Imbalance Torque Observer of Stabilized Platform Design based on EKF Identification
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Due to the inevitable mass imbalance relative to the gimbal rotation center, the stability of stabilized platform system degrades with carrier’s disturbances. The dynamics model of 2-axis stabilized platform is given. An imbalance torque observer based on Extended Kalman Filter(EKF) method is been designed. The simulation result indicates that the error of EKF parameters estimation is less than 0.015mm after 0.4s convergence time. The observation accuracy is about 17% relative to the real imbalance torque.