High-precision stability control of scanning platform of fast circumferential scanning detection system

The fast circumferential scanning detection system is a new panoramic photoelectric system which realizes the gaze compensation imaging of single field of view scene by using inverse scanning device with high-speed swing. The fast scanning principle of the system was introduced in detail, which pointed out that the high-precision stability control of scanning platform was the key factor to the design and implementation of fast circumferential scanning detection system. According to the control mechanism of scanning platform, the mathematical models of horizontal and vertical inertial stabilization platform were established, the control of scanning platform by adopting fractional-order proportion integration differentiation (PID) controller was realized, and finally, the control performance of scanning platform based on fractional-order PID control algorithm was analyzed and verified. The experimental results show that the scanning platform using fractional-order PID controller has the advantages of no overshoot and stronger anti-disturbance performance in comparison with traditional PID controllers. The horizontal stabilization accuracy is improved from 0.005 82°(1$\sigma$) to 0.001 26°(1$\sigma$), and the vertical stabilization accuracy is improved from 0.003 66°(1$\sigma$) to 0.001 62°(1$\sigma$), which can ensure the described fast circumferential scanning detection system to obtain the clear and stable panoramic images.