Designing Control Laws in Tracking and Stabilization Loops of Inertially Stabilized Platforms
DOI:
https://doi.org/10.18372/1990-5548.75.17557Keywords:
іnertially stabilized platforms, tracking and stabilization loops, PID controller, robust structural synthesis, platform characteristicsAbstract
The article deals with the approach to designing control laws of tracking and stabilization loops of inertially stabilized platforms operated on moving objects. The phases of designing controller are described. The process of choosing PID controller is represented. The ways of designing discrete controllers are shown and analysed. The possibility of using PID tuner by means of MatLab is represented. The necessity to use additional techniques of controller synthesis is grounded. The procedure of the structural robust synthesis based on the mixed sensitivity method and loop-shaping is represented. The technique of determining stiffness of the platform is proposed. The simulation results including step and impulse responses and sensitivity functions are shown. The possibility of industrial realization of controllers is considered. The proposed approach can be useful for designing stabilization systems of the wide class.
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