Double-filter disturbance observer method based on inertia loop

Abstract

The invention discloses a double-filter disturbance observer method based on an inertia loop. The method is used for improving the disturbance inhibition capability of an inertial stabilization platform so as to meet the higher-precision inertial stabilization demands. In an inertia loop, the first filter is the same as a filter of a traditional disturbance observer and is restrained by system stability, and the disturbance restraining capacity of the first filter is weakened. On the basis that the first filter meets the stability constraint, the second filter is not subjected to the stabilityconstraint in combination with an inertia loop closed-loop controller. Therefore, the filter II can be used for compensating the disturbance suppression capability sacrificed by the filter I for ensuring the stability of the system, so that the system obtains stronger disturbance suppression capability. On the premise of ensuring the stability of the system, the performance of the disturbance observer is brought into full play by using the double filters, and the disturbance suppression capability of the system can be effectively improved, so that the inertial stabilization platform obtains higher stabilization precision.

Description

technical field [0001] The invention belongs to the field of inertial stability control, and in particular relates to a double-filter disturbance observer method based on an inertial loop, which is mainly used to suppress the influence of system disturbance and further improve the stability accuracy of an inertial stability platform. Background technique [0002] In inertial stabilization equipment, the stability accuracy of the system will be affected by external disturbances, and the inertial stabilization accuracy of ground-based equipment will be affected by vibrations caused by ground vibration and air flow. The inertial stabilization equipment installed on moving platforms such as aircraft, vehicles, ships, and satellites will be subject to a large number of disturbances due to the irregular movement of the installation carrier. In order to achieve higher precision inertial stabilization, the inertial stabilization platform usually adopts a multi-closed-loop control me...

AI Technical Summary

Problems solved by technology

However, the multi-closed-loop control method can only improve the disturbance suppression ability of the system within a certain range. In order to further suppress the disturbance, "MEMS Inertial Sensors-Based Multi-Loop Control Enhanced by DisturbanceObservation and Compensation for Fast Steering Mirror System" combines the traditional disturbance observer Inertial loop introduced into multi-closed-loop control

However, the traditional disturbance observer method of the inertial loop is constrained by the stability of the system, and it can only improve the disturbance suppression ability of the system in the mid-frequency band

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