Design of comprehensive decoupler for balloon-borne gondola's azimuth control

When the balloon-borne gondola platform floats in the stratospheric, any coupling torques which originate from the external disturbances as well as some uncertainties and friction nonlinearity will influence the gondola's azimuth control system. This comprehensive decoupler is designed to perceive the coupling torques and the azimuth vibration quickly, although few of the coupling torques and the vibration are very weak, and so the comprehensive decoupler will generate corresponding torques to compensate the coupling torques and reduce the influence, the control precision of azimuth control system are promoted.