ISSN 0253-2778

CN 34-1054/N

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Open AccessOpen Access JUSTC Original Paper

Application of adaptive strong tracking Kalman filter to gyro-stabilized platform

  • 1.

    Department of Automation, University of Science and Technology of China, Hefei 230027, China

  • 2.

    Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Science, Changchun 130033, China

Cite this:
https://doi.org/10.3969/j.issn.0253-2778.2015.01.003
  • Received Date: 18 March 2014
  • Accepted Date: 31 May 2014
  • Rev Recd Date: 31 May 2014
  • Publish Date: 30 January 2015
    Abstract

  • Abstract

    Considering the effect of gyro output noise in a velocity loop control system on a gyro-stabilized platform, the adaptive strong tracking Kalman filter with iterative estimation of system parameter perturbation was designed. Combined with the model reference adaptive control (MRAC) system, the disturbance isolation performance of the system with the Kalman filter designed was studied by means of comparative simulation experiments with PI control system. The results show that the adaptive strong tracking Kalman filter proposed may further improve the isolation performance of the disturbance control system, and that especially in the case of half compensated non-linear friction as unmodeled uncertainty, not only can the designed filter work stably, but the isolation performance of MRAC system and PI control system can also be improved significantly.

    Abstract

    Considering the effect of gyro output noise in a velocity loop control system on a gyro-stabilized platform, the adaptive strong tracking Kalman filter with iterative estimation of system parameter perturbation was designed. Combined with the model reference adaptive control (MRAC) system, the disturbance isolation performance of the system with the Kalman filter designed was studied by means of comparative simulation experiments with PI control system. The results show that the adaptive strong tracking Kalman filter proposed may further improve the isolation performance of the disturbance control system, and that especially in the case of half compensated non-linear friction as unmodeled uncertainty, not only can the designed filter work stably, but the isolation performance of MRAC system and PI control system can also be improved significantly.
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    • References(10)
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    杨娟, 马建仓, 李俊杰. 基于DSP的MEMS陀螺去噪算法研究[J]. 电子测量技术, 2007, 30(5): 8-10, 28.
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    Huo J, Wang S J, Yang M, et al. Noise processing of FOG signal based on wavelet threshold-value[J]. Journal of Chinese Inertial Technology, 2008, 16(3): 343-347.
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    Wei X Y, Cong S, Deng K, et al. Isolation control of carrier turbulence for speed system of airborne electro-optical gyro-stabilized platform[C]// Proceedings of 14th Chinese Conference on System Simulation Technology & Application[J]. System Simulation Technology & Application, 2012, 14: 751-757.
    魏学云, 丛爽, 邓科, 等. 机载光电陀螺稳定平台速度系统载体扰动的隔离控制[C]// 第14届中国系统仿真技术及其应用论文集. 中国科学技术大学出版社, 2012, 14: 751-757.
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    Cong S, Wei XY, Deng K, et al. Discrete-time model reference adaptive control of velocity loop in gyro-stabilized platform[J]. Information and Control, 2014，43（3）：287-292.
    魏学云，丛爽，邓科等. 陀螺稳定平台速度环的离散模型参考自适应控制[J]. 信息与控制, 2014，43（3）：287-292.
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    Song K N, Cong S, Deng K, et al. Design of adaptive strong tracking and robust kalman filter[C]// Proceedings of the 33rd Chinese Control Conference(CCC2014), Nanjing, IEEE Press, 2014: 6 626-6 631.
    宋康宁, 丛爽, 邓科, 等. 自适应强跟踪鲁棒卡尔曼滤波器的设计[C]// 第33届中国控制会议，南京, IEEE Press, 2014: 6 626-6 631.
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    [1]
    Deng K, Cong S, Shen H H. Control strategies and error compensation methods of high precision gyro stabilized platform[C]// Proceedings of the 30th Chinese Control Conference. Hefei, China: IEEE Press, 2011: 3 450-3 455.
    邓科，丛爽，沈宏海. 高精度陀螺稳定平台的控制策略及误差补偿方法[C]// 第30届中国控制会议. 合肥: IEEE Press, 2011: 3 450-3 455.
    [2]
    Cong S, Deng K, Shang W W, et al. Modeling Analysis of Gyro Stabilized Platform[J]. Science & Technology Review, 2011, 29(9):42-47.
    丛爽, 邓科, 尚伟伟, 等. 陀螺稳定平台的建模分析[J]. 科技导报，2011，29(9): 42-47.
    [3]
    Yang J, Ma J C, Li J J. Research of de-noise algorithms in MEMS gyroscope based on DSP[J]. Electronic Measurement Technology, 2007, 30(5): 8-10, 28.
    杨娟, 马建仓, 李俊杰. 基于DSP的MEMS陀螺去噪算法研究[J]. 电子测量技术, 2007, 30(5): 8-10, 28.
    [4]
    Huo J, Wang S J, Yang M, et al. Noise processing of FOG signal based on wavelet threshold-value[J]. Journal of Chinese Inertial Technology, 2008, 16(3): 343-347.
    霍炬, 王石静, 杨明, 等. 基于小波变换阈值法处理光纤陀螺信号噪声[J]. 中国惯性技术学报, 2008, 16(3): 343-347.
    [5]
    Deng K, Cong S, Kong D J, et al. Experimental nonlinear modeling of velocity loop in gyro stablized platform[J]. Systems Engineering and Electronics, 2013, 35(4): 807-811.
    邓科, 丛爽, 孔德杰, 等. 陀螺稳定平台中速度环的非线性实验建模[J]. 系统工程与电子技术, 2013, 35(4): 807-811.
    [6]
    Wei X Y, Cong S, Deng K, et al. Isolation control of carrier turbulence for speed system of airborne electro-optical gyro-stabilized platform[C]// Proceedings of 14th Chinese Conference on System Simulation Technology & Application[J]. System Simulation Technology & Application, 2012, 14: 751-757.
    魏学云, 丛爽, 邓科, 等. 机载光电陀螺稳定平台速度系统载体扰动的隔离控制[C]// 第14届中国系统仿真技术及其应用论文集. 中国科学技术大学出版社, 2012, 14: 751-757.
    [7]
    Cong S, Wei XY, Deng K, et al. Discrete-time model reference adaptive control of velocity loop in gyro-stabilized platform[J]. Information and Control, 2014，43（3）：287-292.
    魏学云，丛爽，邓科等. 陀螺稳定平台速度环的离散模型参考自适应控制[J]. 信息与控制, 2014，43（3）：287-292.
    [8]
    魏学云. 机载光电陀螺稳定平台速度环的高精度控制[D]. 中国科学技术大学, 2013.
    [9]
    Song K N, Cong S, Deng K, et al. Design of adaptive strong tracking and robust kalman filter[C]// Proceedings of the 33rd Chinese Control Conference(CCC2014), Nanjing, IEEE Press, 2014: 6 626-6 631.
    宋康宁, 丛爽, 邓科, 等. 自适应强跟踪鲁棒卡尔曼滤波器的设计[C]// 第33届中国控制会议，南京, IEEE Press, 2014: 6 626-6 631.
    [10]
    吴士昌, 吴忠强. 自适应控制[M]. 北京: 机械工业出版社, 2005.
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