Robust control of magnetically suspended gimbals in inertial stabilized platform with wide load range

被引：12

作者：

Guo, Qingyuan ^{[1
]}

Liu, Gang ^{[1
]}

Xiang, Biao ^{[2
]}

Wen, Tong ^{[1
]}

Liu, Hu ^{[1
]}

机构：

[1] Beihang Univ, Sch Instrument Sci & Optoelect, Beijing 100191, Peoples R China

[2] Hong Kong Polytech Univ, Dept Mech Engn, Kowloon, Hong Kong, Peoples R China

来源：

MECHATRONICS | 2016年 / 39卷

基金：

中国国家自然科学基金;

关键词：

Magnetically suspended gimbal; Uncertainties; Robust control; Load range; SUSPENSION; TRACKING; SYSTEM;

D O I：

10.1016/j.mechatronics.2016.08.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Comparing with the normal mechanical inertial stabilized platform (ISP), the novel ISP with magnetic bearing to suspend the yaw gimbal owns the ability of isolating the vibration and disturbance of external gimbal. However, on the one hand, complex structure of the magnetically suspended gimbal introduces parametric uncertainties into modeling of magnetic suspension force, and the disturbance of magnetic fields brings the unmodeled force into dynamics of magnetically suspended gimbal. On the other hand, external disturbances such as wind drag affect the stability of magnetically suspended gimbal. Therefore, Hcorobust controllers for translation and tilting of gimbal are designed to dampen the negative influence on stability and improve the robustness of system. The experimental results indicate that the robust controller of magnetically suspended gimbal owns the excellent robustness when the load of magnetically suspended gimbal changes. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：127 / 135

页数：9

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