Abstract
Comparing with the normal mechanical inertial stabilized platform (ISP), the novel ISP with magnetic bearing to suspend the yaw gimballing owns the ability of isolating the vibration and disturbance of external gimballing. However, on the one hand, complex structure of the magnetically suspended gimballing introduces the parametric uncertainties into modelling of magnetic suspension force, and the disturbance between the magnetic fields brings the un-modeled force into dynamics of magnetically suspended gimballing. On the other hand, the external disturbances such as wind drag affect the stability of magnetically suspended gimballing. Therefore, to weaken the negative influence on stability and improve the robustness of system, the H ∞ robust controllers for translation and tilting of gimballing are designed. The experimental results indicate that the robust controller of magnetically suspended gimballing owns the excellent robustness when the load of magnetically suspended gimballing changes.
Highlights
The inertial stabilized platform (ISP) for remote sensing is promising to be applied in the observation and photography system fixed on the airborne platform and ship-based platform [1][2]
For the mechanical levitation methods between gimballing, which is touched between the external gimballing and internal gimballing, the disturbance of external gimballing possibly transfer from the external gimballing to internal gimballing, so the control precision and stability of yaw gimballing are affected
To provide a stable environment to the yaw gimballing, there were a series of relevant research to improve the robustness of magnetically suspended system, a gain scheduled Hf robust control scheme with free parameters was proposed to eliminate the unbalance vibration in a rotor system supported by magnetic bearings [9]
Summary
The ISP for remote sensing is promising to be applied in the observation and photography system fixed on the airborne platform and ship-based platform [1][2]. Aiming at the difficulty of obtaining the accurate model of magnetic bearing, the robust stabilization of a voltage-controlled three pole active magnetic bearing was considered [11]. Those papers only focused on control of the magnetically suspended rotor with high-speed and light-weight, and the magnetically suspended rotor did not need to bear load. In this paper, considering the parametric uncertainties, external disturbance and change of load, the robust control of magnetically suspended gimballing is designed, and the suspension performance under the situations of different loads is tested
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