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
Summary
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.
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