Acceleration-based mass imbalance feedforward compensation for inertial stabilized platform

Abstract

Focusing on the disturbance rejection for Inertial Stabilized Platform (ISP), an accelerationbased feedforward compensation method is proposed. The model of mass imbalance is established, through analyzing the relationships among the mass imbalance, the friction, the current of motor, and the attitude of gimbal. Then, the feedforward compensation controller is built for ISP using the data of accelerations acting on the ISP. It could estimate and compensate the mass imbalance torque of ISP in real time. The numerical simulations and vehicle experiments demonstrate the effectiveness of the designed controller. Compared to the traditional Proportion Integration Differentiation (PID) controller without feedforward compensation, the performance of ISP is significantly improved by the proposed compensation method in the presence of similar disturbances.

A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

“…The traditional scheme in which imaging payloads, centralized POS and ISP, are designed independently and assembled separately requires the special installation space for POS to be reserved in or besides the imaging payloads, increasing the difficulty in designing imaging payloads independently [15]. Moreover, the gravity center of imaging payloads and POS supported by ISP changes when different types of centralized POS are adopted which introduces eccentric torque, and the torque is not easy to be eliminated by balance weight [16][17][18]. As a result, the control precision of the ISP system declines in dynamic situations.…”

Realization of stabilization using feed-forward and feedback controller composition method for a mobile robot

“…Also feedforward compensation method for Inertial Stabilized Platform was proposed in [14]. The studies mainly concern the robot's inclination or its rate.…”