A Disturbance Suppression Method Based on Compound Disturbance Observer

Abstract

The invention discloses a disturbance suppression method based on a composite disturbance observer, aiming at the problem that the low-frequency and medium-frequency disturbance suppression ability of the stable platform of the control system is insufficient and cannot meet the requirements of a higher-precision stable control system. On the basis of multi-closed-loop control, this method improves the traditional disturbance observer design, proposes a composite disturbance observer structure, and gives the design method of the inner and outer loop feedforward compensation controllers in the composite disturbance observer. The present invention utilizes the outer loop in the composite disturbance observer to estimate and reverse-phase feed-forward the middle frequency band and the external disturbance, and utilizes the inner loop to estimate and reverse-phase feed-forward the low-frequency band and the external disturbance, so that the inner and outer loops of the composite disturbance observer Simultaneously, the purpose of improving the disturbance suppression capability of the low-frequency band and the mid-frequency band of the system at the same time is finally achieved, and the stability and accuracy of the control system are improved.

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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