Abstract
A compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme that is composed of a high-bandwidth rate loop and a lower bandwidth position loop, a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation from power supply and motor back electromotive force (BEMF) on control precision. In this way, the stabilization accuracy of the ISP is greatly improved. The rate loop, which is the middle one, is used to improve sensor’s stability precision through compensating for various disturbances. To ensure the pointing accuracy of the line of sight (LOS) of multi-sensors, the position loop is designed to be the outer one and acts as the main feedback path, by which the accurate pointing angular position is achieved. To validate the scheme, a series of experiments were carried out. The results show that the proposed compound control scheme can achieve reliable control precision and satisfy the requirements of real APLI tasks.
Highlights
The electric power distribution system is an important part of electrical power systems for delivering electricity to consumers [1]
In the dual closed-loop scheme, the disturbances caused by voltage fluctuation from power supply and motor back electromotive force (BEMF) are not compensated by an effective closed-loop, which can influence the stabilization accuracy of inertially stabilized platform (ISP)
In the design of control scheme of two-axis ISP, the disturbances of motor unstable armature current caused by voltage fluctuation and BEMF should be compensated on the basis of dual closed-loop scheme
Summary
The electric power distribution system is an important part of electrical power systems for delivering electricity to consumers [1]. In the dual closed-loop scheme, the disturbances caused by voltage fluctuation from power supply and motor back electromotive force (BEMF) are not compensated by an effective closed-loop, which can influence the stabilization accuracy of ISP. In the design of control scheme of two-axis ISP, the disturbances of motor unstable armature current caused by voltage fluctuation and BEMF should be compensated on the basis of dual closed-loop scheme. To reduce the influences of voltage fluctuation of power supply and motor BEMF on the stabilization accuracy of a two-axis ISP, on the basis of dual closed-loop PID control scheme, a specialized current feedback closed-loop is introduced to improve the dynamic and static performance. 16, 366 of rate Sensors loop.2016, Together with original dual closed-loops, a compound control scheme is configured Through this scheme, the linearity of control torque is improved. Together with original dual closed-loops, a compound control scheme is serial experiments arethis carried out the to alinearity two-axisofISP for APLI
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
