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http://dx.doi.org/10.9766/KIMST.2018.21.4.508

A Simultaneous Experimental Disturbances Identification of Gyro Stabilized 2-Axes Gimbal System for Disturbance Feedforward Compensation Control  

Yeo, Sung Min (Department of Mechanical Engineering, Gachon University)
Kang, Min Sig (Department of Mechanical Engineering, Gachon University)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.21, no.4, 2018 , pp. 508-519 More about this Journal
Abstract
This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.
Keywords
Mass Unbalance; Friction; Feedforward Compensation Control; Stabilzation Control; Coordinate Tranform; Simultaneous Identification;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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