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Isolation control for inertially stabilized platform based on nonlinear friction compensation

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Abstract

The nonlinear friction modeling and feed-forward compensation of the velocity-stabilized loop in inertially stabilized platform and closed-loop control system are studied in this paper. In order to obtain higher precision performance, an improved Stribeck friction model is proposed and designed according to the actual experimental data, whose parameters are identified by the genetic algorithm. The feed-forward compensation strategy is based on the improved model. The chattering problem and limit cycle, which arise from the changes of motion directions and the over compensation of the friction, are avoided by optimizing the compensation strategy. The actual experimental results demonstrate that the isolation performances of tracking system and carrier turbulence isolation system are superiority to the corresponding control systems without the compensations of nonlinear friction model proposed. This work has a great significance in actual applications.

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Acknowledgments

This work was supported in part by the Projects of Ultra-Precision Control System Joint Lab. of USTC No. KD1012210167, and the National Natural Science Foundation of China under Grant No. 61573330.

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Authors and Affiliations

  1. Department of Automation, University of Science and Technology of China, Hefei, China

    Shuang Cong, Ke Deng & Weiwei Shang

  2. Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Science, Changchun, China

    Dejie Kong & Honghai Shen

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  1. Shuang Cong
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  2. Ke Deng
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  3. Weiwei Shang
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  4. Dejie Kong
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  5. Honghai Shen
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Correspondence to Shuang Cong.

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Cong, S., Deng, K., Shang, W. et al. Isolation control for inertially stabilized platform based on nonlinear friction compensation. Nonlinear Dyn 84, 1123–1133 (2016). https://doi.org/10.1007/s11071-015-2557-4

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  • DOI: https://doi.org/10.1007/s11071-015-2557-4

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