Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics

doi:10.3390/app10207175

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	Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics
	Z. S. Wang,D. P. Tian,L. Shi and J. H. Liu
	2020
发表期刊	Applied Sciences-Basel
卷号	10 期号:20 页码:24
摘要	The dynamics model used for inertially or strapdown inertially stabilized platforms is based on the rotor and motor load, and it either does not consider the stator or it implicitly assumes a fixed stator. It has been determined that vibrations occur in the system when a controller is used in strapdown inertially stabilized platforms with a light base support. As the system is also affected by multi-source disturbances, which are the main factors that affect the control accuracy. For the above two problems, this paper originally establishes a multi-body dynamics model including the controller. The composite controller not only suppresses the vibration successfully, but also greatly improves the disturbance compensation and tracking performance of the strapdown inertially stabilized platforms. Specifically, a modified feedback controller is used to suppress the vibrations analyzed according to the dynamics model. The friction feedforward and residual disturbance observer facilitates the design of compound disturbance compensation on the basis of composite hierarchical anti-disturbance control. To emphasize the advantages of strapdown inertially stabilized platforms, the feedforward controller employs feedforward angular velocity and acceleration. The results of the numerical analysis and experiments indicate that vibrations are successfully suppressed and tracking accuracy and disturbance isolation ability are improved.
DOI	10.3390/app10207175
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收录类别	SCI
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/181722/64704
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. Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics[J]. Applied Sciences-Basel,2020,10(20):24.
APA	Z. S. Wang,D. P. Tian,L. Shi and J. H. Liu.(2020).Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics.Applied Sciences-Basel,10(20),24.
MLA	Z. S. Wang,D. P. Tian,L. Shi and J. H. Liu."Multi-Body Dynamics Modeling and Control for Strapdown Inertially Stabilized Platforms Considering Light Base Support Characteristics".Applied Sciences-Basel 10.20(2020):24.

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