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Development of a Stabilized Pan/Tilt Platform and the State of the Art

机译：开发稳定的平移平台和现有技术

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摘要

In the context of this paper, a small scale, medium precision, stabilized pan/tilt platform is developed as a prototype, which is used to compare various stabilization algorithms experimentally. The overall performance of the system depends on rigid body dynamics, structural dynamics, servo control loops, stabilization control algorithm, sensor fusion algorithm, and sensory feedback such as from the inertial measurement unit (IMU). In the case that the response bandwidth of the overall system is high enough, the same hardware can also achieve active vibration isolation. All of these design aspects are investigated in the paper via numerical models and with their experimental verification.
机译：在本文的背景下，大规模，中等精度稳定的平台被开发为原型，用于实验地比较各种稳定算法。系统的整体性能取决于刚体动态，结构动力学，伺服控制回路，稳定控制算法，传感器融合算法，以及来自惯性测量单元（IMU）的感觉反馈。在整个系统的响应带宽足够高的情况下，相同的硬件也可以实现主动振动隔离。所有这些设计方面都通过数值模型在论文中进行了研究，并进行实验验证。

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