Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller
Abstract
:1. Introduction
2. ARSSP Dynamic Modeling
2.1. Coordinate System
2.2. Coupling Analysis of the ARSSP
2.3. Mathematical Model of the ARSSP
3. ARSSP Controller Design
3.1. CMAC Control Algorithm
3.2. CA&OS-CMAC Control Algorithm
3.3. Design of the Sliding-Mode Controller Based on the CMAC
4. Experimental Analysis
4.1. Simulation Experiment
4.2. Experimental Verification
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Pitch Axis | Roll Axis | |
---|---|---|
Range of motion (°) | ±45 | ±45 |
Maximum angular velocity (°/s) | ≥90 | ≥90 |
Minimum angular velocity (°/s) | ≤0.01 | ≤0.01 |
Angular acceleration (°/s) | 150 | 150 |
Rotation accuracy (″) | ±15 | ±15 |
Parameter | ||
---|---|---|
±10″ | ≤0.1″ | |
Precision | ±20″ | ≤0.2″ |
±1000″ | ≤0.5″ | |
Number of measuring axes | X/Y Simultaneous measurement | |
Accuracy index measurement range | 2000″ × 2000″ | |
Signal acquisition range | 3000″ × 3000″ | |
Resolution | 0.01″ | |
Repeatability | 0.04″ | |
Focal length | 300 mm | |
Measuring frequency response | 25 Hz TYP |
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Ran, T.; Shi, G.; Lin, J.; Meng, L. Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller. Machines 2023, 11, 5. https://doi.org/10.3390/machines11010005
Ran T, Shi G, Lin J, Meng L. Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller. Machines. 2023; 11(1):5. https://doi.org/10.3390/machines11010005
Chicago/Turabian StyleRan, Tonghuan, Guangfeng Shi, Jieqiong Lin, and Linghe Meng. 2023. "Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller" Machines 11, no. 1: 5. https://doi.org/10.3390/machines11010005
APA StyleRan, T., Shi, G., Lin, J., & Meng, L. (2023). Decoupling Control of an Aviation Remote Sensing Stabilization Platform Based on a Cerebellar Model Articulation Controller. Machines, 11(1), 5. https://doi.org/10.3390/machines11010005