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Robust control with compensation of adaptive model for dual-stage inertially stabilized platform

Journal of Central South University 2018年第11期25卷 2615-2625页

作者： SONG Jiang-peng ZHOU Di SUN Guang-li QI Zhi-hui Department of Control Science and Engineering Harbin Institute of TechnologyHarbin 150001China Tianjin Jinhang Institute of Technical Physics Tianjin 300192China

To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized *** coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical ***,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control ***,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model *** stability analysis confirmed the stability of the overall control ***,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method.

关键词： dual-stage control inertially stabilized platform robust H∞control adaptive model

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Finite-time Robust Control for inertially stabilized platform Based on Terminal Sliding Mode

Finite-time Robust Control for Inertially Stabilized Platfor...

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第37届中国控制会议

作者： GE Suoliang ZHAO Lei PING Zhaowu YANG Shuang School of Electrical Engineering and Automation Hefei University of Technology School of Automation Northwestern Polytechnical University

In this paper,a finite-time robust controller is designed based on the terminal sliding mode for a two-axis gimbal ISP *** is shown that the controller designed in this paper can not only ensure the system output tracking error converge to zero in a finite time,but also provide a strong disturbance rejection *** addition,the gain of the finite-time robust controller can be significantly reduced with respect to the ones of linear sliding mode control schemes as well as PID control *** results will also be provided to demonstrate the effectiveness of the designed controller.

关键词： inertially stabilized platform Finite-time Robust Control Terminal Sliding Mode Finite-time Convergence Disturbance Rejection

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Improved Angular Velocity Estimation Using MEMS Sensors with Applications in Miniature inertially stabilized platforms

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Chinese Journal of Aeronautics 2011年第5期24卷 648-656页

作者： ZHOU Xiaoyao ZHANG Zhiyong FAN Dapeng College of Mechatronics and Automation National University of Defense Technology Changsha 410073 China

The performance of any inertially stabilized platform （ISP） is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems （MEMS） sensors. A low-bandwidth gyroscope is used alone with two low-performance accelerometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of the estimation. The accelerometers have inherent biases and mainly contribute to the high-frequency components of the estimation. Extensive experimental results show that the state estimator can achieve high-performance signals over a wide range of velocities without drifts in both the t- and s-domains. Furthermore, with applications in miniature inertially stabilized platforms, the control characteristic presents a significantly improvement over the existing methods. The method can be also applied to robotics, attitude estimation, and friction compensation.

关键词： angular velocity low-cost sensor gyroscope accelerometer Kalman filter inertially stabilized platform

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High-precision gyro-stabilized control of a gear-driven platform with a floating gear tension device

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Frontiers of Mechanical Engineering 2021年第3期16卷 487-503页

作者： Xianliang JIANG Dapeng FAN Shixun FAN Xin XIE Ning CHEN College of Intelligence Science and Technology National University of Defense TechnologyChangsha 410073China

This study presents an improved compound control algorithm that substantially enhances the antidisturbance performance of a gear-drive gyro-stabilized platform with a floating gear tension *** tension device can provide a self-adjustable preload to eliminate the gap in the meshing ***,the weaker gear support stiffness and more complex meshing friction are also induced by the tension device,which deteriorates the control accuracy and the ability to keep the aim point of the optical sensors isolated from the platform *** modeling and compensation of the induced complex nonlinearities are technically challenging,especially when base motion *** aim of this research is to cope with the unmeasured disturbances as well as the uncertainties caused by the base lateral ***,the structural properties of the gear transmission and the friction-generating mechanism are analyzed,which classify the disturbances into two categories:Time-invariant and time-varying ***,a proportional-integral controller is designed to eliminate the steady-state error caused by the time-invariant disturbance.A proportional multiple-integral-based state augmented Kalman filter is proposed to estimate and compensate for the time-varying disturbance that can be approximated as a polynomial *** effectiveness of the proposed compound algorithm is demonstrated by comparative experiments on a gear-drive pointing system with a floating gear tension device,which shows a maximum 76%improvement in stabilization precision.

关键词： inertially stabilized platform floating gear tension device nonlinear friction disturbance compensation proportional multiple-integral observer

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