基于扰动观测器的机载云台扰动复合补偿方法  

A composite disturbance compensation method for airborne platform based on improved disturbance observer

作　　者：王日俊[1,2] 白越[1] 续志军[1] 赵常均[1,2] 张欣[1,2,3] 田彦涛[4] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100039 [3]长春工程学院电气与信息工程学院,吉林长春1300123 [4]吉林大学通信学院,吉林长春130025

出　　处：《光电子．激光》2015年第1期108-115,共8页Journal of Optoelectronics·Laser

基　　金：国家自然科学基金(11372309;61304017);院省专项项目(2014YSHZ004)资助项目

摘　　要：针对多旋翼无人机(mUAV)机载云台的扰动补偿需求,提出一种基于改进的扰动观测器(IDO,improved disturbance observer)的伺服控制器与减振装置相结合的复合补偿方法。深入分析了IDO的扰动补偿能力和鲁棒性,构建了基于IDO的云台伺服控制结构;依据mUAV机载云台的振动特性,设计出减振装置的结构参数及安装位置。飞行实验表明,引入复合补偿方法后,视轴(LOS)指向误差减小到了0.03°,振动隔离度提高了约15dB。复合补偿方法有效地补偿了机载云台的扰动,完全满足了mUAV机载云台扰动补偿的需求。In order to satisfy the demand of disturbance compensation for airborne platform mounted on multi-rotor unmanned aerial vehicles （mUAV）,a composite method of disturbance compensation which combines vibration damper with servo controller based on improved disturbance observer （IDO） is proposed. After the in-depth analysis of the improved disturbance observer ability of disturbance compensa tion and ability of robustness, the construction of the servo control system based on the improved disturbance observer is designed. The structural parameters of vibration damper and the installation position are presented according to the vibration characteristics of airborne platform which is mounted on multirotor unmarmed aerial vehicles. The flight experiment shows that after introducing composite disturbance compensation method, the line of sight （LOS） error is reduced to 0.03°, and the vibration isolation is increased by about 15 dB. The composite disturbance compensation method can compensate the disturbance of airborne platform effectively,and the method can satisfy the disturbance compensation demand of airborne platform which is mounted on multi-rotor unmanned aerial vehicles completely.

关 键 词：多旋翼无人机(mUAV) 机载云台 减振装置 扰动观测器(DO) 扰动复合补偿 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]