can be seen from the formulas (5) and (6), there is necessarily θ d (s) =0, the disturbance ω is eliminated d Impact on the system. The input of the disturbance feedforward controller is the vibration signal omega output by the high-pass filter 1002 * A ,、ω * B Warp G f After the adjustment, a disturbance compensation signal U is output * 。
Compared with the prior art, the invention has the advantages that:
(1) The stability of the system for suppressing vibration is greatly enhanced:
the system output under the disturbance can be obtained from fig. 3 as:
the error under the disturbance effect is:
when the transfer function of the disturbance feedforward controller is selected as follows:
namely G i (s)G h (s)G f (s)P(s)+G d (s)＝0, from the formulae (4) and (5), it is necessary to have θ d (s) =0 and E d (s) =0, the disturbance ω is eliminated d (s) influence on the system.
In this case, the formula (1) can be simplified as:
let the controller C be a PID controller and substitute its transfer function C(s), the transfer function T(s) of the system can be expressed as:
the tracking error of the system is:
when the input is a step input, i.e.
During this time, steady state tracking error of the system:
(2) The method is easy to realize, and can be realized by only installing a gyroscope on the existing synthetic aperture system and independently designing a filter and interference feedforward control.
(3) According to the vibration suppression method, the limited inertial sensor is used for measuring the platform vibration suffered by the system, so that the limitation of the delay of the image sensor and the quantity of sub-apertures on the vibration suppression capability of the synthetic aperture imaging system is relieved, the suppression capability of the system on internal disturbance and external disturbance can be remarkably improved, and the effective suppression of the medium-high frequency vibration of the synthetic aperture imaging is realized.
Drawings
Fig. 1 is a block diagram showing the structure of each component of the control system according to the present invention.
Fig. 2 is a block diagram of a conventional negative feedback control.
Fig. 3 is a control block diagram of the anti-platform vibration control proposed by the present invention.
Fig. 4 is a flowchart of an implementation of the vibration suppression method proposed by the present invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
As shown in fig. 1,2,3 and 4, a control object of the system is a quick reflection mirror in a synthetic aperture imaging system, and the vibration angular rate of the platform is measured through two gyroscopes mounted on the platform; and simultaneously obtaining the position signal of the quick reflection mirror through the image sensor. Thereby constructing a controller, a high pass filter and a disturbance feedforward controller.
First, the system is installed and connected.
The key is that two optical fiber gyroscopes are fixedly arranged on a platform of a synthetic aperture system, the sensitive directions of a first gyroscope 100-A and a second gyroscope 100-B are vertical, and the sensitive directions of the first gyroscope 100-A and the second gyroscope 100-B correspond to the X direction and the Y direction of a sensitive axis of a quick reflector respectively. Other components are required to ensure a stable and secure connection that would otherwise present an unexpected problem for the design of the control system.
And secondly, establishing a composite control system.
The system has two inputs-a target signal R(s) and an external vibration signal omega d (s) the external vibration signals are decomposed into an X axis and a Y axis, and are measured by the first gyroscope 100-A and the second gyroscope 100-B respectively, and the measured vibration angular rate signals are input into a high-pass filter for processing, so that medium-high frequency vibration angular rate signals are obtained, and the signals are used for feedforward compensation, and the rapid reflector FSM102 is controlled to perform servo correction in combination with a classical negative feedback control structure. The control block diagram is shown in fig. 3.
The position θ(s) of the output beam can be expressed as:
wherein H(s) is the image processing module IPU105, C(s) is the controller 1001, P(s) is the quick mirror correction unit, R(s) is the target input signal, G i (s) is an inertial measurement unit, G h (s) is a high pass filter 1002, G f (s) disturbance feedforward controllers 1003, G d (s) is a disturbance transfer function, ω d And(s) is a disturbance input.
Third, a controller 1001 running on the main control computer 111 is designed
Testing the frequency response characteristics of the corresponding quick reflectors of each sub-aperture system, wherein the frequency response characteristics comprise an X-axis (consistent with the sensitive direction of the first gyroscope 100-A) and a Y-axis (consistent with the sensitive direction of the second gyroscope 100-B); the test frequency response characteristic refers to an excitation signal a with a certain frequency emitted by a goniometer * And the position of the fast mirror is deflected by a given signal theta b When the frequency response data are respectively used as two paths of input of the goniometer, the frequency response data and the curve of the quick reflector system are obtained by the goniometer. The approximate frequency response characteristics are then obtained using a curve fitting tool and the controller parameters are designed accordingly.
The design controller C1001 is:
wherein a is i (i=1, 2, …, n) and b j (j=1, 2, …, m, m.ltoreq.n) is a controlled object transfer function coefficient related to the fast-reflection image frequency response characteristic, s is a laplace operator; the input of the controller is a light spot position signal p output by the image detector * (i.e., off-target amount information), after being adjusted by C(s), outputs a corresponding voltage signal U to FSM102 for deflection control.
Fourth, a high pass filter 1002G running on the host computer 111 is designed h
Establishing a general model of gyroscope noise:
ω(t)＝ω * (t)+ω L (t)+e(t)+b(T)+N(t) (3)
wherein ω (t) is the angular rate of the gyroscope output, ω * (t) is the middle-high frequency angular rate part, ω L (T) is a low frequency angular rate portion, e (T) is random noise, b (T) represents temperature drift, cancellation is performed by temperature compensation, and N (T) represents the total influence caused by other factors.
Establishing a high pass filter 1002G h The general transfer function model of (2) is:
wherein alpha and beta j (j=1, 2, 3) is the filter parameter to be designed. The filtered input is the angular rate information omega output by the first gyroscope 100-A and the second gyroscope 100-B A 、ω B Selecting proper filter parameters according to the noise characteristics of the gyroscope; warp G h After filtering, the disturbance signal omega is output * A ,、ω * B To the disturbance feedforward controller 1003.
Fifth, a disturbance feedforward controller 1003G running on the host computer 111 is designed f Output θ of system under disturbance d (s) is:
the design disturbance feedforward controller is as follows:
namely: g i (s)G h (s)G f (s)P(s)+G d (s) =0, and as can be seen from the formulas (5) and (6), there is necessarily θ d (s) =0, the disturbance ω is eliminated d Impact on the system. The input of the disturbance feedforward controller is the vibration signal omega output by the high-pass filter 1002 * A ,、ω * B Warp G f After the adjustment, a disturbance compensation signal U is output * 。
The invention is not described in detail in part as being well known in the art.
Claims (4)
1. A vibration suppression device for use in a synthetic aperture imaging system, comprising:
the hardware comprises two gyroscopes, a first gyroscope (100-A) and a second gyroscope (100-B); a multi-aperture carrier stage (101), a fast mirror FSM (102) and a beam splitting prism (103); two image detectors, a first image detector (104-A), a second image detector (104-B); the image processing module IPU (105), the integrated control unit ICU (106), the quick reflector driver (107) and the goniometer (108); wherein the FSM (102) can implement two degrees of freedom deflection control in orthogonal relation to the beam, defined as X-axis and Y-axis, respectively; the first gyroscope (100-A) and the second gyroscope (100-B) are arranged on the multi-aperture carrier platform (101) and fixedly connected with the platform, the first gyroscope (100-A) and the second gyroscope (100-B) are mutually and vertically arranged, and the sensitive directions are in an orthogonal relationship and are respectively the horizontal direction and the direction vertical to the multi-aperture carrier platform; the beam splitting prism (103) is arranged on the imaging light path, and splits the beam after the system beam combination into two beams, and images the two beams on the first image detector (104-A) and the second image detector (104-B) respectively; a first image detector (104-A) is positioned at the focal plane of the system, one beam of light is imaged on the detector, referred to as an imaging detector, a second image detector (104-B) is positioned at the out-of-focus plane, and the other beam of light enters the detector to form an out-of-focus image, referred to as a detection beam detector; the image processing module IPU (105) collects images on the detector, performs image algorithm processing on the images, and transmits the results to the integrated control unit ICU (106); the integrated control unit ICU (106) converts the processed digital signals into analog signals and outputs the analog signals to the quick reflector driver (107); the input end of the quick reflector driver (107) is connected with the integrated control unit ICU (106), and the output end is connected with the input ends of the quick reflector (102) and the goniometer (108);
the software module comprises a controller (1001) and a high-pass filter1002 A disturbance feedforward controller (1003); wherein the input of the controller (1001) is off-target data p output by the IPU (105) * The output is a driving voltage U of the fast mirror driver (107), and the driving voltage U is input into the fast mirror driver (107) and outputs a position deflection signal theta b Driving the FSM (102) to precisely rotate; a high pass filter (1002) receives the raw vibration angular rate omega measured by the first gyroscope (100-A) and the second gyroscope (100-B) A 、ω B ，ω A Angular velocity, ω, corresponding to the X-axis direction of the fast mirror B Corresponding to the angular velocity of the fast reflector in the Y-axis direction, high-pass filtering and sending out high-frequency vibration angular velocity signal omega * A ，ω * B The method comprises the steps of carrying out a first treatment on the surface of the The disturbance feedforward controller (1003) receives the dither angular rate signal omega output by the high-pass filter (1002) * A ，ω * B Calculating corresponding compensation U * The compensation amount U * The method can be used for counteracting the influence of vibration on the synthetic aperture imaging system;
each software module runs on the host computer (111).
2. A vibration suppressing method applied to a synthetic aperture imaging system, using the vibration suppressing apparatus applied to a synthetic aperture imaging system according to claim 1, characterized in that: the implementation steps are as follows:
(1) A composite control system for establishing synthetic aperture imaging, the system having two inputs-a target signal R(s) and an external vibration signal omega d (s) the external vibration signal is decomposed into an X axis and a Y axis, the X axis and the Y axis are respectively measured by a first gyroscope (100-A) and a second gyroscope (100-B), the measured vibration angular rate signal is input into a high-pass filter for processing, a middle-high frequency vibration angular rate signal is obtained, the signal is used for feedforward compensation, a classical negative feedback control structure is combined, a quick reflector (102) is controlled for servo correction, a position signal theta(s) of a light beam is output,
the position θ(s) of the output beam can be expressed as:
wherein H(s) is an image processing module IPU (105), C(s) is a controller (1001), P(s) is a quick reflector correction unit, R(s) is a target input signal, G i (s) is an inertial measurement unit, G h (s) is a high pass filter (1002), G f (s) is a disturbance feedforward controller (1003), G d (s) is a disturbance transfer function, ω d (s) is a disturbance input;
(2) Controller (1001) designed to run on host computer (111)
Testing the frequency response characteristics of the quick reflecting mirror corresponding to each sub-aperture system, wherein the frequency response characteristics comprise an X-axis direction consistent with the sensitive direction of the gyroscope (100-A) and a Y-axis direction consistent with the sensitive direction of the gyroscope (100-B); the test frequency response characteristic refers to an excitation signal a with a certain frequency emitted by a goniometer * And the position of the fast mirror is deflected by a given signal theta b When the frequency response data are respectively used as two paths of input of the goniometer, the frequency response data and the curve of the quick reflector system obtained by the goniometer are used for obtaining approximate frequency response characteristics by using a curve fitting tool, and the controller parameters are designed according to the approximate frequency response characteristics;
the design controller C (1001) is:
wherein a is i (i=1, 2,) n and b j (j=1, 2,., m, n) is a controlled object transfer function coefficient related to the fast-reflection image frequency response characteristic, s is a laplace operator; the input of the controller is a light spot position signal p output by the image detector * (namely, off-target amount information), after being regulated by C(s), outputting a corresponding voltage signal U to a quick reflector FSM (102) for deflection control;
(3) Designing a high-pass filter (1002) G running on a host computer (111) h
Establishing a general model of gyroscope noise:
ω(t)＝ω * (t)+ω L (t)+e(t)+b(T)+N(t) (3)
wherein ω (t) is the angular rate of the gyroscope output, ω * (t) is the middle-high frequency angular rate part, ω L (T) is a low-frequency angular rate part, e (T) is random noise, b (T) represents temperature drift, elimination is performed through temperature compensation, and N (T) represents total influence caused by other factors;
establishing a high pass filter (1002) G h The general transfer function model of (2) is:
wherein alpha and beta j (j=1, 2, 3) is a filter parameter to be designed, and the filtered input is angular rate information ω output by the first gyroscope 100-a and the second gyroscope 100-B A 、ω B Selecting proper filter parameters according to the noise characteristics of the gyroscope; warp G h After filtering, the disturbance signal omega is output * A 、ω * B -feeding a disturbance feedforward controller (1003);
(4) A disturbance feedforward controller (1003) G designed to run on a host computer (111) f Output θ of system under disturbance d (s) is:
the design disturbance feedforward controller is as follows:
namely: g i (s)G h (s)G f (s)P(s)+G d (s) =0, and as can be seen from the formulas (5) and (6), there is necessarily θ d (s) =0, the disturbance ω is eliminated d The impact on the system is that the input of the disturbance feedforward controller is the vibration signal omega output by the high-pass filter (1002) * A 、ω * B Warp G f After the adjustment, a disturbance compensation signal U is output * 。
3. A method of vibration suppression for a synthetic aperture imaging system in accordance with claim 2, wherein: the controller designed in the step 2 can be a PI type controller, a PID type controller or a fuzzy controller.
4. A method of vibration suppression for a synthetic aperture imaging system in accordance with claim 2, wherein: the control system combines the disturbance feedforward controller with the classical negative feedback control by adopting a compound control method, and achieves the effective suppression of disturbance in the synthetic aperture imaging system by accurately constructing the disturbance feedforward controller.
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