Robust control of magnetically suspended gimbals in inertial stabilized platform with wide load range

Abstract

Comparing with the normal mechanical inertial stabilized platform (ISP), the novel ISP with magnetic bearing to suspend the yaw gimbal owns the ability of isolating the vibration and disturbance of external gimbal. However, on the one hand, complex structure of the magnetically suspended gimbal introduces parametric uncertainties into modeling of magnetic suspension force, and the disturbance of magnetic fields brings the unmodeled force into dynamics of magnetically suspended gimbal. On the other hand, external disturbances such as wind drag affect the stability of magnetically suspended gimbal. Therefore, H∞robust controllers for translation and tilting of gimbal are designed to dampen the negative influence on stability and improve the robustness of system. The experimental results indicate that the robust controller of magnetically suspended gimbal owns the excellent robustness when the load of magnetically suspended gimbal changes.