扰动观测器稳定平台视轴稳定的控制方法  

Stable platform line-of-sight stabilization control based on disturbation observer

作　　者：邵文冕[1] 董浩[2] 

机构地区：[1]黑龙江科技学院工程训练与基础实验中心,哈尔滨150027 [2]哈尔滨工业大学控制与仿真中心,哈尔滨150080

出　　处：《黑龙江科技学院学报》2012年第2期162-167,共6页Journal of Heilongjiang Institute of Science and Technology

摘　　要：为提高运动载体上稳定平台的抑制扰动能力,考虑稳定平台伺服系统的机械谐振因素的影响,提出了带输出观测器的扰动观测器稳定控制方法,研究该扰动观测器的回路结构、输入输出关系、带宽和鲁棒稳定性问题。仿真结果表明:在振幅4(°)/s、频率5 Hz的正弦信号下运动载体视轴稳定精度小于0.04°。在参数摄动情况下带输出观测器的扰动观测器比反馈型扰动观测器具有更好的鲁棒稳定性。Aimed at improving the disturbance rejection ability of the stable platform on the moving carrier,this paper proposes the stable control of disturbance observer with output observer by allowing for the mechanical resonant factors of stable platform servo system and describes the study of the loop structure,the input and output stability issues and the relationship between bandwidth and robustness of the disturbance observer.Simulation shows that LOS stabilization shows a precision of less than 0.04°,in the presence of the carrier moving at a maximum rate of 4（°）/s angular velocity in the case of sinusoidal signal movement with frequency of 5 Hz.Disturbance observer with output observer working,in the case of parameter perturbation,shows a better robust stability than feedback disturb observer.

关 键 词：扰动观测器 输出观测器 视轴稳定 稳定平台 机械谐振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]