Modeling and Simulation of Wire-wound Friction of Compact Inertially Stabilized Platforms

Wang, Yutang; Tian, Dapeng; Dai, Ming; Shen, Honghai; Jia, Ping

doi:10.1109/icma.2018.8484474

Cited by 1 publication

(1 citation statement)

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“…The ISIS isolates nonideal angle disturbances and maintains the line of sight (LOS) of stabilized optical sensors [3]. It is generally affected by disturbance factors, including internal disturbances caused by mass imbalance torque [4], friction torque [5], and cable restraint torque [6], and by external disturbances caused by carrier motion or vibration. Moreover, when environment change occurs, system parameters vary.…”

Section: Introductionmentioning

confidence: 99%

Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor

Che

Tian

Jia

et al. 2020

Sensors

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High-performance control of inertial stabilization imaging sensors (ISISs) is always challenging because of the complex nonlinearities induced by friction, mass imbalance, and external disturbances. To overcome this problem, a terminal sliding mode controller (TSMC) based on a novel exponential reaching law (NERL) method with a high-order terminal sliding mode observer (HOTSMO) is suggested. First, the TSMC based on NERL is adopted to improve system performance. The NERL incorporates the power term and switching gain term of the system state variables into the conventional exponential reaching law, and the convergent speed of the TSMC is accelerated. Then, an HOTSMO is designed, which considers the speed and lumped disturbances of the system as the observation object. The estimated disturbance is then provided as a compensation for the controller, which enhances the disturbance rejection ability of the system. Comparative simulation and experimental results show that the proposed method achieves the best tracking performance and the strongest robustness than PID and the traditional TSMC methods.

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Section: Introductionmentioning

confidence: 99%