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| Measurement Method and Compensation Control for Unbalanced Moment of Inertial Platform |
| YU Shuang, FU Zhuang, ZHAO Hui, ZHAO Yan-zheng |
| (Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China) |
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Abstract A measurement and compensation method was proposed in order to eliminate the coupling effect on tracking accuracy and stabilizing capability due to unbalanced moment of inertial platform. The condition for static balancing of twoaxis gimbaled inertial platform was analyzed. Weight sensors were used to measure the static unbalance torque of inner and outer gimbal, then the calculation formulas of dynamic unbalanced moment during missile flight were derived. The simulation results of the built control model for inner gimbal in MATLAB/Adams show the effectiveness of the proposed compensation method for unbalanced moment.
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Received: 06 November 2007
Published: 28 October 2008
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Corresponding Authors:
ZHAO Yan-zheng
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