Non-linear controller functions for inertial optical stabilizers

Optical: systems and elements – Image stabilization – By movable refractive structure

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359554, G02B 2764

Patent

active

051229080

ABSTRACT:
A stabilizing controller system is disclosed for passive inertial stabilizers having case mounted optics moving in combination with inertially suspended optics to stabilize images against accidental angular motion. The controller system utilizes second terms to resolve the conflict between weak coupling for good stabilization and strong coupling for good panning. The controller system, applicable to either the preferred pendulum type or to gyro stabilized systems, includes the use of non-linear functions for both first and second order restoring forces. A relationship utilizing the critical damping function is disclosed between applicable first and second order controller functions and their applicable constants to enable uniform controller system response. Examples of the controller function are applied to an inertial pendulum stabilizer and a gyroscope stabilizer. The inertial pendulum stabilizer is illustrated in a polar displacement and restoration embodiment and a preferred gimbaled displacement and restoration embodiment. Functions are set forth for non-coincidence of sensors and torque motors on the gimbal axes. There results a controller function imposed on the inertial stabilizer from the case which imparts substantially linear forces of correction for pendulum excursion adjacent the line of sight. Non-linear and increasing forces are applied for movement outside of the linear range. Improved panning results.

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