Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially stabilized platform

Zhou, Xiangyang; Yuan, Jia; Zhao, Qiang; Cai, Tianxing

doi:10.1016/j.isatra.2016.02.021

Cited by 43 publications

(27 citation statements)

References 23 publications

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“…Nowadays, the usual assembly mode of remote sensing system applied is that imaging payloads, centralized POS and ISP system, are designed independently and assembled separately [13]. The composition of remote sensing system based on centralized POS is shown in Figure 1.…”

Section: The Principle Of Imaging Payloads Stabilization In Remote Sementioning

confidence: 99%

“…However, BUAA fixes the centralized POS on the shell of camera; meanwhile, the open-loop fiber optic gyros (or MEMS gyros) and quartz accelerometers are installed on each gimbal for rate feedback and initial leveling [13,14]. The traditional scheme in which imaging payloads, centralized POS and ISP, are designed independently and assembled separately requires the special installation space for POS to be reserved in or besides the imaging payloads, increasing the difficulty in designing imaging payloads independently [15].…”

Section: Introductionmentioning

confidence: 99%

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A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

Zhang

Feng

Wang

et al. 2018

Mathematical Problems in Engineering

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Considering the application requirements of independent imaging payloads design, a novel scheme of separated position and orientation system (POS) is proposed, in which the high-precision inertial sensors of traditional centralized POS fixed on the imaging payloads are mounted on three gimbals of the inertially stabilized platform (ISP), respectively, and make them integrated. Then, the kinematics model of the ISP system is built to transmit the inertial information measured by separated inertial sensors mounted on ISP gimbals and flight body to the imaging payloads, calculating the position and attitude of the imaging payloads to achieve the function of separated POS. Based on the model, a series of simulations indicate that the precision difference between separated system and centralized system is ignorable under the condition of angular motion and variable velocity motion. Besides the effective function equal to traditional centralized system, the separated POS enhances the integration with the ISP. Moreover, it improves the design independence of the imaging payloads significantly.

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Section: The Principle Of Imaging Payloads Stabilization In Remote Sementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

Zhang

Feng

Wang

et al. 2018

Mathematical Problems in Engineering

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“…[1][2][3][4][5] In an aerial remote sensing system, the LOS of sensors must track accurately a fixed or moving target from an aircraft platform. Due to the effects of internal and external disturbances of the aircraft platform on the LOS, the imaging quality is seriously degenerated.…”

Section: Introductionmentioning

confidence: 99%

“…The ISP is used to isolate the aircraft vibration so as to stabilize the imaging loads, by which the sensor's LOS can track the target accurately in real time even the aircraft's attitudes in any direction are changed. 1,2 In a study by Hilkert, 3 a three-axis ISP that can improve greatly the image quality through controlling the sensor's LOS to achieve high pointing accuracy and stabilization is systematically introduced, including the case when the target is highly dynamic.…”

Section: Introductionmentioning

confidence: 99%

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

Zhou

Zhu

Zhao

et al. 2017

International Journal of Advanced Robotic Systems

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This article presents an extended state observer/proportion integration differentiation compound control scheme based on dynamic modelling for a three-axis inertially stabilized platform applied for aerial remote sensing. To reveal the effects of dynamic couplings among different gimbals and the base on the system control performance, the dynamic modelling of the inertially stabilized platform system is developed. Then, an extended state observer /proportion integration differentiation composite controller is designed to improve the tracking precision and stability of the inertially stabilized platform, whose disturbance rejection ability is analysed by simulations. During simulation analysis, the LuGre friction model is introduced to represent the effects of main disturbance torques. To verify the method, the experiments are conducted. The results show that the extended state observer/proportion integration differentiation compound scheme has excellent capability in disturbance rejection, by which the stabilization accuracy of the inertially stabilized platform has improved significantly.

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“…It can effectively restrain the influences of undesired disturbance factors on sensor's line of sight (LOS) so as to get high-quality remote sensing images. [1][2][3][4] Generally, an aerial remote sensing system consists of four main components, 5 that is, a three-axis ISP, one or more imaging sensors, a position and orientation system (POS), and an aviation platform. The chief role of ISP is to hold and control the LOS to keep steady relative to inertial space or maintain sensor's orientation toward the target.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy/proportion integration differentiation (PID) compound control for unbalance torque disturbance rejection of aerial inertially stabilized platform

Zhou

Yuan

2016

International Journal of Advanced Robotic Systems

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This article describes an adaptive fuzzy/proportion integration differentiation (PID) compound control scheme to promote the disturbance rejection ability of an aerial inertially stabilized platform. To deal with the serious influence of predominant unbalance torque disturbance on the steady precision of inertially stabilized platform, dynamic modeling and simulation analysis are conducted, which reveal that the unbalance torque disturbance is nonlinear and time varying. Then, an adaptive fuzzy/PID compound controller is designed that can automatically adjust and control parameters of the system in real time. In this way, the effects of unbalance torque disturbance on control performance are suppressed greatly so that the pointing accuracy and stability are obviously improved. To validate the scheme, the simulations and experiments are conducted to a real three-axis inertially stabilized platform. The results show that under the environment of unbalance torque disturbance, the inertially stabilized platform could reach better dynamic performances by the compound scheme, leading to the high pointing accuracy and stability.

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Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially stabilized platform

Cited by 43 publications

References 23 publications

A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

A Novel Separated Position and Orientation System Integrated with Inertially Stabilized Platform

Extended state observer/proportion integration differentiation compound control based on dynamic modelling for an aerial inertially stabilized platform

Adaptive fuzzy/proportion integration differentiation (PID) compound control for unbalance torque disturbance rejection of aerial inertially stabilized platform

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