Robust control of gyro stabilized platform driven by ultrasonic motor

摘要

In this paper, a two degrees of freedom dynamic model of two axis stabilized platform driven by ultrasonic motor is constructed based on mechanical structure. A robust proportional-integral-differential controller is designed, in which the mechanical resonance, the coupling of inertia moment and torque, nonlinear of ultrasonic motor are considered. The stability of the presented system is analyzed with the method of robust system stability. The presented controller is realized on embedded microcontroller, and the contrast experiments of platform control between the presented controller and the traditional proportional-integral-differential controller are conducted. The experiments has shown that for the stabilized platform driven by ultrasonic motor the presented robust controller has good performance in the dynamic response, isolation, and the whole system has stronger robustness and the anti-jamming ability. (C) 2017 Elsevier B.V. All rights reserved.