The optical tracking system mainly encounters the problems of sensor delay and external physical disturbance. We propose a method combining Smith predictor and disturbance observer based on Micro-Electro-Mechanical System (MEMS) gyroscope to improve velocity closed-loop bandwidth and disturbance suppression ability. The experimental results demonstrate that the velocity closed-loop bandwidth is increased by about 10 Hz and the disturbance suppression ability is increased by about 11 dB in the low and middle frequency domain.
In the optical stabilization control system (OSCS) control system based on a charge-coupled device (CCD), stabilization performance of the line-of-sight is severely limited by the mechanical resonance and the low sampling rate of the CCD. An approach to improve the stabilization performance of the OSCS control system with load restriction based on three loops, including an acceleration loop, a virtual velocity loop, and a position loop, by using MEMS accelerometers and a CCD is proposed. The velocity signal is obtained by accelerators instead of gyro sensors. Its advantages are low power, low cost, small size, and wide measuring range. A detailed analysis is provided to show how to design the virtual velocity loop and correct virtual velocity loop drift. Experimental results show that the proposed multiloop feedback control method with virtual velocity loop in which the disturbance suppression performance is better than that of the dual loop control with only an acceleration loop and a position loop at low frequency.
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