Optimal Gimbal System Control Strategy for Error Prediction Compensation

doi:10.1109/ICCSSE.2019.00022

CORC > 西安光学精密机械研究所 > 中国科学院西安光学精密机械研究所 > 空天技术处

	Optimal Gimbal System Control Strategy for Error Prediction Compensation
	Yang, Yongqing 2; Hao, Wei 2; Yu, Tianye 1; Xie, Meilin 1; Liang, Yanbing 2; Liu, Peng 2
	2019-08
会议日期	2019-08-14
会议地点	Shanghai, China
关键词	prediction error compensation energy spectrum analysis optimal control tracking gimbal system periodic error
DOI	10.1109/ICCSSE.2019.00022
页码	73-78
英文摘要	In order to suppress the periodic error in the control of the gimbal, an error prediction compensation model is established based on the error compensation theory in predictive control. The error feature extraction and matching of the servo gimbal system is completed based on the error time domain and frequency domain analysis results. Based on the analysis of the error energy spectral density characteristics, according to the energy distribution of different frequency bands, combined with the design of the gimbal control system, the influencing factors such as position sensor error, motor drive error and system structure error are obtained. At the same time, determine the impact domain of each factor. Based on this, through the optimal parameter estimation, the design of the error prediction compensation controller is completed, and finally a new optimal control strategy for error prediction compensation gimbal is obtained. Test verification in a high-precision gimbal shows that the control strategy can significantly improve the speed stability of the gimbal system by about 78%. © 2019 IEEE.
产权排序	1
会议录	Proceedings - 5th International Conference on Control Science and Systems Engineering, ICCSSE 2019
会议录出版者	Institute of Electrical and Electronics Engineers Inc.
语种	英语
ISBN号	9781728145303
内容类型	会议论文
源URL	[http://ir.opt.ac.cn/handle/181661/93413]
专题	空天技术处
作者单位	1.Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences Xi'an, China University of Chinese, Academy of Sciences, Beijing, China 2.Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, China;
推荐引用方式 GB/T 7714	Yang, Yongqing,Hao, Wei,Yu, Tianye,et al. Optimal Gimbal System Control Strategy for Error Prediction Compensation[C]. 见:. Shanghai, China. 2019-08-14.