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A cooperative communication and control strategy for the position loop oflight-small inertially stabilized platform

JIA Yuan;ZHOU Xiangyang;Science and Technology on Inertial Laboratory/Fundamental Science on Novel Inertial Instrument & Navigation System Technology Laboratory,Beihang University;School of Instrumentation Science and Opto-electronics Engineering,Beihang University;  
According to demands of the light-small airborne remote sensing system for fast response under big-mobile gesture,a cooperative communication and attitude transfinite fast response control strategy is designed for position loop of light-small inertial stabilized platform.Two switch work modes are designed for the stabilized platform position feedback loop.In servo mode,collaborative communication between stabilized platform and position and orientation system(POS)is designed.Taken the output from POS as location tracking reference,stabilized platform can isolate flight attitude and the disturbances in real time;Monitoring relative angular position between gimbals through encoders in real time,switch to overrun quick-restored mode when the gimbal angle is overrun and the vertical angular error of line of sight(LOS)is big.In overrun quick-restored mode,taken the value of encoders as the position loop feedback,large gains are used to control platform quickly restore from transfinite position to the maximum limit position.And POS values are real-time monitored to return the servo mode when the load LOS position error value becomes small.The experimental results show that the proposed method is reliable,and the high precision realtime communication and control of the stable platform and position sensor is realized effectively.
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