Control Parameters Optimization Based on Co-Simulation of a Mechatronic System for an UA-Based Two-Axis Inertially Stabilized Platform

Abstract

This paper presents a method based on co-simulation of a mechatronic system to optimize the control parameters of a two-axis inertially stabilized platform system (ISP) applied in an unmanned airship (UA), by which high control performance and reliability of the ISP system are achieved. First, a three-dimensional structural model of the ISP is built by using the three-dimensional parametric CAD software SOLIDWORKS®; then, to analyze the system’s kinematic and dynamic characteristics under operating conditions, dynamics modeling is conducted by using the multi-body dynamics software ADAMS™, thus the main dynamic parameters such as displacement, velocity, acceleration and reaction curve are obtained, respectively, through simulation analysis. Then, those dynamic parameters were input into the established MATLAB® SIMULINK® controller to simulate and test the performance of the control system. By these means, the ISP control parameters are optimized. To verify the methods, experiments were carried out by applying the optimized parameters to the control system of a two-axis ISP. The results show that the co-simulation by using virtual prototyping (VP) is effective to obtain optimized ISP control parameters, eventually leading to high ISP control performance.

Design of Mechatronic System for a Two-Axis Inertially Stabilized Platform in an APLI System

“…Conventional stabilization techniques employ rate gyros, rate integrating gyros, or rate sensors to detect angular rate disturbances of the LOS [2]. The blocks of G-pos, G-spe and G-cur separately represent the controllers in the position loop, speed loop and current loop; the PWM block represents the power amplification used for amplifying current to drive the torque motor; L represents the inductance of a torque motor and R represents the resistance; Kt represents the torque coefficient of the motor and N is the transition ratio from the torque motor to the gimbals; Jm represents the moment of inertia of the motor and Jl represents the moment of inertia of the gimbals along the rotation axis [3]. …”

“…Fig .2 shows three-dimensional CAD structural model of two-axis ISP. The model is a compromise result between series of conflicting requirements [3], such as small size and heavy load capacity, light weight and high stiffness, etc., which has to experience appropriate modifications to realize optimization through adjusting parameters. It can been seen that the two-axis ISP is mainly made up of five sub-systems, i.e., shaft supporting load system, gimbal structure system, control system, inertial measurement system and drive-transmission system, by which the main function of disturbances rejection could be realized in realtime.…”

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

“…[1][2][3][4][5] In an aerial remote sensing system, the LOS of sensors must track accurately a fixed or moving target from an aircraft platform. Due to the effects of internal and external disturbances of the aircraft platform on the LOS, the imaging quality is seriously degenerated.…”

Experimental Validation of a Compound Control Scheme for a Two-Axis Inertially Stabilized Platform with Multi-Sensors in an Unmanned Helicopter-Based Airborne Power Line Inspection System

“…In comparison to the foot patrol inspection, inspection by helicopter is more efficient [6]. In recent years, due to their potential applications in different fields, great interest in the utilization of unmanned aerial vehicles (UAVs) has arisen [7]. As a new method, UAV-based power line inspection utilizes modern flight control techniques, image photography and recognition techniques to carry out fast inspections from high altitude and over far distances [8].…”

“…A two-axis ISP with high control performance, which is used to support and stabilize the multiple sensors so that the sensors’ line of sight (LOS) can track the APLI target accurately in real time, is indispensable for an APLI system [7]. The control task for such an ISP is to keep the LOS (optical axis) of the optical or optoelectronic payload still, even in the presence of some unwanted rotational motion of the carrier [12].…”