Acceleration feedback control in inertial stabilization system

Gyro is popular equipment in the inertial stabilization control system. There is one velocity stabilization control loops with gyro in classic control system, one of the main limitations to inertial stabilization system is control bandwith for gyro-based inertial control system. High control bandwith is too difficult to gain because of nonlinearities, such as mechanical resonances. A new control structure of multi-stablization control loop was introduced where an acceleration feedback loop is added into the velocity control loop. The angular accelearation signal was from two accelerometers, and not was calculated with velocity and position signal. Using Lyapunov theorem, the stability of the multi-stabilization control loops were verified, and the friction of inertial stabilization system could be reduced with acceleration feedback. The torque attenuation with multi-stabilization control loops was equal to accelaration feedback loop's attenuation multiplied by gyro feedback loop's attenuation. The experiments show the multi-stablilization control loops improve the performance of inertial control system.