Dynamics analysis and decoupling control for a differential cable drive inertially stabilized platform. (August 2015)

• Record Type: Journal Article
• Authors: Liao, Hongbo; Lu, Yafei; Fan, Shixun; Fan, Dapeng
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 229:Number 7(2015)
• Page Start: 652
• Page End: 661
• Publication Date: 2015-08
• Subjects: Inertially stabilized platforms -- differential cable drive -- dynamics -- coupling analysis -- decoupling control; Mechanical engineering -- Periodicals; Automatic control -- Periodicals; Systems engineering -- Periodicals; 621.3
• DOI: 10.1177/0959651815574935
• Languages: English
• ISSNs: 0959-6518

Abstract

In this article, a decoupling control method is proposed to solve the coupling problem of the differential cable drive inertially stabilized platform. First, the transmission chain and motion of the inertially stabilized platform are briefly illustrated, and the dynamics is analysed based on the Lagrange equation. According to the established dynamic equation, the coupling of inertia, torque and angular position between two motors are analysed. Then, the decoupling controller is used to address the coupling problems, and the numerical simulation is realized in the MATLAB/Simulink. The experimental results show that the dynamic equation can accurately describe the dynamic characteristic of the differential cable drive inertially stabilized platform, and the control performance is improved by suppressing the coupling factors.