Abstract
Compared with traditional mechanical inertially stabilized platform (ISP), magnetic suspension ISP (MSISP) can absorb high frequency vibrations via a magnetic suspension bearing system with five degrees of freedom between azimuth and pitch gimbals. However, force acting between rotor and stator will introduce coupling torque to roll and pitch gimbals. Since the disturbance of magnetic bearings has strong nonlinearity, classic state feedback control algorithm cannot bring higher precision control for MSISP. In order to enhance the control accuracy for MSISP, a disturbance compensator based on radial basis function neural network (RBFNN) is developed to compensate for the disturbance. Using the Lyapunov theorem, the weighting matrix of RBFNN can be updated online. Therefore, the RBFNN can be constructed without priori training. At last, simulations and experiment results validate that the compensation method proposed in this paper can improve ISP accuracy significantly.
Highlights
As the middle mechanism between aircraft and remote sensing payload, inertially stabilized platform (ISP) supports the payload, isolates aircraft movements, and holds the line-of-sight (LOS) of the payload vertically steady relative to earth [1,2,3,4,5]
Magnetic suspension inertially stabilized platform (MSISP), which has the characteristic of frictionless and active vibration suppression capacity, can further enhance imaging quality
Different from the mechanical bearing suspension ISP, MSISP can achieve the target of noncontact suspension between the pitch gimbal C and the azimuth gimbal F
Summary
As the middle mechanism between aircraft and remote sensing payload, inertially stabilized platform (ISP) supports the payload, isolates aircraft movements (angular motion and linear motion), and holds the line-of-sight (LOS) of the payload vertically steady relative to earth [1,2,3,4,5]. It plays an important role in the remote sensing image quality. Magnetic suspension inertially stabilized platform (MSISP), which has the characteristic of frictionless and active vibration suppression capacity, can further enhance imaging quality. Force acting between rotor and stator will introduce coupling torque to roll and pitch gimbals, increasing difficulty in gimbal control of ISP
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