Abstract
The dynamics model used for inertially or strapdown inertially stabilized platforms is based on the rotor and motor load, and it either does not consider the stator or it implicitly assumes a fixed stator. It has been determined that vibrations occur in the system when a controller is used in strapdown inertially stabilized platforms with a light base support. As the system is also affected by multi-source disturbances, which are the main factors that affect the control accuracy. For the above two problems, this paper originally establishes a multi-body dynamics model including the controller. The composite controller not only suppresses the vibration successfully, but also greatly improves the disturbance compensation and tracking performance of the strapdown inertially stabilized platforms. Specifically, a modified feedback controller is used to suppress the vibrations analyzed according to the dynamics model. The friction feedforward and residual disturbance observer facilitates the design of compound disturbance compensation on the basis of composite hierarchical anti-disturbance control. To emphasize the advantages of strapdown inertially stabilized platforms, the feedforward controller employs feedforward angular velocity and acceleration. The results of the numerical analysis and experiments indicate that vibrations are successfully suppressed and tracking accuracy and disturbance isolation ability are improved.
Highlights
Stabilized platforms (ISPs) are installed on moving carriers, such as aircraft and ships.Inertially stabilized platforms (ISPs) provide stable direction for the photoelectric equipment inside the platform in inertial space.They are used extensively in airborne remote sensing, photoelectric detection, target tracking, navigation, and optical communication [1]
The compound disturbance compensation controller consists of two parts: a feedforward compensation part, which is based on the major disturbance model, and a residual disturbance observer based on the nonlinear disturbance observer (NDOB)
On the basis of suppressing the vibration and composite anti-disturbance control, to emphasize the structural advantages of the strapdown inertially stabilized platform (SISP) and to improve the control system dynamic performance, the angular velocity and acceleration feedforward controller is designed based on the idea of perfect tracking control
Summary
Stabilized platforms (ISPs) are installed on moving carriers, such as aircraft and ships. To solve the multi-source disturbance and vibration problem, we first consider the motor stator (platform base), motor rotor, and load as three rigid bodies and establish a multi-body dynamics model by the Euler method, which is commonly used in robotics [28,29]. This model can describe the interaction of the system better. (b) To suppress the vibration, compensate the multi-source disturbances, and to achieve high performance, the composite controller is designed by three components based on the idea of triple-step control.
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