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Image-based discrete-time optimal feedback control for an optomechanical derotator

机译：基于图像的光学机械推迟器的离散时间最佳反馈控制

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An 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.
机译：光学力学灭失剂是一种光学系统，可用于扩展各种测量方法，以便它们可以应用于旋转测量物体。该功能原理是通过旋转反射组件在脱洞内部操纵旋转测量对象的图像。因此，在测量数据中看起来静止。为此，它不可避免地，脱轨的角位置和速度以使它们总是达到测量物体的一半。因此，有必要在实现的控制器的帮助下调整灭失者。由于我们希望利用高速相机获取控制的参考输入，并且图像处理算法控制控制的采样时间必须适应图像处理的相当长的计算时间。结果，禁止使用模拟控制技术，以便必须实现数字控制器。本文提出了一种方法，其中用于基于图像的离散时间线性二次调节器来满足关于灭失者的角位置和速度的要求。为了提高其性能，它由积分动作和基于模型的前馈控制补充。此外，描述了确定控制的参考输入的图像处理算法。最后，证明该控制器概念通过用相机和灭失者产生旋转物体的站立图像来产生期望的结果。

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