Nonlinear-induced disturbance rejection in inertial stabilization systems

Bo Li; David A. Hullender; Michael T. DiRenzo

doi:10.1117/12.241920

7 June 1996 Nonlinear-induced disturbance rejection in inertial stabilization systems

Bo Li, David A. Hullender, Michael T. DiRenzo

Proceedings Volume 2739, Acquisition, Tracking, and Pointing X; (1996) https://doi.org/10.1117/12.241920
Event: Aerospace/Defense Sensing and Controls, 1996, Orlando, FL, United States

Abstract

A frequent problem in inertial stabilization control systems is the rejection of disturbances associated with moving components. Very often such disturbances are nonlinear and time varying. A prime example is the relative motion of components within a gimbal; in this case, nonlinear bearing friction induces a de-stabilizing torque from base motion to the component being stabilized. This paper presents an LQG algorithm, based on a simple first order linear stochastic differential equation, for estimating and compensating in real time a particular class of disturbances that can be modeled as a plus or minus unknown slowly changing random value such as is characterized by nonlinear Coulomb friction. Results of computer simulations testing the control algorithm are presented along with actual measurements from a laboratory brassboard system. The results reveal a noteworthy improvement in disturbance rejection as compared with a conventional PI controller with notch filters.

Citation Download Citation

Bo Li, David A. Hullender, and Michael T. DiRenzo "Nonlinear-induced disturbance rejection in inertial stabilization systems", Proc. SPIE 2739, Acquisition, Tracking, and Pointing X, (7 June 1996); https://doi.org/10.1117/12.241920

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