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Robust adaptive decoupling control method for aerial remote sensing inertially stabilized platform

An inertial stable platform, robust adaptive technology, applied in adaptive control, general control system, control/regulation system and other directions, can solve the problem of insufficient coupling torque suppression between the carrier and the frame, and achieve easy programming, solution Coupling principle is clear, intuitive and easy to achieve

Active Publication Date: 2020-04-17
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is: to overcome the defect that the conventional feedback control has insufficient ability to suppress the coupling torque between the carrier and the frame, and to provide a robust adaptive decoupling control method for the aerial remote sensing inertial stabilization platform to improve the stability accuracy of the system

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  • Robust adaptive decoupling control method for aerial remote sensing inertially stabilized platform
  • Robust adaptive decoupling control method for aerial remote sensing inertially stabilized platform
  • Robust adaptive decoupling control method for aerial remote sensing inertially stabilized platform

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Embodiment Construction

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as figure 1 shown, according to figure 1 The flow chart of the decoupling control method, and the specific implementation method of the present invention are as follows.

[0049] Such as figure 2 As shown, the mechanical structure of the aerial remote sensing inertial stabilization platform includes azimuth frame rate gyro 1, roll frame rate gyro 2, roll frame torque motor 3, azimuth frame torque motor 4, pitch frame torque motor 5, pitch frame rate gyro 6, Accelerometer y 7, accelerometer x 8, pitch frame 9, roll frame 10, azimuth frame 11. The aerial remote sensing inertial stabilization platform is used for three-axis imaging stabilization, and its three-axis frames are pitch frame 9, roll frame 10 and azimuth frame 11 respectively. The pitching frame rate gyroscope 6 and the pitching frame torque motor 5 are fixed on the pitc...

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Abstract

The invention discloses a robust adaptive decoupling control method for an aerial remote sensing inertially stabilized platform. The method comprises the following steps: establishing a framework kinetic equation based on the inertially stabilized platform; nonlinear decoupling and robustness improvement are carried out on the stabilized platform through inverse system feedback linearization; residual coupling left by inverse system feedback linearization is subjected to suppression method research through model reference adaptive control, the decoupling control process is completed, and the overall control precision of the system is improved. According to the method, nonlinear coupling of the stabilized platform is decoupled through inverse system feedback linearization, the defects of acommon linear decoupling control method are overcome, and the stabilization precision of the platform is improved; and the robustness of the inertially stabilized platform system can be effectively improved, and the method is suitable for the aerial remote sensing inertially stabilized platform with the coupling moment between the base and the frame.

Description

technical field [0001] The invention relates to a robust self-adaptive decoupling control method for aerial remote sensing inertial stabilization platforms, which can be used for the decoupling control of dynamic coupling between carriers and frames of various medium and high-precision aerial remote sensing inertial stabilization platforms, and is especially suitable for applications with a large range Highly dynamic inertial stabilized platform. Background technique [0002] The aerial remote sensing system has very unique advantages in many aspects such as economic cost, repeatable observation, and real-time performance. Therefore, in many developed countries in the West, more than 65% of the aerial remote sensing systems in basic urban surveying and mapping and urban planning can fully guarantee the above-mentioned high-resolution spatial data. The high-precision control method of the inertial stable platform is the key to the imaging stability of the light and small aer...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周向阳李娅婷何俊峰高浩
Owner BEIHANG UNIV
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