Compound rotation control algorithm for rotational INS

Zhi Hong Deng; Shan Bo Cai; Bo Wang; Meng Yin Fu

doi:10.3969/j.issn.1001-506X.2016.11.23

Compound rotation control algorithm for rotational INS

Zhi Hong Deng, Shan Bo Cai, Bo Wang, Meng Yin Fu

School of Automation

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

Firstly, the modulation influence of rotational platform's control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC's superiority to decrease control error and ADRC's ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.

Original language	English
Pages (from-to)	2610-2616
Number of pages	7
Journal	Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume	38
Issue number	11
DOIs	https://doi.org/10.3969/j.issn.1001-506X.2016.11.23
Publication status	Published - 1 Nov 2016

Keywords

Active disturbance rejection control (ADRC)
Compound control
Error depressing
Inertial navigation system (INS)
Rotation modulation
Sliding model control (SMC)

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10.3969/j.issn.1001-506X.2016.11.23

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title = "Compound rotation control algorithm for rotational INS",

abstract = "Firstly, the modulation influence of rotational platform's control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC's superiority to decrease control error and ADRC's ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.",

keywords = "Active disturbance rejection control (ADRC), Compound control, Error depressing, Inertial navigation system (INS), Rotation modulation, Sliding model control (SMC)",

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T1 - Compound rotation control algorithm for rotational INS

AU - Deng, Zhi Hong

AU - Cai, Shan Bo

AU - Wang, Bo

AU - Fu, Meng Yin

PY - 2016/11/1

Y1 - 2016/11/1

N2 - Firstly, the modulation influence of rotational platform's control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC's superiority to decrease control error and ADRC's ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.

AB - Firstly, the modulation influence of rotational platform's control error on the inertial navigation system (INS) is analyzed. Then, based on the mathematical model of the rotational platform and the control requirements for the rotation modulation technology, a compound algorithm based on active disturbance rejection control (ADRC) and sliding model control (SMC) is put forward. The compound algorithm takes full advantage of SMC's superiority to decrease control error and ADRC's ability to estimate system states. Meanwhile, a fusion strategy is designed. The simulation and experiment results show that compared with the traditional PID method, the proposed algorithm decreases the speed error of the platform, and minishes the angular overshoot and responding time more than 50% when changing the rotation direction.

KW - Active disturbance rejection control (ADRC)

KW - Compound control

KW - Error depressing

KW - Inertial navigation system (INS)

KW - Rotation modulation

KW - Sliding model control (SMC)

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Compound rotation control algorithm for rotational INS

Abstract

Keywords

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