Lorentz inertial stabilization platform friction recognition and compensation control method

An inertial stable platform, Lorentz inertial technology, applied in attitude control and other directions, can solve the problems of reducing friction, affecting the stability accuracy of platform startup, and the radial speed of mover crossing zero, so as to achieve the effect of improving stability accuracy

Pending Publication Date: 2020-08-25
BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY
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Problems solved by technology

The inside of the platform adopts a ball bearing structure, which reduces the friction between the mover frame in the bearing and the stator support to a certain extent, but there are still obvious rolling friction and static friction
Moreover, du

Method used

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  • Lorentz inertial stabilization platform friction recognition and compensation control method
  • Lorentz inertial stabilization platform friction recognition and compensation control method
  • Lorentz inertial stabilization platform friction recognition and compensation control method

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specific Embodiment

[0078] Such as figure 1 As shown, in the specific implementation process, the specific implementation steps of the present invention are as follows:

[0079] 1. Aiming at the problem of non-linear friction between the bearing and the stator, a LuGre friction model is established:

[0080]

[0081] Among them, θ is the deflection angle of the mover, z is the deformation of the mane, and the four static parameters T c , T s 、w s and σ 2 are the Coulomb friction torque, the maximum static friction torque, the critical Stribeck velocity and the viscous friction coefficient respectively, and the two dynamic parameters σ 0 and σ 1 are the bristle stiffness coefficient and bristle damping coefficient respectively, T f is the total friction torque.

[0082] 2. Identify static parameters:

[0083] According to the law of conservation of angular momentum, under the state of uniform deflection of the platform mover, the resulting torque is zero, that is, the torque output by t...

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Abstract

The invention discloses a friction recognition and compensation control method for a Lorentz inertially stabilized platform. Aiming at the non-linear friction force between a bearing and a stator whenthe Lorentz inertial stabilization platform works, LuGre friction models of static and dynamic friction characteristics under platform deflection are established. Measuring a Stribeck curve through aconstant-speed deflection experiment, carrying out data fitting by adopting a linear regression equation based on a least square method, and identifying static parameters of the model; based on the viscous friction coefficient in the static parameters, the micro bristle deformation idea is adopted, the pre-sliding phenomenon is equivalent to second-order damping oscillation motion, and the dynamic parameters are solved by measuring the step response of the system. According to identified static and dynamic parameters, a Lyapunov function is constructed by adopting a back-stepping recursion thought, the design of a nonlinear feedback compensation controller is completed, and the problem of interference of nonlinear friction torque on rotor deflection is solved. The invention belongs to thefield of inertially stabilized platform control, and is suitable for recognition and compensation control of nonlinear friction torque of a platform.

Description

technical field [0001] The invention relates to an inertial stable platform control technology, in particular to a friction identification and compensation control method for a Lorentz inertial stable platform. Background technique [0002] Chariots, ships, and aircraft will inevitably shake their attitudes while driving, causing problems such as inaccurate attacks, poor communication, and unclear pictures. Existing anti-rolling devices are divided into two types: integral type and partial type: the integral anti-rolling device has a large volume and mass, and poor stability accuracy, which is difficult to meet the high-precision requirements in the fields of weapon stabilization, shipboard communication, and UAV reconnaissance; The local anti-rolling device has the advantages of high control bandwidth, good stability accuracy, convenient installation and disassembly, etc., and is suitable for high-precision attitude compensation for local loads. The existing partial anti-r...

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Application Information

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IPC IPC(8): G05D1/08
CPCG05D1/08
Inventor 刘强刘志国李衡王琪瑞
Owner BEIJING INSTITUTE OF PETROCHEMICAL TECHNOLOGY
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