Electro-optical tracking system with adaptive bearing friction compensation

摘要

A system is detailed for adaptively compensating for gimbal bearing friction in a gimbal mounted electro-optical system. The system is based on real-time compensation of a predictive value for gimbal bearing friction based on input transducer data to produce a friction compensation output, which is applied to the gimbal drive producing a torque which is equal and opposed to the bearing friction torque to minimize stabilization errors. The system adapts to match friction behavior in both amplitude and transient response (i.e. bandwidth) characteristics.