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Dual-rate-loop control based on disturbance observer of angular acceleration for a three-axis aerial inertially
Xiangyang Zhou1, Yuan Jia1, Qiang Zhao1
1School of Instrumentation Science & Opto-electronics Engineering, Beihang University (BUAA), Beijing 100191, China.
ISA Transactions
|March 27, 2016
Summary
A new dual-rate-loop control method enhances the stabilization accuracy of three-axis Inertial Stabilization Platforms (ISPs) for aerial remote sensing. This approach improves disturbance rejection and control precision using an angular acceleration-based disturbance observer.
Area of Science:
- Aerospace Engineering
- Control Systems Engineering
- Robotics
Background:
- Aerial remote sensing requires highly stable platforms for clear imagery.
- Inertial Stabilization Platforms (ISPs) are crucial for maintaining stability.
- Existing control methods face challenges in rejecting external disturbances effectively.
Purpose of the Study:
- To improve the control accuracy and stabilization performance of a three-axis ISP.
- To enhance disturbance rejection capabilities for aerial remote sensing applications.
- To introduce a novel control strategy utilizing a disturbance observer.
Main Methods:
- Implementation of a dual-rate-loop control strategy with inner and outer rate loops.
- Design of a disturbance observer (DOB) based on angular acceleration.
- Utilization of an information fusion method for accurate angular acceleration estimation.
Main Results:
- Significant improvement in ISP control accuracy and stabilization.
- Advanced disturbance rejection capability through the dual-rate-loop strategy.
- Effective attenuation of disturbances impacting stabilization accuracy via the DOB.
Conclusions:
- The proposed dual-rate-loop control method significantly enhances ISP performance.
- The angular acceleration-based DOB effectively compensates for main disturbances.
- The information fusion method is critical for the DOB's disturbance compensation accuracy.
Keywords:
Disturbance observerDual-rate-loopInertially stabilized platformKalman filterTracking-differentiatorMore Related Videos
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