High-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.
Abstract. Photoelectric tracking system is widely used in space exploration, manipulation, laser communication and other fields. The implementation of ATP system is the key to achieve tracking.The use of double-closed loop control can give the system a higher stiffness, improve the system's anti-interference ability.The structure of the system is analyzed and the torque analysis of the rotating voice coil motor is carried out. Through the identification of the system function, the system is designed for the closed loop transfer function.The sine tracking experiment followed by a position error of <1.5 ', and a double-axis maneuvering experiment with a closed loop of CCD was performed with an average tracking error of <2 pixels.The results show that the ATP coarse tracking mechanism driven by the rotating voice coil motor can achieve high tracking accuracy under the control structure of single sensor with double-closed loop.And the rotating voice coil motor with high structure density, but also a single sensor makes the system smaller.
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