Low-frequency resonance suppression in stabilized loop of inertially stabilized platforms

Abstract

In this article, an additional feedback control using the speed difference between the motor and load is proposed to suppress the mechanical resonance in the flexible framework of inertially stabilized platforms. The disadvantages of the classic control scheme of the stabilized loop about the disturbance and resonance suppression are analyzed. In order to damp the torsional vibration effectively, two kinds of additional feedbacks based on the inner motor speed loop are used. The control parameters are given by analytical equations; the disturbance and resonance suppression performance of the stabilized loop with additional feedbacks are comparatively analyzed. Finally, experimental verification is performed on the proposed control algorithms, and the additional feedback signal which is added on the feedback channel of the inner motor speed loop exhibits its superiority in the resonance and disturbance suppression.