Dynamic Modeling and Control of Three-Degree-of-Freedom Electromagnetic Actuator for Image Stabilization

Recently, image quality deteriorations due to vibrations have become a problem in an autonomous system. A lens-unit-swing (LUS) system which consists of a lens and an imaging device is a kind of image stabilization technologies that generate an inverse motion against camera shakes. The LUS system can correct an image from camera shakes over wide rotation ranges around three axes. On the other hand, this system has some problems such as an increase in size and weight. In order to solve these problems, we proposed a novel three-degree-of-freedom electromagnetic actuator for image stabilization (3D-EAIS). In this paper, we propose a dynamic modeling method for the 3D-EAIS. A state equation of the 3D-EAIS is derived. The dynamic analysis results using the derived state equation and an electromagnetic field analysis using the 3-D finite-element method are compared, and the validity of the derived state equation is investigated. Moreover, the attitude stabilization system using a sliding mode control is constructed based on the derived state equation. The disturbance response of the stabilization control system is calculated, and the effectiveness of the control system is verified.