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首页> 外文期刊>Proceedings of the Institution of Mechanical Engineers >Dynamic analysis and stabilizing control of three-axis spherical gimbal
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Dynamic analysis and stabilizing control of three-axis spherical gimbal

机译：三轴球形万向节的动力学分析与稳定控制

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摘要

Nowadays, stabilized gimbals have been popular products on the present market for unmanned aerial vehicle. Rejecting multi-periodic vibration disturbance is a key point for accuracy motion of the gimbal under the flight operation of unmanned aerial vehicle. In this study, a stable control scheme of a three-axis spherical gimbal is proposed, where a new method for synthesizing multi-iterative learning control algorithm is exported. To design the controller, the mathematic modeling of the three-axis control system is earned and determined by spectrum analysis of the proposed gimbal. Performance and stability of the control system are analyzed and are evaluated in an experimental disturbance rejecting control system. Both computer simulation and experimental results are presented to illustrate the effectiveness of the proposed iterative learning controller design.
机译：如今，稳定化的云台已经成为当前无人机市场上的流行产品。抑制多周期振动扰动是无人飞行器飞行操作中万向架精确运动的关键。提出了一种稳定的三轴球型万向节控制方案，提出了一种新的多迭代学习控制算法的合成方法。为了设计控制器，通过对提出的常平架进行频谱分析，得出并确定了三轴控制系统的数学模型。分析控制系统的性能和稳定性，并在排除干扰的实验控制系统中进行评估。给出了计算机仿真和实验结果，以说明所提出的迭代学习控制器设计的有效性。

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