基于输出微分的陀螺稳定吊舱摩擦抵消

2011 International Conference on Control, Automation and Systems Engineering (CASE) Pub Date : 2011-07-30 DOI:10.1109/ICCASE.2011.5997782

Xianli Li, Bin Liu

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引用次数: 0

摘要

摩擦严重限制了陀螺稳定吊舱系统的性能。提出了一种基于输出微分的实时估计摩擦以抵消摩擦的摩擦补偿方法。摩擦估计值用于在系统输入处提供额外的扭矩，该扭矩与机器摩擦的大小相等，相位相反。陀螺稳定吊舱采用两种控制器。仿真结果表明，最优鲁棒控制器总体性能最佳，明显减小了跟踪误差。

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Friction Cancellation Based on Output Differentiation for Gyro Stabilized Pod

Friction severely limits performance in the system of gyro stabilized pod. A new approach of the friction compensation is proposed to estimate friction in real time in order to counter friction, which is based on output differentiation. The friction estimate is used to provide a extra torque at the input to the system, which is equal in magnitude and opposite in phase to machine friction. Two kinds controllers are adopted in gyro stabilized pod. Simulations show that the optimal robust controller has the best performances overall reducing the tracking error apparently.

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来源期刊

2011 International Conference on Control, Automation and Systems Engineering (CASE)

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