Decoupling control for a three-axis inertially stabilized platform used for aerial remote sensing

摘要

A three-axis inertially stabilized platform (ISP) is an important component in an aerial remote sensing system, used for isolating the influences of various disturbances on imaging sensors. In order to deal with the coupling torques and improve the control precision of the ISP, a decoupling control method based on feedforward compensation is proposed in this paper. Firstly, the kinematic and dynamic model of three-axis ISP is developed by using a Lagrange equation. Then, the coupling effects among the three gimbals and base are analysed. Depending on the analysis of the model, the major coupling components are obtained and the dynamic model is simplified. Finally, a decoupling controller based on the feedforward compensation method is designed and applied to the ISP control system. Simulation and experimental results show that the stability and precision of the ISP are effectively improved.