基于改进干扰观测器的稳定平台扰动抑制技术
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摘要
航空遥感稳定平台可被应用于资源勘查、地理测绘等领域,可用于隔离载体飞行过程中相机的视轴抖动。由于装配等原因,稳定平台自身也会存在不平衡力矩、摩擦等干扰,这些干扰将影响稳定平台的视轴稳定精度。介绍了上述扰动对稳定平台的影响,并分析了这些扰动的形成原因。为了抑制这些扰动对稳定平台控制精度的影响,在基于传统干扰观测器的基础上,设计了改进型干扰观测器并将其加入到了稳定控制回路中,以形成扰动补偿控制,并对改进干扰观测器的扰动抑制效果进行了仿真分析。仿真结果表明,应用改进干扰观测器的稳定平台的扰动抑制效果明显优于传统PID控制算法,平台的稳定精度得到了进一步提高。
Aerial remote sensing stabilized platform is used in resource exploration,geographic mapping and other fields,and is used to isolate the camera's visual axis jitter.Due to assembly and other reasons,the stabilized platform may also have imbalanced torque,friction and other disturbances,which affect the stability of the stabilized platform.In this paper,the influence of the above disturbances on stabilized platform is introduced,and the causes of these disturbances are analyzed.In order to restrain the influence of these disturbances on the control accuracy of the stabilized platform,an improved disturbance observer is designed based on the traditional disturbance observer and added to the stability control loop to form disturbance compensation control.The disturbance restraining effect of the improved disturbance observer is simulated and analyzed.The simulation results show that the disturbance restraining effect of the stabilized platform using the improved disturbance observer is better than that of the traditional PID control algorithm,and the stability accuracy of the platform is further improved.
Aerial remote sensing stabilized platform is used in resource exploration,geographic mapping and other fields,and is used to isolate the camera's visual axis jitter.Due to assembly and other reasons,the stabilized platform may also have imbalanced torque,friction and other disturbances,which affect the stability of the stabilized platform.In this paper,the influence of the above disturbances on stabilized platform is introduced,and the causes of these disturbances are analyzed.In order to restrain the influence of these disturbances on the control accuracy of the stabilized platform,an improved disturbance observer is designed based on the traditional disturbance observer and added to the stability control loop to form disturbance compensation control.The disturbance restraining effect of the improved disturbance observer is simulated and analyzed.The simulation results show that the disturbance restraining effect of the stabilized platform using the improved disturbance observer is better than that of the traditional PID control algorithm,and the stability accuracy of the platform is further improved.
引文
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[2]阴蕊,房建成,钟麦英.航空遥感用三轴惯性稳定平台动力学建模与仿真[J].中国惯性技术学报,2011,19(6):676-680+685.YIN Rui,FANG Jian-cheng,ZHONG Mai-ying.Dynamic modeling and simulation of inertial stabilized platform for aerial remote sensing system[J].Journal of Chinese Inertial Technology,2011,19(6):676-680+685.
[3]白长瑞,张舟,赵岩.一种基于NTD的ISP框架相对角速度测量方法[J].仪器仪表学报,2012,33(9):1945-1951.BAI Chang-rui,ZHANG Zhou,ZHAO Yan.NTD based measurement method of the relative angular velocity of ISPgimbal[J].Chinese Journal of Scientific Instrument,2012,33(9):1945-1951.
[4]Zhou X Y,Yu R X,Li J P,et al.Structure optimal design of roll gimbal for an aerial three-axis ISP based on FEM modal analysis[C].Proceedings of the 3~(rd)International Conference on Measuring Technology and Mechatronics Automation,2011:373-376.
[5] Li B,Hullender D,DiRenzo M T.Nonlinear induced disturbance rejection in inertial stabilization system[J].IEEE Transactions on Control Systems Technology,1998,6(3):421-427.
[6]朱如意,丁祝顺,蒋鸿翔.遥感平台摩擦力矩的非线性校正补偿方法[J].导航与控制,2011,10(3):21-25.ZHU Ru-yi,DING Zhu-shun,JIANG Hong-xiang.Method of friction compensation based on nonlinear revision in remote sensing platforms[J].Navigation and Control,2011,10(3):21-25.
[7]姜文雪,周凯.基于干扰观测器的磁悬浮系统精确反馈显性化[J].清华大学学报(自然科学版),2015,55(10):1067-1071.JIANG Wen-xue,ZHOU Kai.Precise feedback linearization in EMS system based on a disturbance obseoher[J].Journal of Tsinghua University(Science and Technology),2015,55(10):1067-1071.
[8]Zhou X,Li S H.On friction and disturbance-compensation based control design for PMSM servo system[C].Proceedings of the 29~(th)Chinese Control Conference,2010:6077-6082.