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

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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