Acceleration-based Mass Imbalance Feedforward Compensation for Inertial Stabilized Platform

摘要

Focusing on the disturbance rejection for Inertial Stabilized Platform (ISP), an acceleration-based feedforward compensation method is proposed. The model of mass imbalance is established, through analyzing the relationships among the mass imbalance, the friction, the current of motor, and the attitude of gimbal. Then, the feedforward compensation controller is built for ISP using the data of accelerations acting on the ISP. It could estimate and compensate the mass imbalance torque of ISP in real time. The numerical simulations and vehicle experiments demonstrate the effectiveness of the designed controller. Compared to the traditional Proportion Integration Differentiation (PID) controller without feedforward compensation, the performance of ISP is significantly improved by the proposed compensation method in the presence of similar disturbances.