2-port internal model control for gyro stabilized platform of electro-optical tracking system
2012
Line-of-sight stabilized system, which can be used to isolate the vibration of the moving bed and the disturbance of
environment, is the most important part of an electro-optical tracking system. The steady precision and robustness are the
key issues of recent researches. In this paper, a novel control approach so called 2-Port Internal Model Control (2-PIMC)
for line-of-sight stabilized system is proposed. By adding a parallel feedback control loop on the basis of Internal Model
Control (IMC), the 2-PIMC method can improve precision while it also has strong robustness as the IMC. The
robustness and the static error of 2-PIMC method were subsequently analyzed. Based on this novel method, Simulation
and experiment are both carried out for a gyro stabilized platform of electro-optical tracking system. The experiments
include a shaking table which can generate disturbance as the moving bed and a gyro stabilized platform which is
mounted on the shaking table. The experimental result indicated that the gyro stabilized platform using 2-PIMC method
is accurate and effective. Comparing with PI control, the following error and disturbance restraining error were both
greatly improved at low-frequency and mid-frequency by the 2-PIMC method proposed. The improvement of precision
is more than 10dB at 4Hz. In addition, the 2-PIMC method doesn't need any extra sensors for the platform and it's easy
for parameters regulation. It can be concluded that the2-PIMC method is a new approach for the high-performance gyro
stabilized platform and might have broad application prospect.
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