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Inertial stabilization platform unbalanced disturbance inhibition method

An inertial stable platform, balanced technology, applied in directions such as navigation through velocity/acceleration measurement, can solve the problems of compensation delay, poor performance, limited disturbance suppression effect, etc., to achieve the effect of simplifying the design

Inactive Publication Date: 2015-02-25
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Among them, the unbalanced disturbance is one of the main disturbances of the inertial stable platform, which will seriously affect the stability accuracy of the inertial stable platform. The conventional PID controller often has poor parameter setting and poor performance, and it is difficult to meet the high-precision control requirements of the inertial stable platform; Moreover, feedback control is based on error control, which can only work after the disturbance enters and affects the system. There is a certain delay in compensation, and the suppression effect on disturbance is limited.

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  • Inertial stabilization platform unbalanced disturbance inhibition method
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  • Inertial stabilization platform unbalanced disturbance inhibition method

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Embodiment Construction

[0020] Under unbalanced disturbance, the angle output of the inertial stable platform based on PID control is as figure 1 As shown, in the range of 0-15 seconds, the angle output will produce a relatively large error, which has greatly exceeded the stable accuracy of the platform. This is because the feedback control compensates for the error after it occurs, and there is a certain time delay . Moreover, under PID control, the steady-state value of the platform angle output is also relatively large, which is difficult to meet the high precision requirements of the system.

[0021] Feedforward control structure diagram such as figure 2 As shown, the feedforward control can compensate the disturbance before it affects the system, so it can effectively suppress the influence of the measurable disturbance on the system. The output of the system under the action of disturbance N(s) can be expressed as:

[0022] C ( s ) = G 2 ( s ) [ 1 + G 1 ...

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Abstract

The invention relates to an inertial stabilization platform unbalanced disturbance hibition method. According to the method, a feedforward controller and a disturbance observer are adopted, wherein the feedforward controller comprises the proportional loop so as to change the unbalanced disturbance of the platform into the compensation current and feedforward back to the platform circuit loop, and drive the motor to produce the control moment, wherein the sizes of the moment and the unbalanced disturbance are equal, and the directions of the moment and the unbalanced disturbance are opposite; and the disturbance observer comprises a low-pass filter and a platform nominal model, wherein the low-pass filter can concurrently provide functions of inhibition of the low frequency unbalanced disturbance and elimination of the influence of the high frequency noise. According to the present invention, the established unbalanced disturbance model is used, the feedforward and disturbance observer comprehesive control method is adopted to achieve the inhibition on the disturbance observer, the control method integratedly utilizes the advantages of the two methods feedforward and disturbance observer, the influence of the unbalanced disturbance pn the platform performance is reduced, the stability precision of the inertial stabilization platform is significantly improved, and the inertial stabilization platform unbalanced disturbance hibition method is simple and is easy to perform, and is suitable for inhibition on the inertial stabilization platform unbalanced disturbance.

Description

Technical field [0001] The invention relates to a method for suppressing unbalanced disturbances of an inertial stabilized platform, which is used to suppress unbalanced disturbances in an inertial stabilized platform system, modeling errors of unbalanced disturbances and other disturbances in the system, and is suitable for inertially stabilized platforms. Balance the suppression of disturbances. Background technique [0002] High-resolution Earth observation systems are widely used in military reconnaissance, basic surveying and mapping, disaster monitoring and other fields. To achieve an ideal earth observation, the camera load is required to be stable. However, in actual situations, due to the influence of atmospheric turbulence and its own disturbance, it is difficult for the camera load to maintain an ideal stable state, which makes the visual axis unstable and leads to imaging The quality decreases and the resolution decreases. In order to improve the imaging quality, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18
CPCG01C21/18
Inventor 李明李洁
Owner BEIHANG UNIV
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