ESO增强四轴平台伺服系统抗扰能力的研究

Enhancing Disturbances Rejection Ability of Four-axis Gyro Stabilized Platform with ESO

四轴陀螺稳定平台在动基座上工作时,具有不可预知快变参考角度输入及动态干扰力矩的作用,严重影响系统控制精度。由此,在稳定回路中引入扩张状态观测器,以角位置跟踪误差作为观测输入,实时观测参考输入角加速度及干扰力矩并实施前馈补偿;同时在观测器输入端引入低通滤波环节,兼顾饱和等非线性环节作用下的系统稳定性。仿真及试验结果表明:采用以上方案可在不可预知快变角度输入、干扰力矩等因素的共同作用下,更好地实现平台的惯性空间稳定,且系统实现简单,对解决机电控制系统的类似问题具有借鉴作用。

To realize rapid tracking of unpredictable angular input and effective rejection of dynamic disturbances for a four-axis gyro stabilized platform on moving base, an extended-state-observer （ESO） which takes angle position tracking error as observation input is introduced in the stabilization loop, The observer can simultaneously realize observation of the input angular acceleration and the torque disturbances. Directly implementing feedforward compensation with the observed results improves the stabilization accuracy greatly. To guarantee system stability with nonlinear saturation, a low-pass filter is introduced at the observer input end. Simulation and experiment results show that the proposed scheme can better realize inertial space stability of the platform under the coaction of unpredictable angular input and coupling torque disturbances, and the system is easy to realize, which provides reference for solving similar problems ofelectromechanical control system.