Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal
文献类型：期刊论文
| 作者 | Tang, Tao1,2; Chen, Sisi1,2,3; Huang, Xuanlin1,2,3; Yang, Tao1,2; Qi, Bo1,2 |
| 刊名 | SENSORS
 |
| 出版日期 | 2018-03-01 |
| 卷号 | 18期号:3页码:754 |
| 关键词 | sensor-fusion nonlinear disturbances rate deviation DOB gear-driven |
| ISSN号 | 1424-8220 |
| DOI | 10.3390/s18030754 |
| 文献子类 | J |
| 英文摘要 | High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm. |
| WOS关键词 | BACKLASH ; DESIGN ; OBSERVER ; SYSTEMS |
| 语种 | 英语 |
| WOS记录号 | WOS:000428805300075 |
| 源URL | [http://ir.ioe.ac.cn/handle/181551/9366]  |
| 专题 | 光电技术研究所_光电工程总体研究室（一室） |
| 作者单位 | 1.Institute of Optics and Electronics, Chinese Academy of Science, Chengdu; 610209, China; 2.Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu; 610209, China; 3.Department of Mechanical engineering, University of Chinese Academy of Sciences, Beijing; 100039, China |
| 推荐引用方式 GB/T 7714 | Tang, Tao,Chen, Sisi,Huang, Xuanlin,et al. Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal[J]. SENSORS,2018,18(3):754. |
| APA | Tang, Tao,Chen, Sisi,Huang, Xuanlin,Yang, Tao,&Qi, Bo.(2018).Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal.SENSORS,18(3),754. |
| MLA | Tang, Tao,et al."Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal".SENSORS 18.3(2018):754. |
入库方式： OAI收割
来源：光电技术研究所
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