Feedforward compensation method for three axes inertially stabilized platform imbalance torque

Three axes inertially stabilized platform is used to stabilize the imaging sensor in airborne high-resolution remote sensing system. But due to the existence of mass imbalance in three axes inertially stabilized platform, the imbalance torque is inevitable under the effect of acceleration, which could lead to the decline of platform accuracy and the degeneration of image quality. In order to attenuate the influence of the imbalance torque, an observer-based imbalance torque feed-forward compensation method is proposed. Firstly, an imbalance torque observer is designed to estimate the real-time imbalance torque. Then, through feed-forward compensation, the influence of imbalance torque is restrained. The simulation results show that the platform stable accuracy is dramatically improved, and the effectiveness of the observer-based imbalance torque feed-forward compensation method is obvious.