Pod stabilized platform control method based on backlash estimation and compensation

A technology of stable platform and control method, applied in transportation and packaging, aircraft parts, etc., can solve problems such as low control accuracy and dynamic performance deviation

Inactive Publication Date: 2014-04-02
ELECTRIC POWER RES INST OF GUANGDONG POWER GRID +1
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Problems solved by technology

[0004] Based on this, it is necessary to provide a pod-stabilized platform control method based on backlash estimation and compensation for the problems of low control accuracy and dynamic performance deviation of the pod-stabilized platform system

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  • Pod stabilized platform control method based on backlash estimation and compensation
  • Pod stabilized platform control method based on backlash estimation and compensation
  • Pod stabilized platform control method based on backlash estimation and compensation

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Embodiment Construction

[0015] The specific implementation of the method for controlling the pod stabilization platform based on backlash estimation and compensation of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] refer to figure 1 as shown, figure 1 It is a schematic diagram of the work of the pod stabilized platform in the present invention. The pod stable platform mainly includes: the azimuth frame 2 and the pitch frame 3 connected to the base 1, the azimuth frame 2 is connected to the azimuth frame photoelectric code disc 21, the azimuth frame torque motor 22, the azimuth frame gear pair 23, the azimuth frame rate gyro 24, and the The pitch frame photoelectric code disk 31 of the pitch frame 3 , the pitch frame torque motor 32 , the pitch frame gear pair 33 , the pitch frame rate gyro 34 , and the pitch frame 3 carry a load 4 .

[0017] refer to figure 2 as shown, figure 2 It is a flow chart of the pod-stabilized platform co...

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Abstract

The invention relates to a pod stabilized platform control method based on backlash estimation and compensation. The method includes the steps: measuring a backlash value when a motor-shaft-end driving gear is meshed with a frame-shaft-end driven gear of a pod stabilized platform; establishing a backlash non-linear model of a pod platform azimuth transmission gear according to the backlash value; establishing a frame servo system kinetic model according to the backlash non-linear model; according to the frame servo system kinetic model, selecting a Lyapunov function stepwise by recursion by utilizing a contragradience integral method, constructing a state feedback based controller, and calculating a current value of control input of a torque motor; inputting the current value to the torque motor to drive a frame to rotate to a corresponding position. By the technology, by real-time backlash estimation and compensation when the motor-shaft-end driving gear is meshed with the frame-shaft-end driven gear, platform stabilization precision is improved; the method is accurate in compensation, concise in compensation algorithm and easy to implement by programming in a DSP (digital signal processor).

Description

technical field [0001] The invention relates to the pod stable platform control technology, in particular to a pod stable platform control method based on backlash estimation and compensation. Background technique [0002] The aerial remote sensing pod stable platform system has unique advantages in many aspects such as mobility, real-time performance, repeatable observation, replaceability of remote sensing equipment, ability to obtain high-resolution remote sensing data, economic cost, and stereoscopic observation. Therefore, in western developed countries, more than 65% of the high-resolution spatial data used for urban planning and basic map mapping are guaranteed by aerial remote sensing systems. High-resolution earth observation is an important direction for the development of aerial remote sensing systems, and high-resolution earth observation is an important direction for the development of aerial remote sensing systems. This causes the imaging load installed on the...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64D47/00
Inventor 徐晓刚张宏燕饶章权周向阳彭向阳赵强麦晓明王柯王锐
Owner ELECTRIC POWER RES INST OF GUANGDONG POWER GRID
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