Abstract
A control algorithm is proposed to achieve the fast dynamic tracking for improving anti-instability capability of the stabilization loop in the inertial measurement system. Disturbances and uncertainties inevitably exist in actual inertial platform, directly affecting the measurement and stabilization accuracy. We investigated the parameter uncertainty of the inertia moment and damping constant caused by dynamic mass imbalance and nonlinear friction. Furthermore, we establish the dynamic model of the control system for the stabilization loop considering external disturbances and parameter uncertainties. Then, a robust controller is designed to guarantee that the stabilization loop is exponentially stable with nonzero initial states for improving the anti-interference and stabilization recovery ability. Finally, simulation and experiment results show that the designed controller reduces the overshoot and the tracking error to optimize the convergence rapidity and anti-instability capability of the stabilization loop, which promotes stability precision and the dynamic performance of the inertial measurement system in the field of inertial navigation.
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