TY - JOUR
T1 - Decoupling control for a three-axis inertially stabilized platform used for aerial remote sensing
AU - Zhou, Xiangyang
AU - Gong, Guohao
AU - Li, Jianping
AU - Zhang, Hongyan
AU - Yu, Ruixia
N1 - Publisher Copyright:
© SAGE Publications.
PY - 2015/10/5
Y1 - 2015/10/5
N2 - A three-axis inertially stabilized platform (ISP) is an important component in an aerial remote sensing system, used for isolating the influences of various disturbances on imaging sensors. In order to deal with the coupling torques and improve the control precision of the ISP, a decoupling control method based on feedforward compensation is proposed in this paper. Firstly, the kinematic and dynamic model of three-axis ISP is developed by using a Lagrange equation. Then, the coupling effects among the three gimbals and base are analysed. Depending on the analysis of the model, the major coupling components are obtained and the dynamic model is simplified. Finally, a decoupling controller based on the feedforward compensation method is designed and applied to the ISP control system. Simulation and experimental results show that the stability and precision of the ISP are effectively improved.
AB - A three-axis inertially stabilized platform (ISP) is an important component in an aerial remote sensing system, used for isolating the influences of various disturbances on imaging sensors. In order to deal with the coupling torques and improve the control precision of the ISP, a decoupling control method based on feedforward compensation is proposed in this paper. Firstly, the kinematic and dynamic model of three-axis ISP is developed by using a Lagrange equation. Then, the coupling effects among the three gimbals and base are analysed. Depending on the analysis of the model, the major coupling components are obtained and the dynamic model is simplified. Finally, a decoupling controller based on the feedforward compensation method is designed and applied to the ISP control system. Simulation and experimental results show that the stability and precision of the ISP are effectively improved.
KW - Aerial remote sensing
KW - decoupling control
KW - dynamic modelling
KW - feedforward compensation
KW - inertially stabilized platform.
UR - https://www.scopus.com/pages/publications/84940888093
U2 - 10.1177/0142331214557667
DO - 10.1177/0142331214557667
M3 - 文章
AN - SCOPUS:84940888093
SN - 0142-3312
VL - 37
SP - 1135
EP - 1145
JO - Transactions of the Institute of Measurement and Control
JF - Transactions of the Institute of Measurement and Control
IS - 9
ER -