NDLI: Compensation of friction effects in gyro-stabilized motion platforms

Content Provider	IEEE Xplore Digital Library
Author	Sincar, E. Balkan, T. Platin, B.E.
Copyright Year	2015
Description	Author affiliation: Middle East Tech. Univ., Ankara, Turkey (Balkan, T.; Platin, B.E.) \|\| ASELSAN Inc., Ankara, Turkey (Sincar, E.)
Abstract	A frequent problem encountered in the stabilization of gyro-stabilized motion platforms is the disturbance rejection associated with moving components. Due to relative motion of adjacent components, friction is induced by the destabilizing force from the base motion to the stabilized object, degrading its motion accuracy. Hence, a compensation of frictional effects is necessary in order to obtain a highly precise stabilization performance. In this paper, applications of both single-state disturbance observer and well-known LuGre friction model on gyro-stabilized motion platforms is presented to compensate for friction. The compensation techniques are described for a generalized control system and simplified for a specific case. The success of these techniques is validated via experiments and simulations by constructing a block diagram of the system stabilization loop. An added disturbance observer yields a similar improvement in the stabilization performance as the LuGre friction model does at low frequencies. However, the performance of disturbance observer degrades as the frequency of disturbances increases although it still improves the overall stabilization performance of the system.
Starting Page	3242
Ending Page	3248
File Size	914830
Page Count	7
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7171832
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Friction Observers Torque Mathematical model Noise Load modeling Damping
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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