A Control Method of Gyro Stabilized Platform Based on Dynamic Position Loop

This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.

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A Dynamic Model and Control Method for a Two-Axis Inertially Stabilized Platform

IEEE Transactions on Industrial Electronics ◽

10.1109/tie.2016.2608322 ◽

2017 ◽

Vol 64 (1) ◽

pp. 432-439 ◽

Cited By ~ 25

Author(s):

Fei Dong ◽

Xusheng Lei ◽

Wusheng Chou

Keyword(s):

Dynamic Model ◽

Control Method ◽

Stabilized Platform ◽

And Control ◽

Inertially Stabilized Platform

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Design and Realization of Two-Axis Horizontal Stabilized Platform Based on Self-Correction Control Method

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.152-154.1276 ◽

2012 ◽

Vol 152-154 ◽

pp. 1276-1280

Author(s):

Chang Song Qi ◽

Hong Jun Pan ◽

Yan Le Wang

Keyword(s):

Real Time ◽

Control Method ◽

The Self ◽

Zero Drift ◽

System Error ◽

The Real ◽

Stabilized Platform ◽

Platform System ◽

Horizontal Stabilization ◽

The Way

To enhance the accuracy of stabilization, this paper presents a design of two-axis horizontal stabilization platform system, which is based on the combination of gyroscope and inclinometer sensors. The self-correction control method is put forward to solve the system error caused by gyroscope zero drift in traditional gyro stabilized platform, which works in the way of revising the gyroscope zero coefficient, according to the real-time attitude information feed backed by inclinometer sensors fixed in objective platform.

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Research on the Composite Control Scheme for the Stabilized Loop of Inertial Stabilized Platform

Key Engineering Materials ◽

10.4028/www.scientific.net/kem.621.209 ◽

2014 ◽

Vol 621 ◽

pp. 209-214

Author(s):

Hong Bo Liao ◽

Shi Xun Fan ◽

Mo Hei ◽

Da Peng Fan

Keyword(s):

Control Structure ◽

Control Method ◽

Friction Torque ◽

Experimental Setup ◽

Sensor Noise ◽

Composite Control ◽

Control Scheme ◽

Stabilized Platform ◽

Composite Control Scheme ◽

Peak Value

A composite control scheme is proposed to solve the problems of friction toque and carrier disturbance lag in the stabilized loop of inertial stabilized platform. Based on analysis of composite control structure, the performance of single rate loop, double rate loop and composite control in the inhibition of carrier disturbance, friction torque and sensor noise are compared. In order to further verify the composite control method, an experimental setup is built. The experimental results show that: when the disturbance is 1deg-1Hz sinusoidal signal, the peak value of residual error of the single rate loop is 0.055 deg, the double rate loop is 0.031deg, and the composite control is the 0.0188deg, so the performance of isolation carrier disturbance of platform is effectively improved.

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MIMO Fuzzy Sliding Mode Control for Three-Axis Inertially Stabilized Platform

Sensors ◽

10.3390/s19071658 ◽

2019 ◽

Vol 19 (7) ◽

pp. 1658 ◽

Cited By ~ 3

Author(s):

Zhanmin Zhou ◽

Bao Zhang ◽

Dapeng Mao

Keyword(s):

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Stability And Convergence ◽

Tracking Accuracy ◽

Fuzzy Sliding Mode Control ◽

Mode Control ◽

Fuzzy Sliding Mode ◽

Stabilized Platform ◽

Inertially Stabilized Platform

In this paper, a MIMO (Multi-Input Multi-Output) fuzzy sliding mode control method is proposed for a three-axis inertially stabilized platform. This method is based on the MIMO coupling model of the three-axis inertially stabilized platform in which the dynamic coupling among the three frames, namely the azimuth frame, the pitch frame and the roll frame, is fully considered. Firstly, the dynamic equation of the three-axis inertially stabilized platform is analyzed and its linearized model is obtained. After this, the controller is designed based on the model, during which fuzzy logic is introduced to deal with the frame coupling and the adaptive fuzzy coupling compensation factor is designed to be part of the algorithm. A complete proof of the stability and convergence is also provided in this paper. Finally, the performance of the platform with a MIMO fuzzy sliding mode controller and PI controller is analyzed. The simulation results show that the proposed scheme can guarantee tracking accuracy and effectively suppress the coupling interference between the three frames.

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Dynamic Modeling and Nonlinear Decoupling Control of Inertial Stabilized Platform for Aerial Remote Sensing System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.898.807 ◽

2014 ◽

Vol 898 ◽

pp. 807-813 ◽

Cited By ~ 2

Author(s):

Rui Yin ◽

Rui Wang ◽

Xiang Yang Zhou ◽

Xiang Yang Peng ◽

Ke Wang

Keyword(s):

Remote Sensing ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Decoupling Control ◽

Analytical Mechanics ◽

Sensing System ◽

Mode Control ◽

Aerial Remote Sensing ◽

Stabilized Platform

The mutual coupling between the motion of three frames exists when inertial stabilized platform (ISP) for aerial remote sensing system is working, due to the mechanical character of the stabilized platform. Based on Lagrange mechanics and starting from analytical mechanics, a kinetics model of inertial stabilized platform is developed for analyzing the complex coupling relation. On the basis of the model, a nonlinear decoupling control method using sliding mode control (SMC) is designed for rolling and pitching frames after coupling moment being taken for external disturbance. While, for azimuth frame, which can not directly adopt sliding mode control method, a novel method of introducing a judgment factor and combining SMC and PID is provided. Compared with PID method, the simulation results show that the overshoot of the system is reduced obviously and the decoupling effect is better. Results obtained will be a theoretical foundation for the further study of inertial stabilized platform, and guarantee high precision to stabilized platform system.

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Toolface Control Method for a Dynamic Point-the-Bit Rotary Steerable Drilling System

Energies ◽

10.3390/en12101831 ◽

2019 ◽

Vol 12 (10) ◽

pp. 1831 ◽

Cited By ~ 2

Author(s):

Weiliang Wang ◽

Yanfeng Geng ◽

Ning Wang ◽

Xiaojiao Pu ◽

Joice de Oliveira Fiaux

Keyword(s):

Disturbance Rejection ◽

Control Method ◽

Dynamic Stiffness ◽

Parameter Uncertainties ◽

External Disturbances ◽

Disturbance Rejection Control ◽

High Dynamic ◽

Speed Estimator ◽

Stabilized Platform ◽

Drilling Conditions

In the dynamic point-the-bit rotary steerable system (DPRSS), a high dynamic stiffness toolface control method is desired to ensure the stabilized platform traces the directional command accurately and quickly. A three-loop compound toolface control method using the Model-based Active Disturbance Rejection Control (MADRC) algorithm is presented, and a load torque estimator and an outer housing speed estimator are designed based on system model to obtain the external disturbances. The proposed toolface control method was verified by numerical simulation and DPRSS prototype testing, and its speed loop frequency responses are analyzed. The results reveal that this method is effective in disturbance rejection and robust against parameter uncertainties, and the MADRC shows better performance compared with the conventional ADRC and the proportional-integral (PI) controller. The proposed method has the potential to be used in harsh drilling conditions.

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Controller Design for Three-Axis Stabilized Platform Using Adaptive Global Fast Terminal Sliding Mode Control with Non-Linear Differentiator

Energies ◽

10.3390/en14206532 ◽

2021 ◽

Vol 14 (20) ◽

pp. 6532

Author(s):

Wenlong Feng ◽

Xiangyin Zhang

Keyword(s):

Neural Network ◽

Sliding Mode Control ◽

Control Method ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

Mode Control ◽

Fast Terminal Sliding Mode ◽

The Stability ◽

Stabilized Platform

A neural network-based global fast terminal sliding mode control method with non-linear differentiator (NNFTSMC) is proposed in this paper to design the dynamic control system for three-axis stabilized platform. The dynamic model of the three-axis stabilized platform is established with various uncertainties and unknown external disturbances. To overcome the external disturbance and reduce the output chatter of the classical sliding mode control (SMC) system, the improved global fast terminal sliding mode control method using the nonlinear differentiator and neural network techniques is proposed and implemented in the three-axis stabilized platform system. The global fast terminal sliding mode controller can make the controlled state approach to the sliding surface in a finite time. To eliminate the system output chatter, the nonlinear differentiator is employed to obtain the differentiation of the signal. The neural network is introduced to estimate the uncertainties disturbances to improve the stability and the robustness of the control system. The stability and the robustness of the proposed control method are analyzed using the Lyapunov theory. The performance of the proposed NNFTSMC method is verified and compared with the classical proportion-integral-differential (PID) controller, SMC controller and fast terminal sliding mode controller (FTSMC) through the computer simulation. Results validate the effectiveness and robustness of the proposed NNFTSMC method in presence of uncertainties and unknown external disturbances.

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