Dynamic and Adaptive Control of Monoaxial GS with GAR. Part 1: Obtaining the Nonlinear Dynamic Model

This paper series presents a study on the dynamics and adaptive control of a monoaxial force gyro stabilizer (GS) with rapid astatic gyroscope (GAR) using the concept of dynamic inversion and neural networks. In part 1, using a nonlinear mathematical model of the GS, the nonlinear dynamics of the stabilization and orientation subsystems are decoupled, the relative degrees of the output variables are calculated, and their inverse dynamics. The coupling coefficient between the two nonlinear dynamics is calculated from stability conditions. This coefficient express the dependence between the precession angle of the GAR and the orientation angular velocity of the platform (outer frame), and allows for the decoupled control of nonlinear dynamics of stabilization and orientation. Part 2 contains the design and software validation of the dynamic inversion based control arhitectures.