Modeling and Stability Analysis of Coarse–Fine Composite Mechatronic System in UAV Multi-Gimbal Electro-Optical Pod

Abstract

Coarse–fine composite mechatronic systems face numerous challenges due to the structural complexity and diversification of multi-gimbals. The core goal of this manuscript is to address the issue of the coarse-fine composite mechatronic system stability of a UAV (unmanned aerial vehicle) multi-gimbal electro-optical pod using USM-VCM (ultrasonic motor and voice coil motor) mechatronic design, Euler dynamics modeling, and stability DOB (disturbance observer) control. In response to this problem, a Hall effect electromagnetic circuit and USM-VCM drive acquisition circuit are designed. A Euler dynamics model in the Cartesian coordinate system is built to derive the kinematics coupling compensation matrix and mechanical parameter optimization method between the gimbals. Finally, the model is substituted into the DOB suppression control, which can monitor and compensate the motion coupling between the coarse–fine composite mechatronic systems in real time. Results show that the disturbance suppression impact of the DOB method with the Euler optimization model and USM-VCM mechatronic design is increased by up to 90% compared to the PID (proportion integration differentiation) method and 20% better than the traditional DOB method.

Research on Dynamic Modeling Measurement and Control of Cable Traction Devices for Electro-Optical Unmanned Systems

“…The gain matrix equation is the formula (5). Then, correct the state value of current time k with the actual measured value, and the prediction estimation equation is,…”

“…However, in complex environments such as search and rescue, its electromagnetic signals are susceptible to interference or malicious interception, and its position is exposed to attack [1][2][3] . Moreover, its data link is relatively complicated, and the signals are easily lost in environments such as obstacle avoidance in primitive forests, search and suppression in urban buildings, and earthquake relief, resulting in uncontrollable losses [4][5] .…”

High Precision Sinusoidal Position Tracking of a Voice-Coil Linear Servomotor Using Resonant Control

“…This is achieved using magnetic suspension and VCAs for low friction and responsive movement. The authors of [7] propose a method for real-time monitoring and compensation of motion coupling in a UAV multi-gimbal electro-optical pod using ultrasonic motors and VCAs, resulting in improved stability compared to traditional methods. The authors of [8] present a design of a 4-DOF VCA aimed at reducing laser geometrical fluctuations in the fast-steering mirror laser compensation system.…”