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Department光电工程总体研究室(一室)
Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal
Tang, Tao1,2; Chen, Sisi1,2,3; Huang, Xuanlin1,2,3; Yang, Tao1,2; Qi, Bo1,2
Source PublicationSENSORS
Volume18Issue:3Pages:754
2018-03-01
Language英语
ISSN1424-8220
DOI10.3390/s18030754
Indexed BySCI ; Ei
WOS IDWOS:000428805300075
EI Accession Number20181004879123
SubtypeJ
AbstractHigh-performance position control can be improved by the compensation of disturbances for a gear-driven control system. This paper presents a mode-free disturbance observer (DOB) based on sensor-fusion to reduce some errors related disturbances for a gear-driven gimbal. This DOB uses the rate deviation to detect disturbances for implementation of a high-gain compensator. In comparison with the angular position signal the rate deviation between load and motor can exhibits the disturbances exiting in the gear-driven gimbal quickly. Due to high bandwidth of the motor rate closed loop, the inverse model of the plant is not necessary to implement DOB. Besides, this DOB requires neither complex modeling of plant nor the use of additive sensors. Without rate sensors providing angular rate, the rate deviation is easily detected by encoders mounted on the side of motor and load, respectively. Extensive experiments are provided to demonstrate the benefits of the proposed algorithm.
Keywordsensor-fusion nonlinear disturbances rate deviation DOB gear-driven
WOS KeywordBACKLASH ; DESIGN ; OBSERVER ; SYSTEMS
EI KeywordsInverse problems ; Position control
EI Classification Number716.1 Information Theory and Signal Processing ; 731.3 Specific Variables Control
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ioe.ac.cn/handle/181551/9366
Collection光电工程总体研究室(一室)
Affiliation1.Institute of Optics and Electronics, Chinese Academy of Science, Chengdu; 610209, China;
2.Key Laboratory of Optical Engineering, Chinese Academy of Sciences, Chengdu; 610209, China;
3.Department of Mechanical engineering, University of Chinese Academy of Sciences, Beijing; 100039, China
Recommended Citation
GB/T 7714
Tang, Tao,Chen, Sisi,Huang, Xuanlin,et al. Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal[J]. SENSORS,2018,18(3):754.
APA Tang, Tao,Chen, Sisi,Huang, Xuanlin,Yang, Tao,&Qi, Bo.(2018).Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal.SENSORS,18(3),754.
MLA Tang, Tao,et al."Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal".SENSORS 18.3(2018):754.
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