Affiliation:
1. College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha, People’s Republic of China
2. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, People’s Republic of China
Abstract
In this article, a decoupling control method is proposed to solve the coupling problem of the differential cable drive inertially stabilized platform. First, the transmission chain and motion of the inertially stabilized platform are briefly illustrated, and the dynamics is analysed based on the Lagrange equation. According to the established dynamic equation, the coupling of inertia, torque and angular position between two motors are analysed. Then, the decoupling controller is used to address the coupling problems, and the numerical simulation is realized in the MATLAB/Simulink. The experimental results show that the dynamic equation can accurately describe the dynamic characteristic of the differential cable drive inertially stabilized platform, and the control performance is improved by suppressing the coupling factors.
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献