Bilateral control-based compensation for rotation in imaging in scan imaging systems

摘要

Scan imaging systems rely on the rotation of a mirror to scan an image. The rotation in the resulting image must be compensated to prevent information loss. Satisfactory performance of an imaging system is difficult to achieve when employing the methods of mechanical transmission and unilateral tracking control, especially when the system suffers from nonlinear factors, disturbances, and dynamic uncertainties. This paper proposes a compensation method based on bilateral control derived from the field of haptic robots. A two-loop disturbance observer was designed to guarantee that the dynamic characteristics of the motor are close to those of the nominal model. The controllers were designed on the basis of the small gain theorem. Experiments were conducted for a comparison with the traditional unilateral control-based compensation. The comparison showed a reduction of 99.83% in the L2 norm of error, which validates the method. The proposed method improves the accuracy of compensation for rotation in imaging, and demonstrates that bilateral control has feasibility for application in various fields, including photogrammetry.