双传感器切换的像移补偿控制OA

In high-speed,low-altitude remote sensing scenarios,the long exposure time of multimode ob-servation systems often leads to significant image motion.Compensation methods relying solely on gyro-scopes suffer from complex command profiles and view-axis deviation caused by accumulated gyro drift,making it difficult to satisfy the stringent requirements of remote sensing imaging for high overlap rates and high signal-to-noise ratios.To address these limitations,an image motion compensation control method based on dual-sensor switching and integrating a Linear Tracking Differentiator(LTD)with Iterative Learning Control(ILC)is proposed.Within a dual-sensor compensation framework combining a gyro-scope and an encoder,the gyroscope is employed for closed-loop velocity control to achieve real-time com-pensation during the exposure phase.After exposure,the control system switches to a high-precision en-coder for position closed-loop regulation,enabling rapid return-to-zero motion and eliminating drift accu-mulation.Meanwhile,LTD-generated commands are used to produce smooth velocity and position trajec-tories,thereby suppressing dynamic oscillations induced by step excitations.A PD-type ILC strategy is in-corporated into the tracking of periodic velocity commands,where historical tracking errors are utilized to construct feedforward compensation,further improving trajectory tracking accuracy.Experiments conduct-ed on a single-degree-of-freedom turntable platform demonstrate the effectiveness of the proposed method.Compared with conventional gyroscope-only compensation approaches,the proposed dual-sensor switch-ing strategy combined with LTD-based command smoothing effectively eliminates view-axis offset,achieves rapid return control without overshoot,and shortens the imaging interval.During the exposure period,the velocity error band is reduced from±0.241 0(°)/s to±0.086 7(°)/s,representing a 64%reduction and a substantial improvement in compensation accuracy.