Importance

Loading Importance Indicators...

Abstract

Motion control circuitry for a vehicle-borne, gimbal-mounted sensor (such as a camera on a helicopter) includes main position control circuitry generating a commanded drive signal representing a desired driving of a positioning element (e.g. azimuth or elevation motor) to achieve a position of the sensor, and feed-forward vibration cancellation circuitry generating a cancellation drive signal representing a driving of the positioning element to cancel vehicle vibration. The feed-forward vibration cancellation circuitry includes a vibration sensor and adaptive feed-forward control circuitry, the vibration sensor generating a vibration signal representative of the vehicle vibration, and the adaptive feed-forward control circuitry applying a feed-forward gain to the vibration signal to generate the cancellation drive signal. The feed-forward gain is continually calculated as an integrating function of the vibration signal and an error signal corresponding to a mechanical response of the positioning element to the vehicle vibration. Combining circuitry (e.g., an adder) combines the commanded drive signal and cancellation drive signal to generate a combined drive signal controlling the driving of the positioning element.

Loading the Abstract Image...

First Claim