Dynamics analysis and decoupling control for a differential cable drive inertially stabilized platform

Abstract

In this article, a decoupling control method is proposed to solve the coupling problem of the differential cable drive inertially stabilized platform. First, the transmission chain and motion of the inertially stabilized platform are briefly illustrated, and the dynamics is analysed based on the Lagrange equation. According to the established dynamic equation, the coupling of inertia, torque and angular position between two motors are analysed. Then, the decoupling controller is used to address the coupling problems, and the numerical simulation is realized in the MATLAB/Simulink. The experimental results show that the dynamic equation can accurately describe the dynamic characteristic of the differential cable drive inertially stabilized platform, and the control performance is improved by suppressing the coupling factors.

Keywords

Inertially stabilized platforms differential cable drive dynamics coupling analysis decoupling control

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