| Issue |
MATEC Web Conf.
Volume 198, 2018
2018 Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)
|
|
|---|---|---|
| Article Number | 01005 | |
| Number of page(s) | 4 | |
| Section | Power Machinery and System Analysis | |
| DOI | https://doi.org/10.1051/matecconf/201819801005 | |
| Published online | 12 September 2018 | |
Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification
1
Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2
University of Chinese Academy of Sciences, Beijing. 100049, China
3
Key Laboratory of Opto-Electronic Information Processing CAS, Shenyang, 110016, China
4
The Key Lab of Image Understanding and Computer Vision, Liaoning Province, Shenyang, 110016, China
Due to the mass imbalance about the center of rotation, the stability of stabilized platform system degrades with carrier’s disturbances. Various feed-forward control methods are provided by reaserchers to solve this problem, however these methods are not well applied because the eccentricity of stabilized platform could not be measured directly. The dynamics model of a typical 2-axis stabilized platform is given. The eccentricity vector is identified through Unscented Kalman Filter(UKF) algorithm. Imbalance torque is precisely observed so that the real-time nonlinear compensation for mass imbalance is achieved through a feed-forward loop. The simulation result indicates that the Root Mean Squared Error (RMSE) of parameters estimation is 0.024 after convergence. the LOS stabilization with carrier’s 2.5Hz vibration is 0.04 rad/s, which improves 78% compared to conventional feed-back control.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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