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Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification
Zhang WM(张伟明)1,2,3,4; Shi ZL(史泽林)1,3,4
作者部门光电信息技术研究室
会议名称Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE)
会议日期June 23-25, 2018
会议地点Wuhan, CHINA
会议录名称2018 ASIA CONFERENCE ON MECHANICAL ENGINEERING AND AEROSPACE ENGINEERING (MEAE 2018)
出版者E D P SCIENCES
出版地CEDEX A, FRANCE
2018
页码1-4
收录类别CPCI(ISTP)
WOS记录号WOS:000447832400005
产权排序1
ISSN号2261-236X
摘要Due to the mass imbalance about the center of rotation, the stability of stabilized platform system degrades with carrier's disturbances. Various feed-forward control methods are provided by reaserchers to solve this problem, however these methods are not well applied because the eccentricity of stabilized platform could not be measured directly. The dynamics model of a typical 2-axis stabilized platform is given. The eccentricity vector is identified through Unscented Kalman Filter(UKF) algorithm. Imbalance torque is precisely observed so that the real-time nonlinear compensation for mass imbalance is achieved through a feed-forward loop. The simulation result indicates that the Root Mean Squared Error (RMSE) of parameters estimation is 0.024 after convergence. the LOS stabilization with carrier's 2.5Hz vibration is 0.04 rad/s, which improves 78% compared to conventional feed-back control.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/23427
专题光电信息技术研究室
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing. 100049, China
3.Key Laboratory of Opto-Electronic Information Processing CAS, Shenyang, 110016, China
4.The Key Lab of Image Understanding and Computer Vision, Liaoning Province, Shenyang, 110016, China
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GB/T 7714
Zhang WM,Shi ZL. Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification[C]. CEDEX A, FRANCE:E D P SCIENCES,2018:1-4.
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