Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization
Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization
复制标题
图像稳定三自由度电磁执行器的动态建模与控制
DOI：
10.1109/tmag.2018.2845438
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发表时间：
2018
影响因子：
2.1
通讯作者：
Niguchi Noboru
中科院分区：
文献类型：
--
作者：
Heya Akira;Hirata Katsuhiro;Niguchi Noboru
近来，由于振动而导致的图像质量劣化已经成为自主系统中的问题。由透镜和成像器件组成的透镜单元摆动（LUS）系统是一种针对相机抖动产生逆运动的图像稳定技术。LUS系统可以在围绕三个轴的宽旋转范围内校正来自相机抖动的图像。另一方面，该系统具有一些问题，例如尺寸和重量的增加。为了解决这些问题，我们提出了一种新的三自由度电磁致动器的图像稳定（3D-EAIS）。在本文中，我们提出了一种动态建模方法的3D-EAIS。推导了3D-EAIS的状态方程。将推导出的状态方程的动态分析结果与三维有限元法的电磁场分析结果进行了比较，验证了推导出的状态方程的有效性。此外，姿态稳定系统采用滑模控制的基础上推导的状态方程。计算了稳定控制系统的扰动响应，验证了控制系统的有效性。
Recently, image quality deteriorations due to vibrations have become a problem in an autonomous system. A lens-unit-swing (LUS) system which consists of a lens and an imaging device is a kind of image stabilization technologies that generate an inverse motion against camera shakes. The LUS system can correct an image from camera shakes over wide rotation ranges around three axes. On the other hand, this system has some problems such as an increase in size and weight. In order to solve these problems, we proposed a novel three-degree-of-freedom electromagnetic actuator for image stabilization (3D-EAIS). In this paper, we propose a dynamic modeling method for the 3D-EAIS. A state equation of the 3D-EAIS is derived. The dynamic analysis results using the derived state equation and an electromagnetic field analysis using the 3-D finite-element method are compared, and the validity of the derived state equation is investigated. Moreover, the attitude stabilization system using a sliding mode control is constructed based on the derived state equation. The disturbance response of the stabilization control system is calculated, and the effectiveness of the control system is verified.