Analysis of Mass Imbalance for Roll-Pitch Inertial Stabilized Platform
WU Hai-lon · Xi'an Jiaotong Daxue xuebao · 2015
Static imbalance and dynamic imbalance of mass for a roll-pitch inertial stabilized platform(RPISP)are analyzed to study the effects of the mass imbalance(MI)on the control system of the RPISP.Reasons and classification of MIs in the RPISP are presented and an MI mathematical model of the RPISP is given by using the theorem of moment of momentum.Then,the MI model is rebuilt in Simulink with actual parameters of the roll-pitch inertial stabilized platform and the effects of the MI on the RPISP are researched through different simulations.A compensation research to the mass dynamic imbalance is implemented through experiments.The simulation results show that the impact of the dynamic mass imbalance(DMI)on the overshoot is negligible and its main effect is on steady errors.The static mass imbalance(SMI)is the primary cause of the oscillation and instability of the system.After the compensation,the average steadystate response values of the roll gimbal and the pitch gimbal are improved by 1.34%and 0.64%,respectively and their mean square deviations are reduced by 35.03%and 55.19%,respectively.The results are useful for the analysis and elimination of the MI existed in RPISPs.