Modeling and Simulation of Wire-wound Friction of Compact Inertially Stabilized Platforms

Ideally, the effect of wire-wound friction on the motion of inertially stabilized platforms can be ignored. However, for compact inertially stabilized platforms, due to the strict limits of structure space, transmission of signals through wires between shafts is unavoidable. For a more functional maturation platform, more signals are needed to be transmitted through wires. Thus the effect of the wire-wound friction on the stabilized platform is greater. In order to analyze the influence of the wire-wound friction, the paper takes the simplified dynamic model of a compact inertially stabilized platform as its basis, and uses disturbance observer method to estimate the disturbance moment. A quantitative wire-wound friction model is established according to classical mechanics theory and a quantitative analysis of the influence of wire-wound friction on inertially stabilized platforms is established by simulation. The results demonstrate that that the wire-wound friction on the compact inertially stabilized platforms affects its control performance.