Abstract

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS®; then, to analyze the system’s kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB® SIMULINK® controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

Highlights

  • An inertially stabilized platform (ISP), which is used to support and stabilize the imaging loads so that the sensor’s line of sight (LOS) can track the target accurately in real-time, plays an important role in aerial remote sensing

  • The co-simulation technique based on ADAMSTM and SIMULINK® cooperation can be useful tool for improving the development cycle, which is suitable for the design of a mechatronic system with a complex mechanical structure and dynamic behavior with a control system [12,13]

  • To realize high control performance of a two-axis ISP applied in unmanned airship (UA), a method based on co-simulation of the mechatronic system is proposed to optimize the control parameters

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Summary

Introduction

An inertially stabilized platform (ISP), which is used to support and stabilize the imaging loads so that the sensor’s line of sight (LOS) can track the target accurately in real-time, plays an important role in aerial remote sensing. The co-simulation technique based on ADAMSTM and SIMULINK® cooperation can be useful tool for improving the development cycle, which is suitable for the design of a mechatronic system with a complex mechanical structure and dynamic behavior with a control system [12,13]. ADAMSTM and MATLAB® provides a new method for studying the dynamics of complex systems, which can simplify the simulation process and make the simulation results more accurate and increase the design reliability [16]. To meet the high precision and high stability requirements of an UA-based two-axis ISP for remote sensing, control parameter optimization based on co-simulation of the mechatronic system is carried out using ADAMSTM and SIMULINK® cooperation.

Aerial Remote Sensing System
Working Principle of Two-Axis ISP
Three Closed-Loop Compound Control Scheme
The Structure of ISP System
Static Analysis Results
Dynamic Analysis Results
System Dynamics Modeling
Gimbal Dynamics
Dynamic Model of the Pitch Gimbal
Dynamic Model of the Azimuth Gimbal
The Principle of Electromechanical Co-Simulation
ADAMSTM Environment Analysis
ADAMSTM-Based Mechanical System Modeling
Control System Modeling
Step Response
Sinusoidal Response
Simulation Testing under Movable Base Conditions
Analysis of the Effect of Wind Speed
Testing Under Movable Vehicle Conditions
Testing the UA in Air
Conclusions
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