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http://dx.doi.org/10.3795/KSME-A.2016.40.1.001

Control of Inertially Stabilized Platform Using Disturbance Torque Estimation and Compensation  

Choi, Kyungjun (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Won, Mooncheol (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.40, no.1, 2016 , pp. 1-8 More about this Journal
Abstract
In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.
Keywords
Inertially Stabilized Plotform; Disturbance Torque Estimation; Disturbance Torque Compensation Control; Stabilization; 6 DOF Simulator; Control Simulation Test Bed;
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