Abstract
Mechanical vibrations in low-frequency resonance and harmonic modes severely affect the closed-loop performance of inertially stabilized platforms (ISPs). This article proposes a new vibration control scheme capable of suppressing low-frequency vibration with large amplitude and harmonic disturbances in application to an ISP. Concretely, we first design an optimized repetitive control (ORC) framework with a plug-in optimization function, where the ORC retains the suppression effect of vibration in tip-tilt modes and mitigates the waterbed effect. To enhance vibration suppression, by introducing the ORC-based inner calibration network (ICN), a modified ADRC framework with the reduced-order extended state observer (ESO) design is established. Subsequently, substantial comparison experiments have been verified on an ISP to evaluate the superiorities of the proposed method, and the experiment results verify the effectiveness of the hybrid vibration control method, attenuating vibration in resonance mode to −51.94 dB.
Published Version
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