Image-Based Pointing and Tracking for Inertially Stabilized Airborne Camera Platform

Customary disturbance rejection in the photoelectrical platform is “passive,” which makes it difficult to further improve the isolation degree owning to the strict restriction of mechanical resonance frequency. In this paper, a booting-type ADRC is proposed, whose disturbance estimation process is guided by target value to reduce the overshoot and lag in the estimated value of disturbance. All kinds of disturbance in the system are modeled in a unified way by using the equivalent disturbance voltage to avoid the complex modeling process. Based on the simplified model, extended state observer (ESO) is designed to realize a real-time estimation of the disturbance. Then, the disturbance compensation is added to generate the final control value by combining the customary square lead-lag controller. Experiments are implemented to test the proposed control strategy by mounting the photoelectrical platform on a flight simulator and generating a motion perturbation. Compared with the case of only traditional lead-lag controller, the isolation degree of disturbance is enhanced obviously. And the experiments also illustrate strong robustness of ADRC.

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“…is the disturbance torque including friction torque, mass unbalance torque, and moment of wind resistance. From (1) and 2, there are…”

Section: Modeling and Simplification Of The Airborne Photoelectrical mentioning

confidence: 99%

“…Photoelectrical stabilized platform is widely used in aeronautic and astronautic imaging systems [1][2][3]. This platform effectively isolates the disturbance of angular motion of the aerial vehicle and guarantees the direction of the axis-ofsight stable in the inertial space [4].…”

Section: Introductionmentioning

confidence: 99%

The Booting-Type ADRC of Airborne Photoelectrical Platform

Bao

Shen

et al. 2014

Mathematical Problems in Engineering

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“…The research is mainly focused on developing an analytical ISP model as a function of moment of inertia, motor drive, and gyro performance to measure the disturbances for stabilization and tracking purposes. The simulations from the gimbal, motor, and feedback control systems maintain the LOS for tracking purposes [7,8].…”

Section: Introductionmentioning

confidence: 99%

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

Jia

Nandikolla

Haggart

et al. 2017

Journal of Nonlinear Dynamics

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The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.

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“…The inertial stabilized platform (ISP) for remote sensing is promising to be applied in the observation and photography system of the airborne platform and the ship-based platform [1,2] , and it is fixed between the camera and flying carrier to provide the stable surrounding to camera by isolating disturbances such as random vibration of frames and wind drag [3][4][5] . Usually, loads (include positioning and orientation system and camera) are installed on the yaw gimbal, so stability and control precision of yaw gimbal are critical to the imaging quality [6] .…”

Section: Introductionmentioning

confidence: 99%