• Optics and Precision Engineering
  • Vol. 28, Issue 6, 1344 (2020)
WANG Zhong-shi1,2,3, TIAN Da-peng1,3,*, SHI Lei1,3, and LIU Jing-hong1,3
Author Affiliations
  • 1[in Chinese]
  • 2[in Chinese]
  • 3[in Chinese]
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    DOI: 10.3788/ope.20202806.1344 Cite this Article
    WANG Zhong-shi, TIAN Da-peng, SHI Lei, LIU Jing-hong. Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base[J]. Optics and Precision Engineering, 2020, 28(6): 1344 Copy Citation Text show less

    Abstract

    By using a gyroscope to directly measure the inertial angular velocity of the load inside a photoelectric platform to construct feedback, stable imaging can be achieved by controlling the inertial angular velocity of light of sight on the moving carrier. The gyroscope strapdown inertial stability control method can be used to construct the feedforward, increase the system bandwidth effectively, and minimize control error. However, there are requirements for the gyroscope installation position. We have proposed an equivalent strapdown stability control method, which satisfies the mechanical installation conditions with direct gyroscope feedback. The method establishes a dynamic model considering the constraints of the mounting base. The model reveals the resonance problem caused by the installation stiffness of the photoelectric platform base. For a pair of resonance and antiresonance, the filter to eliminate resonance based on a stable pole-zero cancellation method was designed. An equivalent strapdown inertial stability loop was constructed with the inertial angular velocity of the frame measured using the gyroscope, and the relative rotation angle of the mechanical frame measured using an encoder. In the loop above, we combined the inner loop interference suppression with the compound control method usingthe inverse model feedforward, which successfully expanded the system bandwidth, improved the tracking precision of the command, and enhanced the isolation performance. The simulation and experimental results show that the proposed method can effectively suppress the resonance of the elastic restraint moment of the mounting base and exhibit better performance than the gyroscope direct feedback control. For tracking a typical sinusoidal angular velocity command with an amplitude of 1 (°)/s and a frequency of 1 Hz, the root mean square error of the system decreased from 1.75 to 0.23 (°)/s, and the disturbance isolation decreased from 18% to 2%.
    WANG Zhong-shi, TIAN Da-peng, SHI Lei, LIU Jing-hong. Equivalent strapdown inertial stability control of photoelectric platform considering the effect of mounting base[J]. Optics and Precision Engineering, 2020, 28(6): 1344
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