Decoupling control for a three-axis inertially stabilized platform used for aerial remote sensing. (October 2015)

• Record Type: Journal Article
• Authors: Zhou, Xiangyang; Gong, Guohao; Li, Jianping; Zhang, Hongyan; Yu, Ruixia
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 37:Number 9(2015)
• Page Start: 1135
• Page End: 1145
• Publication Date: 2015-10
• Subjects: Aerial remote sensing -- decoupling control -- dynamic modelling -- feedforward compensation -- inertially stabilized platform.; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331214557667
• Languages: English
• ISSNs: 0142-3312

Abstract

A three-axis inertially stabilized platform (ISP) is an important component in an aerial remote sensing system, used for isolating the influences of various disturbances on imaging sensors. In order to deal with the coupling torques and improve the control precision of the ISP, a decoupling control method based on feedforward compensation is proposed in this paper. Firstly, the kinematic and dynamic model of three-axis ISP is developed by using a Lagrange equation. Then, the coupling effects among the three gimbals and base are analysed. Depending on the analysis of the model, the major coupling components are obtained and the dynamic model is simplified. Finally, a decoupling controller based on the feedforward compensation method is designed and applied to the ISP control system. Simulation and experimental results show that the stability and precision of the ISP are effectively improved.