2-축 자이로 안정화 김발 시스템의 외란보상 앞먹임 제어를위한 실험적 2-축 외란 동시 식별A Simultaneous Experimental Disturbances Identification of Gyro Stabilized 2-Axes Gimbal System for Disturbance Feedforward Compensation Control
- Other Titles
- A Simultaneous Experimental Disturbances Identification of Gyro Stabilized 2-Axes Gimbal System for Disturbance Feedforward Compensation Control
- Authors
- 여성민; 강민식
- Issue Date
- 2018
- Publisher
- 한국군사과학기술학회
- Keywords
- Mass Unbalance(질량 불균형); Friction(마찰); Feedforward Compensation Control(앞먹임 보상제어); Stabilzation Control(안정화 제어); Coordinate Tranform(좌표 변환); Simultaneous Identification(동시 식별)
- Citation
- 한국군사과학기술학회지, v.21, no.4, pp.508 - 519
- Journal Title
- 한국군사과학기술학회지
- Volume
- 21
- Number
- 4
- Start Page
- 508
- End Page
- 519
- URI
- https://scholarworks.bwise.kr/gachon/handle/2020.sw.gachon/4850
- DOI
- 10.9766/KIMST.2018.21.4.508
- ISSN
- 1598-9127
- Abstract
- This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.
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