Discrete-Time Direct Model Reference Adaptive Control Application in a High-Precision Inertially Stabilized Platform

This paper studies the practical use of discrete-time direct adaptive control in a high-precision inertially stabilized platform's turbulence isolation system for the purpose of enhancing isolation performance. Under low-frequency and low-velocity environments, the velocity-stabilized loop of t...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) Vol. 66; no. 1; pp. 358 - 367
Main Authors: Deng, Ke, Cong, Shuang, Kong, Dejie, Shen, Honghai
Format: Journal Article
Language:English
Published: New York IEEE 01.01.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptation models
Adaptive control
Algorithms
Azimuth
Compensation
Control systems
Friction
inertially stabilized platform (ISP)
Mathematical model
Model reference adaptive control
Nonlinear control
nonlinear friction
Stability analysis
Turbulence
turbulence isolation
ISSN:0278-0046, 1557-9948
Online Access:Get full text
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Summary:This paper studies the practical use of discrete-time direct adaptive control in a high-precision inertially stabilized platform's turbulence isolation system for the purpose of enhancing isolation performance. Under low-frequency and low-velocity environments, the velocity-stabilized loop of the platform shows severe nonlinear characteristic; therefore, its isolation performance is limited. In previous research, we constructed a nonlinear model of the velocity-stabilized loop by using an improved Stribeck friction model, and also designed a feed-forward compensation strategy. Both have obtained outstanding performance during practical experiments. However, errors still exist as disturbance of the unmodeled part and environmental change causes the system's parameter to vary. To solve this, a novel discrete-time direct model reference adaptive control based on nonlinear friction compensation is introduced to the original proportional-integral control system. An improved projection algorithm and a recursive least-square algorithm with fading memory are respectively used to design the adaptive law. By using a turbulence observer to provide a reference signal, both types of controls are applied to the carrier turbulence isolation system. Results of the practical experiments prove that model reference adaptive control can further enhance the system's isolation ability.
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ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2018.2831181