Infrared and Laser Engineering, Volume. 51, Issue 5, 20210557(2022)
Friction observation compensation technology based on angular position information of photoelectric platform
Figures & Tables(12)
Fig. 2. Single axis loop control block diagram of photoelectric stabilization platform
Fig. 3. Acceleration compensation block diagram of stabilized platform
Fig. 4. Schematic diagram of sensor tracking mechanism movement position
Fig. 7. Load speed response diagram before and after compensation when 10 Hz，0.03° disturbance is applied
Fig. 8. Image stabilization accuracy of the platform before and after friction compensation when 10 Hz，0.03° disturbance signal is input
Table 1. Parameter selection of platform
View tableView in ArticleTable 1. Parameter selection of platform
Item Parameters Value Sample period T/ms 0.1 Rotate inertia J/(kg·m2) 0.086 Torque coefficien K/(N·m·A−1) 0.718 Peak voltage U/V 12.2 Peak current I/A 17 Resistance R/Ω 1.8 Inductance L/mH 5.4
Table 2. Parameter selection of LuGre friction model
View tableView in ArticleTable 2. Parameter selection of LuGre friction model
${\sigma _0}$ ${\sigma _1}$ ${\sigma _2}$ ${T_s}$ ${T_c}$ 200 8 0.01 0.15 0.06
Table 3. Main technical specifications of STM210 gyro
View tableView in ArticleTable 3. Main technical specifications of STM210 gyro
Parameters Value Measuring range/(°)·s−1 −400-400 Zero bias ≤20 Zero bias stability/(°)·h−1 ≤0.5 Bandwidth/Hz 131
Table 4. Main technical specifications of DS-130 photoelectric encoder
View tableView in ArticleTable 4. Main technical specifications of DS-130 photoelectric encoder
Parameters Value Resolution/(") 2.47 Precision/(") 9.89 Acquisition delay/ms 0.25 Data update cycle/ms 0.1
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Yang Yu, Honggang Zhang, Junke Gao, Jiangang Wang. Friction observation compensation technology based on angular position information of photoelectric platform[J]. Infrared and Laser Engineering, 2022, 51(5): 20210557
Paper Information
Category: Photoelectric measurement
Received: Aug. 10, 2021
Accepted: --
Published Online: Jun. 14, 2022
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