Parameter identification of inertially stabilized platforms using current command design  

作　　者：黎志强 张智永 周擎坤 范大鹏 

机构地区：[1]College of Mechatronics Engineering and Automation, National University of Defense Technology

出　　处：《Journal of Central South University》2013年第2期342-353,共12页中南大学学报（英文版）

基　　金：Project(50805144) supported by the National Natural Science Foundation of China

摘　　要：Accurate parameter identification is essential when designing controllers for inertially stabilized platforms （lSPs）. But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search （MCS） algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer （DOB） for application in disturbance compensation control system of an ISR Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value （PPV） of velocity error integral to 0.8 mrad which is much smaller than the value （10 mrad） obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.Accurate parameter identification is essential when designing controllers for inertially stabilized platforms (ISPs). But traditional identification methods suffer from observation measurement noise and operating restrictions of ISPs. To address this issue, a novel identification method based on current command design and multilevel coordinate search (MCS) algorithm without any higher order measurement differentiations was proposed. The designed current commands were adopted to obtain parameter decoupled models with the platform operating under allowable conditions. MCS algorithm was employed to estimate the parameters based on parameter decoupled models. A comparison experiment between the proposed method and non-linear least square method was carried out and most of the relative errors of identified parameters obtained by the proposed method were below 10%. Simulation and experiment based on identified parameters were conducted. A velocity control structure was also developed with disturbance observer (DOB) for application in disturbance compensation control system of an ISP. Experimental results show that the control scheme based on the identified parameters with DOB has the best disturbance rejection performance. It reduces the peak to peak value (PPV) of velocity error integral to 0.8 mrad which is much smaller than the value (10 mrad) obtained by the single velocity controller without DOB. Compared with the control scheme based on sweep model with DOB compensation, the proposed control scheme improves the PPV of velocity error integral by 1.625 times.

关 键 词：parameter identification current command design multilevel coordinate search inertially stabilized platforms 

分 类 号：TM33[电气工程—电机] TP273[自动化与计算机技术—检测技术与自动化装置]