Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification
文献类型：会议论文
| 作者 | Zhang WM(张伟明)1,2,3,4 ; Shi ZL(史泽林)1,3,4
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| 出版日期 | 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)
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| 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 |
| 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 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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