Disturbance suppression method based on compound disturbance observer

Abstract

The invention discloses a disturbance suppression method based on a compound disturbance observer, and aims at the problem that system requirements can not be stably controlled at high accuracy sincethe low-frequency and middle-frequency disturbance suppression capability of a control system stable platform is poor. By use of the method, on the basis of multi-closed-loop control, a traditional disturbance observer design is improved, the compound disturbance observer structure is put forward, and a design method for an inner and outer ring feedforward compensation controller in the compound disturbance observer is given. By use of the method, an outer ring in the compound disturbance observer is utilized for estimation, inverse feedforward of a middle-frequency band and external disturbance, and an inner ring is used for estimation, inverse feedforward of a low-frequency band and external disturbance. The inner ring and the outer ring of the compound disturbance observer simultaneously act, finally, the purposes of simultaneously improving the disturbance suppression capability of the low frequency band and the middle-frequency band of the system and improving and controlling system stability accuracy are achieved.

Description

technical field [0001] The invention belongs to the field of stability control, and in particular relates to a disturbance suppression method based on a compound disturbance observer, which mainly improves the low-frequency and medium-frequency disturbance suppression capabilities of the system, thereby further improving the stability performance of motion platform stabilization equipment. Background technique [0002] In the control equipment, the stability accuracy of the system will be affected by external disturbances, such as ground vibration, vibration of the stable platform caused by perturbation caused by air flow. Especially for stabilization equipment installed on airplanes, automobiles, and ships, there will be a large number of broadband disturbances on the stabilization platform due to the irregular movement of the installation carrier. Because the installation carrier is affected by the disturbance, the stability of the system will be greatly reduced, the stabi...

AI Technical Summary

Problems solved by technology

However, due to the structure of the traditional disturbance observer, its feedforward compensation controller cannot be designed as an ideal feedforward compensation controller, because the ideal feedforward compensation controller is a non-causal system, which is physically unrealizable

Therefore, the actual feed-forward compensation controller of the traditional disturbance observer has to change the controller structure, so that the actual improvement effect of disturbance suppression ability is only in the middle frequency band

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