대부하 정밀 표적지향 안정화 시스템의 비선형 제어기법 연구

Nonlinear Control of High Precision Pointing Stabilization Systems with Heavy Loads

In this paper, the nonlinear control of high precision pointing stabilization system using feedback-linearization design methodology based on system parameter identification is discussed. Modern nonlinear servomechanism theory is adapted to cope with the hard nonlinearities inherent in the turret system. The mathematical models of electrical turret driving system to develop a high performance control algorithm are derived, and the parameter estimation algorithm identifying the unknown system parameters such as vicious and coulomb frictions, stiffness and inertia is developed. Through computer simulation and experiments, it is shown that pointing and tracking accuracy and stabilization against the wideband stochastic disturbance induced by vehicle running on the bump course are improved. Therefore, it is considered the proposed nonlinear control technique is effective in counteracting the nonlinearities and disturbances.