扰动观测器在惯导平台稳定回路中的应用方法

Application of Disturbance Observer to Stabilization Loop in Inertial Platform

惯性技术的发展对惯导平台稳定回路稳定性、抗干扰性等性能的要求越来越高,但摩擦力矩以及其他各种干扰力矩对稳定回路性能的进一步提高产生了严重影响。为了有效克服这些干扰力矩对稳定回路性能的影响,在传统比例微分积分(PID)方法对稳定回路进行控制的基础上,提出了一种利用扰动观测器来抑制干扰力矩以提高稳定回路性能的方法。通过利用回路中力矩电流和角速度信息构成扰动观测器,对作用于平台系统的干扰力矩进行抑制。仿真结果表明,扰动观测器的引入没有影响原有PID控制稳定回路的动态性能,且能够对干扰进行有效的抑制,提高了稳定回路的稳定精度和抗干扰性。

Torques of friction and other disturbance counteract the performance improvement of the stabilization loop in iner- tial stable platform. To overcome these torques, a method utilizing disturbance observer to inhibit the disturbance torques is proposed on the basis of the traditional proportion-integration-differentiation （PID） control method. The disturbance observer is composed of the torque current and angular velocity. Simulation results show that introduction of the disturbance observer effectively inhibits the disturbance torques without influencing the dynamic performance of the original PID controlled stabi- lization loop and, hence enhances the accuracy and disturbance-inhibition capability of the stabilization loop.