Mass Imbalance Compensation Control for Stabilized Platform Based on UKF 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

	Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification
	Zhang WM(张伟明)1,2,3,4; Shi ZL(史泽林)1,3,4
	2018
会议日期	June 23-25, 2018
会议地点	Wuhan, CHINA
页码	1-4
英文摘要	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.
产权排序	1
会议录	2018 ASIA CONFERENCE ON MECHANICAL ENGINEERING AND AEROSPACE ENGINEERING (MEAE 2018)
会议录出版者	E D P SCIENCES
会议录出版地	CEDEX A, FRANCE
语种	英语
ISSN号	2261-236X
WOS记录号	WOS:000447832400005
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23427]
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.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
推荐引用方式 GB/T 7714	Zhang WM,Shi ZL. Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification[C]. 见:. Wuhan, CHINA. June 23-25, 2018.