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A friction compensation system which augments a stabilization rate loop includes a first summer (11) responsive to a rate command signal and a feedback signal to provide a torque command signal, a second summer (17) responsive to the torque command signal via torquer (15) and the gimbal torque distu

A friction compensation system which augments a stabilization rate loop includes a first summer (11) responsive to a rate command signal and a feedback signal to provide a torque command signal, a second summer (17) responsive to the torque command signal via torquer (15) and the gimbal torque disturbances to provide a net applied torque, a gimbal (19) subjected to the gimbal torque disturbances and having an inertial rotation governed by the net applied torque and a gyro (21) responsive to the inertial rotation of the gimbal to provide the feedback signal. An adaptive friction compensator responsive to the torque command signal provides an enhanced torque command signal to which an intermediate third summer (33) is responsive in accordance with a predetermined model (31) which is adjusted adaptively in realtime. The third summer is responsive to the torque command signal and the enhanced torque command signal to control the gimbal. The adaptive friction compensator includes an estimator responsive to a signal indicative of relative rate measurement. The torque disturbance model (31) is responsive to the estimator and the indication of relative rate measurement to provide the enhanced torque command signal. The estimator includes a coulomb friction level estimator (25) responsive to the indication of relative rate measurement and a spatial time constant estimator (27) responsive to the indication of relative rate measurement. The adaptive friction compensator has the goal of adjusting itself to obtain the best cancellation of the torque disturbances with the enhanced torque command signal.

대표청구항 ▼

A friction compensation system which comprises: (a) a stabilization rate loop including: (i) a first circuit responsive to a rate command signal and a feedback signal to provide a torque command signal; (ii) a second circuit responsive to an enhanced torque command signal and a signal representing t

A friction compensation system which comprises: (a) a stabilization rate loop including: (i) a first circuit responsive to a rate command signal and a feedback signal to provide a torque command signal; (ii) a second circuit responsive to an enhanced torque command signal and a signal representing torque disturbances to provide a net applied torque signal; (iii) a source of said signal representing torque disturbances; (iv) a gimbal having an inertial rotation correlated to said net applied torque signal; and (v) circuitry responsive to said inertial rotation of said gimbal to provide said feedback signal; and (b) an adaptive friction compensator responsive to said torque command signal and in accordance with a predetermined model to provide said enhanced torque command signal to which said second circuit is responsive.