Dynamics modeling and μ synthesis for a parallel - suspension type inertially stabilized platform

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-06-16 DOI:10.1016/j.mechatronics.2025.103363

Yin Sun, Feng Zhao, Zhenjing Guo, Xiaojun Yan

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引用次数: 0

Abstract

The parallel-suspension type inertially stabilized platform utilizes a unique flexible support structure and non-contact linear actuators to enable simultaneous high-efficiency vibration suppression control of optical payloads across multiple degrees of freedom. Compared to traditional series – gimbals type stabilized platforms, it offers a higher payload-to-weight ratio and rapid response characteristics. In this paper, a 6-degree-of-freedom dynamic model for the parallel-suspension inertially stabilized platform is established, a control method is designed, and an actual engineering prototype is constructed. Specifically, a flexible support element model that accounts for column instability phenomenon is developed. Based on the parallel mount configuration a complete 6-degree-of-freedom dynamic model of the entire platform is constructed. Furthermore, due the variable parameter characteristics of flexible elastic elements, a μ synthesis control method considering the uncertainty of model parameters is designed. The experimental results show that the μ controller can effectively reduce the external sinusoidal angular disturbance to less than 25 % and the linear vibration disturbance to less than 3 % of the original disturbance while maintaining the robustness. Both simulation and experimental results verify the correctness and effectiveness of the proposed model and method.

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并联悬架型惯性稳定平台动力学建模与μ综合

并联悬架式惯性稳定平台采用独特的柔性支撑结构和非接触式线性致动器，可同时对多个自由度的光学有效载荷进行高效抑振控制。与传统的串联万向节型稳定平台相比，它具有更高的有效载荷重量比和快速响应特性。本文建立了并联悬架惯性稳定平台的6自由度动力学模型，设计了控制方法，并构建了实际工程样机。具体而言，建立了考虑柱失稳现象的柔性支撑单元模型。在并联安装结构的基础上，建立了整个平台完整的六自由度动力学模型。此外，针对柔性弹性元件的变参数特性，设计了一种考虑模型参数不确定性的μ综合控制方法。实验结果表明，该控制器在保持鲁棒性的同时，能有效地将外部正弦角扰动和线性振动扰动分别降低到原扰动的25%和3%以下。仿真和实验结果验证了所提模型和方法的正确性和有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.