The invention discloses a
coupling identification and decoupling control design method for a two-degree-of-freedom
servo holder
system, and the method comprises the steps: firstly generating an orthogonal pseudo-random
signal, inputting the orthogonal pseudo-random
signal into the two-degree-of-freedom
servo holder
system, and collecting an output
signal of a two-axis speed output end; constructing an input and output signal matrix, and identifying the two-input and two-output
system by using a subspace identification
algorithm to obtain a
pitch axis subsystem model, an
azimuth axis subsystemmodel and an inter-axis
coupling subsystem model of the system; performing
order reduction on each subsystem by using a balanced truncation method to obtain a low-order subsystem model; based on the low-order
coupling subsystem model, carrying out decoupling feedforward
controller design by using a
model matching method to obtain a feedforward controller; and finally, improving the feedforward controller, so as to enable the molecular order of the feedforward controller to be smaller than or equal to the denominator order, and obtaining the final physically-achievable decoupling feedforward controller. According to the invention, the vibration of the
pitch axis of the two-degree-of-freedom
servo pan-tilt system caused by inter-axis coupling can be effectively suppressed.