Imbalance torque compensation for three-axis inertially stabilized platform using acceleration feedforward

Mu, Quanqi; Liu, Gang; Zhong, Maiying; Chu, Zhongyi

doi:10.1109/isict.2012.6291627

Cited by 13 publications

(8 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…According to the typical photo flight situation, the dynamic rotation range of the base plate is within ±5 ∘ . Furthermore, the aircraft angular rate is less than 10 ∘ /s under typical aircraft photo flight frequency spectrum (≤0.5 Hz) [6,8], so the coupling torque among gimbals and the comprehensive influence from the base plate to each gimbal can be ignored [4,22]. Therefore, the controller for gimbal can be designed separately.…”

Section: Working Principle Of the Msispmentioning

confidence: 99%

“…As the middle mechanism between aircraft and remote sensing payload, inertially stabilized platform (ISP) supports the payload, isolates aircraft movements (angular motion and linear motion), and holds the line-of-sight (LOS) of the payload vertically steady relative to earth [1][2][3][4][5]. It plays an important role in the remote sensing image quality.…”

Section: Introductionmentioning

confidence: 99%

“…(2) Control methods based on disturbance compensation, attenuation, and rejection; feed-forward control, disturbance observer based control, and ∞ -based control, the typical literatures are listed as follows. Literature [3,4] presented an acceleration feed-forward method to compensate for the disturbing torque caused by the linear acceleration of the carrier. But the signal of the accelerometer may be easily distorted by centripetal acceleration.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A RBFNN-Based Adaptive Disturbance Compensation Approach Applied to Magnetic Suspension Inertially Stabilized Platform

Liu

Lei

2014

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

Compared with traditional mechanical inertially stabilized platform (ISP), magnetic suspension ISP (MSISP) can absorb high frequency vibrations via a magnetic suspension bearing system with five degrees of freedom between azimuth and pitch gimbals. However, force acting between rotor and stator will introduce coupling torque to roll and pitch gimbals. Since the disturbance of magnetic bearings has strong nonlinearity, classic state feedback control algorithm cannot bring higher precision control for MSISP. In order to enhance the control accuracy for MSISP, a disturbance compensator based on radial basis function neural network (RBFNN) is developed to compensate for the disturbance. Using the Lyapunov theorem, the weighting matrix of RBFNN can be updated online. Therefore, the RBFNN can be constructed without priori training. At last, simulations and experiment results validate that the compensation method proposed in this paper can improve ISP accuracy significantly.

show abstract

Section: Working Principle Of the Msispmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A RBFNN-Based Adaptive Disturbance Compensation Approach Applied to Magnetic Suspension Inertially Stabilized Platform

Liu

Lei

2014

Mathematical Problems in Engineering

Self Cite

View full text Add to dashboard Cite

show abstract

“…In [5], the model uncertainties and unmeasurable disturbances existing objectively are solved by introducing internal model control for a two-axis ISP system. In [6], an approach to compensate disturbing torque based on acceleration feedforward for the three-axis ISP is proposed. In [7], a parameter identification method for LuGre model based on multilevel coordinate search algorithm was presented.…”

Section: Introductionmentioning

confidence: 99%

A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

et al. 2018

View full text Add to dashboard Cite

This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

show abstract

“…In [16], a robust adaptive output feedback controller is applied to a cart-crane system. In [17], an acceleration–based feedforward approach is proposed to realize imbalance torque compensation of a three-axis ISP. In [18], a model-based feedforward compensation approach is applied to a rotary table system.…”

Section: Introductionmentioning

confidence: 99%

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

Zhou

Yuan

Zhao

et al. 2016

Sensors

View full text Add to dashboard Cite

A compound control scheme is proposed to achieve high control performance for a two-axis inertially stabilized platform (ISP) with multi-sensors applied to an unmanned helicopter (UH)-based airborne power line inspection (APLI) system. Compared with the traditional two closed-loop control scheme that is composed of a high-bandwidth rate loop and a lower bandwidth position loop, a new current loop inside rate loop is particularly designed to suppress the influences of voltage fluctuation from power supply and motor back electromotive force (BEMF) on control precision. In this way, the stabilization accuracy of the ISP is greatly improved. The rate loop, which is the middle one, is used to improve sensor’s stability precision through compensating for various disturbances. To ensure the pointing accuracy of the line of sight (LOS) of multi-sensors, the position loop is designed to be the outer one and acts as the main feedback path, by which the accurate pointing angular position is achieved. To validate the scheme, a series of experiments were carried out. The results show that the proposed compound control scheme can achieve reliable control precision and satisfy the requirements of real APLI tasks.

show abstract

Imbalance torque compensation for three-axis inertially stabilized platform using acceleration feedforward

Cited by 13 publications

References 3 publications

A RBFNN-Based Adaptive Disturbance Compensation Approach Applied to Magnetic Suspension Inertially Stabilized Platform

A RBFNN-Based Adaptive Disturbance Compensation Approach Applied to Magnetic Suspension Inertially Stabilized Platform

A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

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

Contact Info

Product

Resources

About