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Proceedings Paper

Research on stability control of floated inertial platform based on ADRC
Author(s): Yu Huang; Hong Cai; Xibin Bai
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Paper Abstract

This paper focuses on the stabilization problem for the floated inertial platform experimental system. Based on the moment analysis of the platform and the mode of the main moment, the dynamic equation of the stabilized platform rotating around its center is derived in consideration of some disturbances. To solve the system model uncertainty, measurement noise, three-axial coupling and unmodeled disturbances, the Auto Disturbances Rejection Controller (ADRC) is proposed. In addition, the time delay problem, caused by system wireless transmission, is addressed using an improved ADRC controller. Three-axial stabilized control system model of floated inertial platform experimental system is built by MATLAB/SIMULINK. Simulations indicate that the ADRC controller is better than the traditional PID controller. This controller can stabilize the platform more quickly, more accurately, more robustly and without overshoot. Improved Smith predicting ADRC controller can eliminate the influence of transmission time delay of the system to realize the stability control real-timely. By virtue of this improved controller, this platform can provide an effective inertial reference for the vehicle.

Paper Details

Date Published: 5 January 2017
PDF: 12 pages
Proc. SPIE 10244, International Conference on Optoelectronics and Microelectronics Technology and Application, 102440M (5 January 2017); doi: 10.1117/12.2261957
Show Author Affiliations
Yu Huang, National Univ. of Defense Technology (China)
Hong Cai, National Univ. of Defense Technology (China)
Xibin Bai, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 10244:
International Conference on Optoelectronics and Microelectronics Technology and Application
Shaohua Yu; Jose Capmany; Yi Luo; Yikai Su; Songlin Zhuang; Yue Hao; Akihiko Yoshikawa; Chongjin Xie; Yoshiaki Nakano, Editor(s)

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