Abstract
High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.
Highlights
Due to the practical issues, such as size and power, which are associated with the increase of the motor capacity, more and more designers tend to seek for the designs with gear attached motors [1,2].low power DC motor coupled with gear-box to obtain high torque is well adopted in modern servo systems
When reciprocating movement happens in the gear-driven control system, the position precision could deteriorates, and even the closed-loop system may fall into limit cycle [10], which could lead to the closed-loop control system unstable
A mode-free disturbance observer (DOB) based on sensor fusion for a gear-driven gimbal is proposed to reduce some
Summary
Due to the practical issues, such as size and power, which are associated with the increase of the motor capacity, more and more designers tend to seek for the designs with gear attached motors [1,2]. An approach based on dual motors connected in parallel to the load to eliminate backlash without by means of software and feedback control [11] These mechanical techniques require changing or adding some parts on the mechanical systems, leading to high production cost. Wepresent present a mode-free based on sensor-fusion control to improve performance closed-loop of position control for a gear-driven gimbal. This proposed method uses the rate deviation detect performance of position control for a gear-driven gimbal This proposed method uses to the rate disturbances implementing this for DOB, which can bethis plugged the originally feedbackinto control deviation to for detect disturbances implementing. The remainder is organized as follow: Section presents a detailed two-axis gear-driven gimbal [19] to testify our proposed control method.
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