Friction observation compensation technology based on angular position information of photoelectric platform

In order to improve the image stability accuracy of the photoelectric servo stabilization platform, a compensation method of friction observation based on the running angle position information of the mechanism was proposed according to the principle of friction disturbance on the platform. Firstly, the precise control model of the photoelectric servo platform was established, and the friction torque of the platform was analyzed by using LuGre friction model, and then, the acceleration was estimated by the least square method based on the angular position information of the mechanism, and a disturbance observer based on the angular position information of the mechanism was designed to compensate the friction observation. Finally, the system simulation platform was established to perform simulation and experimental verification in Matlab/simulink. During the experiment, the mirror mechanism was installed on the simulation turntable, and a 10 Hz sinusoidal signal was applied to the turntable to compare and analyze the before/after experimental data of friction observation compensation. The experimental results show that when the simulation flight turntable moves sinusoidal at 10 Hz frequency, at friction observation of the before/after compensation, the image stabilization accuracy of the platform is reduced form 26 μrad to 17 μrad, and the performance is improved by 34.6%. This method can effectively enhance the anti-interference ability of the system, and improve the stability of the system.