A Low Speed Servo System of CMG Gimbal Based on Adaptive Sliding Mode Control and Iterative Learning Compensation

被引：0

作者：

Zhao Lei ^{[1
]}

Zhai Baichen ^{[1
]}

Wu Dengyun ^{[1
]}

Lu Ming ^{[1
]}

机构：

[1] Beijing Inst Control Engn, Beijing 100190, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION | 2015年

关键词：

Iterative learning control(ILC); adaptive sliding mode control (ASMC); CMG gimbal; servo system;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, an adaptive sliding mode controller combined with iterative learning compensation strategy is proposed for the low speed servo system of control moment gyro (CMG) gimbal. The iterative learning compensation strategy is utilized to meet the requirement of speed stability, meanwhile, the adaptive sliding mode technique is used to guarantee fast response and strong robustness. This proposed method has been verified on an DSP based experimental platform, and the experimental results show that the proposed controller performs is better than conventional PID controller in speed stability, response speed and robustness.

引用

页码：2249 / 2254

页数：6

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