Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base

doi:10.3788/OPE.20202806.1344

CIOMP OpenIR

	Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base
	Z.-S. Wang,D.-P. Tian,L. Shi and J.-H. Liu
	2020
发表期刊	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
ISSN	1004924X
卷号	28 期号:6 页码:1344-1352
摘要	By using a gyroscope to directly measure the inertial angular velocity of the load inside a photoelectric platform to construct feedback, stable imaging can be achieved by controlling the inertial angular velocity of light of sight on the moving carrier. The gyroscope strapdown inertial stability control method can be used to construct the feedforward, increase the system bandwidth effectively, and minimize control error. However, there are requirements for the gyroscope installation position. We have proposed an equivalent strapdown stability control method, which satisfies the mechanical installation conditions with direct gyroscope feedback. The method establishes a dynamic model considering the constraints of the mounting base. The model reveals the resonance problem caused by the installation stiffness of the photoelectric platform base. For a pair of resonance and antiresonance, the filter to eliminate resonance based on a stable pole-zero cancellation method was designed. An equivalent strapdown inertial stability loop was constructed with the inertial angular velocity of the frame measured using the gyroscope, and the relative rotation angle of the mechanical frame measured using an encoder. In the loop above, we combined the inner loop interference suppression with the compound control method usingthe inverse model feedforward, which successfully expanded the system bandwidth, improved the tracking precision of the command, and enhanced the isolation performance. The simulation and experimental results show that the proposed method can effectively suppress the resonance of the elastic restraint moment of the mounting base and exhibit better performance than the gyroscope direct feedback control. For tracking a typical sinusoidal angular velocity command with an amplitude of 1 ()/s and a frequency of 1 Hz, the root mean square error of the system decreased from 1.75 to 0.23 ()/s, and the disturbance isolation decreased from 18% to 2%. 2020, Science Press. All right reserved.
DOI	10.3788/OPE.20202806.1344
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收录类别	EI
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文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/64500
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	Z.-S. Wang,D.-P. Tian,L. Shi and J.-H. Liu. Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2020,28(6):1344-1352.
APA	Z.-S. Wang,D.-P. Tian,L. Shi and J.-H. Liu.(2020).Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,28(6),1344-1352.
MLA	Z.-S. Wang,D.-P. Tian,L. Shi and J.-H. Liu."Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 28.6(2020):1344-1352.

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