Disturbance Compensation Control Design far 2-DOF Gun Stabilization System with Gear Stiffness by Using FXLMS Algorithm

기어강성을 갖는 2-자유도 포신 안정화시스템에서 FXLMS 알고리즘을 이용한 외란 보상 제어기 설계

In gun stabilization systems, the torque comes from the unbalance mass of gun and the base acceleration is an important source of disturbance which degrades stabilization performance. Fatigue of gear train is another important factor affecting structural safety problems. In this paper, a feedback control gain is designed by optimal control weighting to difference between motor and gun velocity, and a feedforward controller using FXLMS algorithm is adopted to investigate those problems. Experimental results show that the feedforward compensator based on FXLMS can reduce the disturbance effects. The directional convergence property according to initial conditions of the FXLMS is also shown through experiments.