A robust adaptive decoupling control method for aerial remote sensing inertial stabilization platform

An inertial stable platform, robust self-adaptive technology, applied in the direction of self-adaptive control, general control system, control/adjustment system, etc., can solve the problem of insufficient coupling torque suppression ability between the carrier and the frame, and achieve easy programming and stable The effect of improved accuracy and concise decoupling algorithm

Active Publication Date: 2021-08-17
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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  • A robust adaptive decoupling control method for aerial remote sensing inertial stabilization platform
  • A robust adaptive decoupling control method for aerial remote sensing inertial stabilization platform
  • A robust adaptive decoupling control method for aerial remote sensing inertial stabilization 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 self-adaptive decoupling control method for an aerial remote sensing inertial stable platform, which includes establishing a frame dynamic equation based on an inertial stable platform; performing nonlinear decoupling and robustness on the stable platform through inverse system feedback linearization Improvement; through model reference adaptive control, research on the suppression method of the residual coupling left by the feedback linearization of the inverse system, complete the decoupling control process, and improve the overall control accuracy of the system. The present invention decouples the nonlinear coupling of the stable platform through inverse system feedback linearization, overcomes the shortcomings of the ordinary linear decoupling control method, improves the stability precision of the platform, and can effectively improve the robustness of the inertial stable platform system, and is suitable for An aerial remote sensing inertial stabilization platform with coupling moments 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周向阳李娅婷王维乾高浩何俊峰
Owner BEIHANG UNIV
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