Parameter identification of friction model on inertially stabilized platform for aerial remote sensing application

In order to acquire high control precision of a three-axis inertially stabilized platform (ISP) applied in aerial remote sensing system, a method for friction parameter identification on the LuGre friction model is put forward. First, a LuGre model suitable to a three-axis ISP control system is developed based on the analysis on sine-waveform response. Then, a two-step and dynamic parameter optimization method is used to identify the friction parameters of three different frames of ISP. At last, the identification experiments are carried out to validate the method. The results show that the curves of simulated angular velocity and angular position are significantly agree with those of the experimental measurements, which illuminates that the method can accurately get the parameters of friction model of any ISP gimbals. In addition, the experiments of friction compensation are performed on the yaw-gimbal control system, and the results show that the influences of friction on control precision are significantly reduced, in which the fluctuation range and the root-mean-square (RMS) error of the angular position are decreased by 78.7% and 91.5% respectively.