Abstract
An active magnetic bearing (AMB) system is used to suspend the yaw gimbal of three-axis inertially stabilized platform (ISP) to minimize the friction. The dynamic functions of three gimbals in ISP are developed. The base coupling at dynamic base plate is stronger than that at static base plate, and the gimbal coupling among three gimbals increases with the number of unlocked gimbals. Therefore, a cross-feedback control scheme is designed to minimize the base coupling and the gimbal coupling, and then the multi-input multioutput system of three-axis ISP with coupling terms is simplified into three decoupled single-input single-output systems. Experimental results verify that the yaw gimbal suspended by AMB system has better vibration isolation ability than the roll gimbal supported by mechanical bearing, and the gimbal coupling and the base coupling are effectively suppressed by the cross-feedback control scheme.
Highlights
(1) A novel structure of yaw gimbal with an active magnetic bearing (AMB) system integrating the axial and radial motion is firstly designed to minimize the friction and vibration transmission, and dynamic functions of three gimbals with coupling terms are developed
It proves that the base coupling with dynamic base plate is greater than that with static base plate, and the gimbal coupling among three gimbals increases with the number of unlocked gimbals
E root mean square (RMS) of pitch gimbal’s angular displacement is greater than that of yaw gimbal. erefore, this experimental result validates the prediction of better performance on disturbance isolation by using the yaw gimbal suspended by the AMB system than the roll gimbal supported by mechanical bearings
Summary
E three-axis ISP consists of three rotational gimbals (yaw, pitch, and roll gimbals), an AMB system, and a base plate. Ree torque motors on pitch, roll, and yaw gimbals control the rotations of three-axis ISP about Xp, Yr, and Zy axes, respectively. Using the equations from (1) to (6), the angular rates of three-axis ISP around three pivot axes can be written as ωpx ωry ωbx cos θry − ωbz sin θry + θ_ px ωby + θ_ ry. Erefore, the base coupling torque could be neglected when the base plate works at static status because it does not affect the attitude stabilization precisions of three gimbals. Erefore, the rotational controls around pivot axes of the three-axis ISP could be dominated by the torque motors mounted on three gimbals
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