scholarly journals Adaptive fuzzy/proportion integration differentiation (PID) compound control for unbalance torque disturbance rejection of aerial inertially stabilized platform

2016 ◽  
Vol 13 (5) ◽  
pp. 172988141666452 ◽  
Author(s):  
Xiangyang Zhou ◽  
Lingling Li ◽  
Yuan Jia ◽  
Tongtong Cai
Keyword(s):  
Disturbance Rejection ◽  
Adaptive Fuzzy ◽  
Compound Control ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

scholarly journals An Improved Fuzzy Neural Network Compound Control Scheme for Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-15 ◽  
Author(s):  
Xiangyang Zhou ◽  
Yating Li ◽  
Yuan Jia ◽  
Libo Zhao
Keyword(s):  
Disturbance Rejection ◽  
Fuzzy Neural Network ◽  
Variable Universe ◽  
Compound Control ◽  
Sensing Applications ◽  
Control Scheme ◽  
Fuzzy Neural ◽  
Remote Sensing Applications ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

An improved fuzzy neural network (FNN)/proportion integration differentiation (PID) compound control scheme based on variable universe and back-propagation (BP) algorithms is proposed to improve the ability of disturbance rejection of a three-axis inertially stabilized platform (ISP) for aerial remote sensing applications. In the design of improved FNN/PID compound controller, the variable universe method is firstly used for the design of the fuzzy/PID compound controller; then, the BP algorithm is utilized to finely tune the controller parameters online. In this way, the desired performances with good ability of disturbance rejection and high stabilization accuracy are obtained for the aerial ISP. The simulations and experiments are, respectively, carried out to validate the improved FNN/PID compound control method. The results show that the improved FNN/PID compound control scheme has the excellent capability in disturbance rejection, by which the ISP’s stabilization accuracy under dynamic disturbance is improved significantly.

scholarly journals A High-Precision Control Scheme Based on Active Disturbance Rejection Control for a Three-Axis Inertially Stabilized Platform for Aerial Remote Sensing Applications

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Xiangyang Zhou ◽  
Chao Yang ◽  
Beilei Zhao ◽  
Libo Zhao ◽  
Zhuangsheng Zhu
Keyword(s):  
Disturbance Rejection ◽  
Precision Control ◽  
Sensing Applications ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Control Scheme ◽  
Remote Sensing Applications ◽  
Aerial Remote Sensing ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform

This paper presents a high-precision control scheme based on active disturbance rejection control (ADRC) to improve the stabilization accuracy of an inertially stabilized platform (ISP) for aerial remote sensing applications. The ADRC controller is designed to suppress the effects of the disturbance on the stabilization accuracy that consists of a tracking differentiator, a nonlinear state error feedback, and an extended state observer. By the ADRC controller, the effects of both the internal uncertain dynamics and the external multisource disturbances on the system output are compensated as a total disturbance in real time. The disturbance rejection ability of the ADRC is analyzed by simulations. To verify the method, the experiments are conducted. The results show that compared with the conventional PID controller, the ADRC has excellent capability in disturbance rejection, by which the effect of main friction disturbance on the control system can be weakened seriously and the stabilization accuracy of the ISP is improved significantly.

scholarly journals A Model Reference Adaptive Control/PID Compound Scheme on Disturbance Rejection for an Aerial Inertially Stabilized Platform

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Xiangyang Zhou ◽  
Chao Yang ◽  
Tongtong Cai
Keyword(s):  
Adaptive Control ◽  
Disturbance Rejection ◽  
Model Reference Adaptive Control ◽  
Time Varying ◽  
Tracking Accuracy ◽  
Model Reference ◽  
Mass Unbalance ◽  
Stabilized Platform ◽  
Model Reference Adaptive ◽  
Inertially Stabilized Platform

This paper describes a method to suppress the effect of nonlinear and time-varying mass unbalance torque disturbance on the dynamic performances of an aerial inertially stabilized platform (ISP). To improve the tracking accuracy and robustness of the ISP, a compound control scheme based on both of model reference adaptive control (MRAC) and PID control methods is proposed. The dynamic model is first developed which reveals the unbalance torque disturbance with the characteristic of being nonlinear and time-varying. Then, the MRAC/PID compound controller is designed, in which the PID parameters are adaptively adjusted based on the output errors between the reference model and the actual system. In this way, the position errors derived from the prominent unbalance torque disturbance are corrected in real time so that the tracking accuracy is improved. To verify the method, the simulations and experiments are, respectively, carried out. The results show that the compound scheme has good ability in mass unbalance disturbance rejection, by which the system obtains higher stability accuracy compared with the PID method.

The disturbance rejection of magnetically suspended inertially stabilized platform

2016 ◽  
Vol 40 (2) ◽  
pp. 565-577 ◽  
Author(s):  
Qingyuan Guo ◽  
Gang Liu ◽  
Biao Xiang ◽  
Hu Liu ◽  
Tong Wen
Keyword(s):  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Angular Displacement ◽  
External Disturbance ◽  
Magnetic Bearing ◽  
Feedback Compensation ◽  
The Cross ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform ◽  
Disturbance Torque

In a magnetically suspended inertially stabilized platform, the yaw gimbal is suspended by the magnetic bearing, which can effectively isolate the external vibrations and disturbances. However, coupling torques and disturbance torques among gimbals still exist. Therefore, based on the cross feedback compensation, the output angles of gimbals are introduced as feedback variables, and the inverse coordinate transformation matrix is designed to compensate for the coupling torques. Furthermore, a disturbance observer is applied to inhibit the disturbance torque and simulations indicate that the disturbance observer can accurately estimate the disturbance torque. Consequently, the experimental results demonstrate that the cross feedback compensation can inhabit the coupling torques, and the disturbance observer greatly suppresses the external disturbance torques and improves the angular displacement precision of gimbals.

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