Five-Axis Control Technology Utilizing Distributed Actuation

To address the control issue of inner motor in a five-axis inertial stabilization platform, a high-precision four-axis linear motor vector synthesis algorithm is proposed. The output forces of the four inner-frame linear motors are synthesized based on spatial distribution into torque components along the azimuth, pitch, and roll directions. During control, the torque components in these three directions are inversely mapped to the driving forces of each linear motor, achieving vector synthesis control of the four linear motors for the three control directions of the inner frame. Subsequently, by integrating the conventional two-axis four-frame control strategy for the inner and outer frames, high-precision pointing control of the five-axis inertial stabilization platform is realized. Measured results demonstrate that this technology enables pointing control of the five-axis inertial stabilization platform, achieving a stabilization accuracy of 4 μrad. This proves that the control algorithm described in this paper can achieve control of a five-axis inertial stabilization platform based on distributed drive.