High-precision gyro-stabilized control of a gear-driven platform with a floating gear tension device

Abstract

This study presents an improved compound control algorithm that substantially enhances the anti-disturbance performance of a gear-drive gyro-stabilized platform with a floating gear tension device. The tension device can provide a self-adjustable preload to eliminate the gap in the meshing process. However, the weaker gear support stiffness and more complex meshing friction are also induced by the tension device, which deteriorates the control accuracy and the ability to keep the aim point of the optical sensors isolated from the platform motion. The modeling and compensation of the induced complex nonlinearities are technically challenging, especially when base motion exists. The aim of this research is to cope with the unmeasured disturbances as well as the uncertainties caused by the base lateral motion. First, the structural properties of the gear transmission and the friction-generating mechanism are analyzed, which classify the disturbances into two categories: Time-invariant and time-varying parts. Then, a proportional-integral controller is designed to eliminate the steady-state error caused by the time-invariant disturbance. A proportional multiple-integral-based state augmented Kalman filter is proposed to estimate and compensate for the time-varying disturbance that can be approximated as a polynomial function. The effectiveness of the proposed compound algorithm is demonstrated by comparative experiments on a gear-drive pointing system with a floating gear tension device, which shows a maximum 76% improvement in stabilization precision.

Keywords

inertially stabilized platform / floating gear tension device / nonlinear friction / disturbance compensation / proportional multiple-integral observer

参考文献

[1] Yao J. Model-based nonlinear control of hydraulic servo systems: Challenges, developments and perspectives. Frontiers of Mechanical Engineering, 2018, 13(2): 179–210

[2] Profeta J A, Vogt W G, Mickle M H. Torque disturbance rejection in high accuracy tracking systems. IEEE Transactions on Aerospace and Electronic Systems, 1990, 26(2): 232–287

[3] Boscariol P, Gasparetto A. Vibration suppression of speed-controlled robots with nonlinear control. Frontiers of Mechanical Engineering, 2016, 11(2): 204–212

[4] Xiao B, Yin S, Kaynak O. Attitude stabilization control of flexible satellites with high accuracy: An estimator-based approach. IEEE/ASME Transactions on Mechatronics, 2017, 22(1): 349–358

[5] Kim K H, Lee J K, Park B S, . Chatter-free sliding mode control for inertial stabilization of OTM (on-the-move) antenna driven by gear and flexible shaft. International Journal of Precision Engineering and Manufacturing, 2012, 13(8): 1317–1325

[6] Königseder F, Kemmetmüller W, Kugi A. Attitude control strategy for a camera stabilization platform. Mechatronics, 2017, 46: 60–69

[7] Kennedy P J, Kennedy R L. Direct versus indirect line of sight (LOS) stabilization. IEEE Transactions on Control Systems Technology, 2003, 11(1): 3–15

[8] Jiang L, Deng Z, Gu F, . Effect of friction coefficients on the dynamic response of gear systems. Frontiers of Mechanical Engineering, 2017, 12(3): 397–405

[9] Lin J, Parker R G. Mesh stiffness variation instabilities in two-stage gear systems. Journal of Vibration and Acoustics, 2002, 124(1): 68–76

[10] Cai Y, Ren G, Song J, . High precision position control of electro-hydrostatic actuators in the presence of parametric uncertainties and uncertain nonlinearities. Mechatronics, 2020, 68: 102363

[11] Guo X, Zeng J, Ma H, . Dynamic characteristics of a shrouded blade with impact and friction. Frontiers of Mechanical Engineering, 2020, 15(2): 209–226

[12] Li B, Hullender D, DiRenzo M. Nonlinear induced disturbance rejection in inertial stabilization systems. IEEE Transactions on Control Systems Technology, 1998, 6(3): 421–427

[13] Zhou X, Shi Y, Li L, . A high precision compound control scheme based on non-singular terminal sliding mode and extended state observer for an aerial inertially stabilized platform. International Journal of Control, Automation, and Systems, 2020, 18(6): 1498–1509

[14] Tsai S J, Huang G L, Ye S Y. Gear meshing analysis of planetary gear sets with a floating sun gear. Mechanism and Machine Theory, 2015, 84: 145–163

[15] Magnani G, Rocco P. Mechatronic analysis of a complex transmission chain for performance optimization in a machine tool. Mechatronics, 2010, 20(1): 85–101

[16] Li S, Zhong M. High-precision disturbance compensation for a three-axis gyro-stabilized camera mount. IEEE/ASME Transactions on Mechatronics, 2015, 20(6): 3135–3147

[17] Li B, Hullender D A. Self-tuning controller for nonlinear inertial stabilization systems. Proceedings of the Society for Photo-Instrumentation Engineers, 1996, 2739(1): 229–241 https://doi.org/10.1117/12.241919

[18] Pisu P, Serrani A. Attitude tracking with adaptive rejection of rate gyro disturbances. IEEE Transactions on Automatic Control, 2007, 52(12): 2374–2379

[19] Hong S, Cho K D. Kinematic algorithms and robust controller design for inertially stabilized system. IEEE/ASME Transactions on Mechatronics, 2014, 19(1): 76–87

[20] Ahi B, Nobakhti A. Hardware implementation of an ADRC controller on a gimbal mechanism. IEEE Transactions on Control Systems Technology, 2018, 26(6): 2268–2275

[21] Mao J, Yang J, Liu X, . Modeling and robust continuous TSM control for an inertially stabilized platform with couplings. IEEE Transactions on Control Systems Technology, 2020, 28(6): 2548–2555

[22] Safa A, Yazdanpanah Abdolmalaki R. Robust output feedback tracking control for inertially stabilized platforms with matched and unmatched uncertainties. IEEE Transactions on Control Systems Technology, 2019, 27(1): 118–131

[23] Ferguson J, Donaire A, Ortega R, . Matched disturbance rejection for a class of nonlinear systems. IEEE Transactions on Automatic Control, 2020, 65(4): 1710–1715

[24] Koenig D, Mammar S. Design of proportional-integral observer for unknown input descriptor systems. IEEE Transactions on Automatic Control, 2002, 47(12): 2057–2062

[25] Ren C, Ma S. Generalized proportional integral observer based control of an omnidirectional mobile robot. Mechatronics, 2015, 26: 36–44

[26] Zhang S Q, Li H N, Schmidt R, . Disturbance rejection control for vibration suppression of piezoelectric laminated thin-walled structures. Journal of Sound and Vibration, 2014, 333(5): 1209–1223

[27] Lu J, Savaghebi M, Ghias A M Y M, . A reduced-order generalized proportional integral observer-based resonant super-twisting sliding mode control for grid-connected power converters. IEEE Transactions on Industrial Electronics, 2021 68(7): 5798–5980

[28] Boichuk O F. Vibrations of a stabilized platform in an inertial navigation system. Soviet Applied Mechanics, 1968, 4(9): 65–68

[29] Wu M, Gao F, Yu P, . Improve disturbance-rejection performance for an equivalent-input-disturbance-based control system by incorporating a proportional-integral observer. IEEE Transactions on Industrial Electronics, 2020, 67(2): 1254–1260

[30] Gutman P, Velger M. Tracking targets using adaptive Kalman filtering. IEEE Transactions on Aerospace and Electronic Systems, 1990, 26(5): 691–699

[31] Erkorkmaz K, Altintas Y. High speed CNC system design. Part III: High speed tracking and contouring control of feed drives. International Journal of Machine Tools and Manufacture, 2001, 41(11): 1637–1658

[32] Sheikh Sofla M, Zareinejad M, Parsa M, . Integral based sliding mode stabilizing a camera platform using Kalman filter attitude estimation. Mechatronics, 2017, 44: 42–51

[33] Zhou S, Song G, Sun M, . Nonlinear dynamic response analysis on gear-rotor-bearing transmission system. Journal of Vibration and Control, 2018, 24(9): 1632–1651

Acknowledgements

This work was supported by the National Natural Science Foundation of China (Grant No. U19A2072) and the Foundation by China Academy of Launch Vehicle Technology (Grant No. CALT201706).

版权

2021 Higher Education Press