Title: Characteristic analysis and robust control design of double-stage precision stabilized platform 

Author(s): Mao, Y (Mao, Yao); Ren, W (Ren, Wei); Yu, W (Yu, Wei); Ren, G (Ren, Ge) 

Source: SENSORS AND ACTUATORS A-PHYSICAL  Volume: 300  Article Number: UNSP 111636  DOI: 10.1016/j.sna.2019.111636  Published: DEC 1 2019   

Abstract: Aiming at insufficiency in the passive and active disturbance suppression of the precision stabilized platform (PSP) system, in this study, a novel cascading double-stage PSP is designed and analyzed. Compared with the traditional structure, a new secondary PSP is provided to improve the disturbance suppression capability of the system over the full frequency range. The stabilizing mechanism of the secondary PSP is discussed in detail through dynamic modeling analysis of the double-stage PSP. This method can be used to solve the difficult compromise between the mechanical resonance and the control bandwidth in the design of the PSP with flexible support structure. Meanwhile, due to the reaction force of the primary PSP on the secondary PSP, the controlled object of the secondary PSP will be subjected to uncertain perturbation. Therefore, a robust control design method with a model is proposed to solve control problem of the secondary PSP. Theoretical and experimental results show that the secondary PSP brings better active and passive disturbance suppression ability for the stability control of the primary PSP. (C) 2019 Elsevier B.V. All rights reserved. 

ISSN: 0924-4247