Lorentz inertial stabilization platform friction recognition and compensation control method

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...

AI Technical Summary

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, due to the working characteristics of the platform, the radial speed of the mover often crosses zero, and the existence of friction interference seriously affects the stability and accuracy of the platform when it starts and maneuvers at low speed.

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