This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：e...This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：er output and causes a degradation of attitude steady accuracy. In order to improve control accuracy, this paper proposes a proportional multiple-integral observer- based control strategy to estimate and compensate the accelerometer error. The basic idea of this paper is to approximate the error property by using a q-order polynomial function and extend the error and its derivatives as augmented states. Then a proportional multiple-integral observer is developed to estimate the error, with which the relationship between the error and the imbalance torque is formulated. The estimated value is compared to an angle threshold, the result of which is used to compen- sate the accelerometer output. Through static and vehicle-mounted experiments, it is demonstrated that compared with the tra- ditional method, the proposed method can improve the attitude steady accuracy effectively.展开更多
A gyro-stabilizer is the interesting system that it can apply to marine vessels for diminishes roll motion.Today it has potentially light weight with no hydrodynamics drag and effective at zero forward speed.The...A gyro-stabilizer is the interesting system that it can apply to marine vessels for diminishes roll motion.Today it has potentially light weight with no hydrodynamics drag and effective at zero forward speed.The twin-gyroscope was chosen.Almost,the modelling for designing the system use linear model that it might not comprehensive mission requirement such as high sea condition.The non-linearity analysis was proved by comparison the results between linear and non-linear model of gyro-stabilizer throughout frequency domain also same wave input,constrains and limitations.Moreover,they were cross checked by simulating in time domain.The comparison of interested of linear and non-linear close loop model in frequency domain has demonstrated the similar characteristics but gave different values at same frequency obviously.The results were confirmed again by simulation in irregular beam sea on time domain and they demonstrate the difference of behavior of both systems while the gyro-stabilizers are switching on and off.From the resulting analysis,the non-linear gyro-stabilizer model gives more real results that correspond to more accuracy in a designing gyro-stabilizer control system for various amplitudes and frequencies operating condition especially high sea condition.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.61174121,61333005 and 61121003)the Ph.D Programs Foundations of the Ministry of Education China
文摘This paper deals with the problem of accelerometer error estimation and compensation for a three-axis gyro-stabilized camera mount. In a dynamic environment, the aircraft motion acceleration affects the accelerome ：er output and causes a degradation of attitude steady accuracy. In order to improve control accuracy, this paper proposes a proportional multiple-integral observer- based control strategy to estimate and compensate the accelerometer error. The basic idea of this paper is to approximate the error property by using a q-order polynomial function and extend the error and its derivatives as augmented states. Then a proportional multiple-integral observer is developed to estimate the error, with which the relationship between the error and the imbalance torque is formulated. The estimated value is compared to an angle threshold, the result of which is used to compen- sate the accelerometer output. Through static and vehicle-mounted experiments, it is demonstrated that compared with the tra- ditional method, the proposed method can improve the attitude steady accuracy effectively.
文摘A gyro-stabilizer is the interesting system that it can apply to marine vessels for diminishes roll motion.Today it has potentially light weight with no hydrodynamics drag and effective at zero forward speed.The twin-gyroscope was chosen.Almost,the modelling for designing the system use linear model that it might not comprehensive mission requirement such as high sea condition.The non-linearity analysis was proved by comparison the results between linear and non-linear model of gyro-stabilizer throughout frequency domain also same wave input,constrains and limitations.Moreover,they were cross checked by simulating in time domain.The comparison of interested of linear and non-linear close loop model in frequency domain has demonstrated the similar characteristics but gave different values at same frequency obviously.The results were confirmed again by simulation in irregular beam sea on time domain and they demonstrate the difference of behavior of both systems while the gyro-stabilizers are switching on and off.From the resulting analysis,the non-linear gyro-stabilizer model gives more real results that correspond to more accuracy in a designing gyro-stabilizer control system for various amplitudes and frequencies operating condition especially high sea condition.
