Anderson, D., McDonald, M., Ingleby, P. and Brignall, N. (2007) Sightline jitter minimisation and shaping using nonlinear friction compensation. International Journal of Optomechatronics, 1(3), pp. 259-283. (doi: 10.1080/15599610701548837)
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Abstract
Friction-induced sightline jitter significantly degrades the image resolution and detection range of a stabilised optical system. Therefore, any controller that can reduce jitter levels in the stabilisation sub-system will have a significant impact on overall electro-optic system performance. This article presents the results of an investigation into several friction compensation models applied to the validated model of an in-service electro-optic turret. The turret test harness, system identification software and friction measurement techniques used in the validation procedure-experimental transfer function analysis-are presented. A worst-case approach was used in setting the sensor noise and base motion acceleration levels. This test data was then used to validate a mathematical model of the turret elevation axis for use in off-line design and tuning of six friction compensation controllers. Three types of friction compensator model were investigated; a linear Kalman filter, an extended Kalman filter with a static friction model and an extended Kalman filter using a dynamic friction model. Additionally, two controller architectures were used. All six controllers were shown to significantly reduce jitter levels overall, but a new controller architecture was shown to also further reduce image degradation due to smearing.
Item Type: | Articles |
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Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Anderson, Dr David |
Authors: | Anderson, D., McDonald, M., Ingleby, P., and Brignall, N. |
College/School: | College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity |
Journal Name: | International Journal of Optomechatronics |
Publisher: | Taylor and Francis Inc. |
ISSN: | 1559-9612 |
ISSN (Online): | 1559-9620 |
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