文章基本信息

标题：Image-based discrete-time optimal feedback control for an optomechanical derotator
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作者：Bettina Altmann ; Christian Pape ; Eduard Reithmeier 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：32
页码：292-297
DOI：10.1016/j.ifacol.2018.11.398
语种：English
出版社：Elsevier
摘要：AbstractAn optomechanical derotator is an optical system that can be used to extend various measurement methods so they can be applied to rotating measurement objects. The function principle is to manipulate the image of the rotating measurement object by means of rotating reflective components inside the derotator. Thus it appears stationary in the measurement data. For this it is inevitably that the angular position and velocity of the derotator are controlled in such way that they always amount to half that of the measurement object. It is therefore necessary to adjust the derotator with the help of an implemented controller. Since we want to acquire the reference input of the control with a high-speed camera and image processing algorithms the sampling time of the control must be adapted to the rather long computation time of the image processing. As a result, the use of analog control techniques is prohibited so that a digital controller has to be implemented. This paper proposes an approach where an image-based discrete-time linear-quadratic regulator is used to satisfy the requirements concerning the angular position and velocity of the derotator. To improve its performance, it is supplemented by integral action and a model-based feedforward control. Furthermore, the image processing algorithms by which the reference input of the control is determined are described. Finally, it is demonstrated that this controller concept produces the desired result by generating a standing image of a rotating object with a camera and the derotator.
关键词：KeywordsOptomechanical derotatorimage-based controldiscrete-time linear-quadratic regulatordiscrete-time optimal feedback controlmodel-based feedforward control