Sightline jitter minimisation and shaping using nonlinear friction compensation

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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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
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 (Online):1559-9620

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
416861Nonlinear sightline controlDavid AndersonEngineering & Physical Sciences Research Council (EPSRC)EP/D057558/1Aerospace Sciences