Gimbal torque and coupling torque of six degrees of freedom magnetically suspended yaw gimbal

When the three-axis intertially stabilized platform (ISP) realizes the fast response of yaw gimbal, coupling torques among three gimbals cause negative influence on the attitude stabilization precision of yaw gimbal which supports the imaging payloads. Therefore, the gimbal torque of six degrees of freedom (DOFs) yaw gimbal with the magnetic suspension system is used to compensate coupling toques acting on it in this article. The dynamics models of yaw gimbal and three-axis ISP are developed, and then coupling torques among three gimbals are analyzed, it varies with motion states of the base plate. Moreover, the characteristics about gimbal torque generated by the magnetic suspension system are studied, it can accurately track the control input of magnetic suspension system. Finally, experimental results indicate that the gimbal torque of magnetic suspension system can effectively compensate coupling torques acting on the yaw gimbal, so the attitude stabilization precision of yaw gimbal is improved.