文章基本信息

标题：Mass Imbalance Compensation Control for Stabilized Platform Based on UKF Identification
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作者：WeiMing Zhang ; ZeLin Shi
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：198
DOI：10.1051/matecconf/201819801005
语种：English
出版社：EDP Sciences
摘要：Due to the mass imbalance about the center of rotation, the stability of stabilized platform system degrades with carrier’s disturbances. Various feed-forward control methods are provided by reaserchers to solve this problem, however these methods are not well applied because the eccentricity of stabilized platform could not be measured directly. The dynamics model of a typical 2-axis stabilized platform is given. The eccentricity vector is identified through Unscented Kalman Filter(UKF) algorithm. Imbalance torque is precisely observed so that the real-time nonlinear compensation for mass imbalance is achieved through a feed-forward loop. The simulation result indicates that the Root Mean Squared Error (RMSE) of parameters estimation is 0.024 after convergence. the LOS stabilization with carrier’s 2.5Hz vibration is 0.04 rad/s, which improves 78% compared to conventional feed-back control.