Control of Inertially Stabilized Platform Using Disturbance Torque Estimation and Compensation

2016 ◽  
Vol 40 (1) ◽  
pp. 1-8
Author(s):  
Kyungjun Choi ◽  
Mooncheol Won
Keyword(s):  
Torque Estimation ◽  
Stabilized Platform ◽  
Inertially Stabilized Platform ◽  
Disturbance Torque

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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