Combining Load and Motor Encoders to Compensate Nonlinear Disturbances for High Precision Tracking Control of Gear-Driven Gimbal

doi:10.3390/s18030754

CORC > 光电技术研究所 > 中国科学院光电技术研究所 > 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, Tao 1,2; Chen, Sisi 1,2,3; Huang, Xuanlin 1,2,3; Yang, Tao 1,2; Qi, Bo 1,2
刊名	SENSORS
	2018-03-01
卷号	18 期号:3 页码:754
关键词	sensor-fusion nonlinear disturbances rate deviation DOB gear-driven
ISSN号	1424-8220
DOI	10.3390/s18030754
文献子类	J
英文摘要	High-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.
WOS关键词	BACKLASH ; DESIGN ; OBSERVER ; SYSTEMS
语种	英语
WOS记录号	WOS:000428805300075
内容类型	期刊论文
源URL	[http://ir.ioe.ac.cn/handle/181551/9366]
专题	光电技术研究所_光电工程总体研究室（一室）
作者单位	1.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
推荐引用方式 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.