Imbalance Torque Observer of Stabilized Platform Design based on EKF Identification

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 光电信息技术研究室

	Imbalance Torque Observer of Stabilized Platform Design based on EKF Identification
	Shi ZL(史泽林)1,3,4 ; Zhang WM(张伟明)1,2,3,4
	2017
会议日期	October 20-22, 2017
会议地点	Xiamen, China
关键词	Mass Imbalance LOS Stabilization Extended Kalman Filter Torque Observer
页码	161-166
英文摘要	Due to the inevitable mass imbalance relative to the gimbal rotation center, the stability of stabilized platform system degrades with carrier’s disturbances. The dynamics model of 2-axis stabilized platform is given. An imbalance torque observer based on Extended Kalman Filter(EKF) method is been designed. The simulation result indicates that the error of EKF parameters estimation is less than 0.015mm after 0.4s convergence time. The observation accuracy is about 17% relative to the real imbalance torque.
产权排序	1
会议录	International Conference on Control Engineering and Mechanical Design (CEMD 2017)
会议录出版者	ASME
会议录出版地	New York
语种	英语
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23788]
专题	沈阳自动化研究所_光电信息技术研究室
通讯作者	Zhang WM(张伟明)
作者单位	1.Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Science, Shenyang 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 4.The Key Lab of Image Understanding and Computer Vision, Shenyang 110016, China
推荐引用方式 GB/T 7714	Shi ZL,Zhang WM. Imbalance Torque Observer of Stabilized Platform Design based on EKF Identification[C]. 见:. Xiamen, China. October 20-22, 2017.