TY - GEN
T1 - Multi-loop stabilization control of a robotic bionic eyes
AU - Zhang, Taoran
AU - Chen, Xu
AU - Owais, Hafiz Muhammad
AU - Liu, Guilin
AU - Fu, Shaowen
AU - Tian, Ye
AU - Chen, Xiaopeng
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - The purpose of this paper is to realize the composite image stabilization between inertial mechanical and electronic image in the platform of robotic bonic eyes, and a closed-loop control structure based on the acceleration closed loop is proposed to improve the accuracy of the stable platform. By using PI controller, we achieved a ternary closed loop constituted by current, acceleration and velocity, which is used to replace the traditional dual-velocity loop control with the acceleration ring. And We introduce a torque observer in the control loop which is based on a Kalman filter. Besides the Stribeck friction model is introduced in this circuit. The system controller is designed on the basis of considering the friction. In this paper, we built a simulation model of the entire control system in MATLAB, experimental results show that the isolation effect is about 66% in the case of sine wave disturbances with amplitude of 1° and frequency of 3Hz. Comparing with the general double closed loop control, the method proposed in this paper improves the performance of the isolation effect by 23%In the actual platform stability control has a better control effect.
AB - The purpose of this paper is to realize the composite image stabilization between inertial mechanical and electronic image in the platform of robotic bonic eyes, and a closed-loop control structure based on the acceleration closed loop is proposed to improve the accuracy of the stable platform. By using PI controller, we achieved a ternary closed loop constituted by current, acceleration and velocity, which is used to replace the traditional dual-velocity loop control with the acceleration ring. And We introduce a torque observer in the control loop which is based on a Kalman filter. Besides the Stribeck friction model is introduced in this circuit. The system controller is designed on the basis of considering the friction. In this paper, we built a simulation model of the entire control system in MATLAB, experimental results show that the isolation effect is about 66% in the case of sine wave disturbances with amplitude of 1° and frequency of 3Hz. Comparing with the general double closed loop control, the method proposed in this paper improves the performance of the isolation effect by 23%In the actual platform stability control has a better control effect.
KW - Kalman filter
KW - acceleration feedback
KW - inertial mechanical stabilization
KW - multi-loop control
KW - stribeck friction
UR - http://www.scopus.com/inward/record.url?scp=85050471527&partnerID=8YFLogxK
U2 - 10.1109/CBS.2017.8266073
DO - 10.1109/CBS.2017.8266073
M3 - Conference contribution
AN - SCOPUS:85050471527
T3 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
SP - 87
EP - 90
BT - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Cyborg and Bionic Systems, CBS 2017
Y2 - 17 October 2017 through 19 October 2017
ER -