Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform

doi:10.1109/tie.2018.2831181

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	Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform
	D.Ke; S.Cong; D.J.Kong; H.H.Shen
	2019
发表期刊	Ieee Transactions on Industrial Electronics
ISSN	0278-0046
卷号	66 期号:1 页码:358-367
摘要	This paper studies the practical use of discrete-time direct adaptive control in a high-precision inertially stabilized platform's turbulence isolation system for the purpose of enhancing isolation performance. Under low-frequency and low-velocity environments, the velocity-stabilized loop of the platform shows severe nonlinear characteristic; therefore, its isolation performance is limited. In previous research, we constructed a nonlinear model of the velocity-stabilized loop by using an improved Stribeck friction model, and also designed a feed-forward compensation strategy. Both have obtained outstanding performance during practical experiments. However, errors still exist as disturbance of the unmodeled part and environmental change causes the system's parameter to vary. To solve this, a novel discrete-time direct model reference adaptive control based on nonlinear friction compensation is introduced to the original proportional-integral control system. An improved projection algorithm and a recursive least-square algorithm with fading memory are respectively used to design the adaptive law. By using a turbulence observer to provide a reference signal, both types of controls are applied to the carrier turbulence isolation system. Results of the practical experiments prove that model reference adaptive control can further enhance the system's isolation ability.
关键词	Adaptive control,inertially stabilized platform (ISP),model reference,adaptive control,nonlinear friction,turbulence isolation,systems
DOI	10.1109/tie.2018.2831181
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收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/63294
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	D.Ke,S.Cong,D.J.Kong,et al. Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform[J]. Ieee Transactions on Industrial Electronics,2019,66(1):358-367.
APA	D.Ke,S.Cong,D.J.Kong,&H.H.Shen.(2019).Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform.Ieee Transactions on Industrial Electronics,66(1),358-367.
MLA	D.Ke,et al."Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform".Ieee Transactions on Industrial Electronics 66.1(2019):358-367.

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