Control of Inertial Stabilization Systems Using （控制惯性稳定系统使用）.pdfVIP

Control of Inertial Stabilization Systems Using Robust Inverse Dynamics Control and Adaptive Control Prasatporn Wongkamchang, Viboon Sangveraphunsiri Department of Mechanical Engineering, Chulalongkorn University, Bangkok 10330, Thailand. Email: viboon.s@eng.chula.ac.th Abstract This paper presents an advanced controller design for an Inertial stabilization system. The system has a 2-DOF gimbal which will be attached to an aviation vehicle. Due to dynamics modeling errors, and friction and disturbances from the outside environment, the tracking accuracy of an airborne gimbal may severely degrade. So, an advanced controller is needed. Robust inverse dynamics control and the adaptive control are used in the inner loop or gimbal servo-system to control the gimbal motion. An indirect line of sight (LOS) stabilization will be controlled by the outer loop controller. A stabilizer is mounted on the base of the system to measure base rate and orientation of the gimbal in reference to the fixed reference frame. It can withstand high angular slew rates. The experimental results illustrate that the proposed controllers are capable enough to overcome the disturbances and the impact of LOS disturbances on the tracking performance. Keywords: Inertial Stabilization, Gimbal 1. Introduction moving platform will induce acceleration, Surveying of forest resources, and flood or friction forces and forces due to mass imbalance, other surveys by air must have either a forester these effects will be classified as disturbances to and a