Abstract:

Based on the description of the four-gimbal two-axis gyro stabilized platform’s structure and working principle, this paper specifically analyzes the method of obtaining data from the actual experiment. The simplified linear model of inner stability loop is got by mechanism analysis. For the serious nonlinear characteristics existing in the platform in the low-frequency environment, the mathematical model of the system is constructed by adding the nonlinear Stribeck friction to the linear model. With the data obtained from the actual system, the genetic algorithm is applied for parameters identification. Simulation results show the feasibleness of the established model and verify the accuracy of the model on the performance of disturbance isolation by comparing with the actual system. Furthermore, the nonlinear model and its accuracy are improved based on the analysis of model residuals. The paper provides a practical high accuracy mathematical model for modeling and error compensation of the four-gimbal two-axis gyro stabilized platform.