基于DOB观测器的机载光电稳定平台扰动抑制方法  

A DOB Based Disturbance Suppression Method for Airborne Photoelectric Stabilized Platform

作　　者：陈晓刚 蔡猛[2] 戴宁 CHEN Xiaogang;CAI Meng;DAI Ning(The First Aircraft Design and Research Institute of AVIC,Xi'an 710089 China;Luoyang Institute of Electro-Optical Equipment AVIC,Luoyang 471000 China)

机构地区：[1]中国航空工业集团公司第一飞机设计研究院,西安710089 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000

出　　处：《电光与控制》2020年第1期98-101,共4页Electronics Optics & Control

摘　　要：为提高轻型机载光电稳定平台的扰动抑制能力,设计了一种基于扰动观测器与Stribeck模型相结合的稳定控制回路。首先,对机载光电稳定平台稳定环路进行建模,分析扰动来源,确定补偿方案。其次,在传统稳定回路的基础上,加入Stribeck摩擦补偿器和DOB扰动观测器,通过仿真验证其对稳定精度提升的可行性。结果表明,在5 Hz,0.12°的正弦扰动下,视轴的稳定精度提高近5倍,有效地抑制了机构"低速爬行",速度跟踪误差的均方根值从0.31 (°)/s下降至0.07 (°)/s,且对于不同频率扰动的隔离度均有明显提升。In order to improve the disturbance suppression capability of lightweight airborne photoelectric stabilized platform a stable control loop was designed based on Disturbance Observer(DOB)and Stribeck model.At first the stability loop of airborne photoelectric stabilized platform was modeled the sources of disturbance were analyzed and the compensation scheme was determined.Then Stribeck friction compensator and DOB were integrated based on the traditional stability loop and the feasibility of improving the stability accuracy was verified by simulation.The results show that:1)Under sinusoidal disturbance of 5 Hz/0.12°the stability accuracy of the visual axis is improved by nearly 5 times which suppressed the phenomenon of low-speed creeping effectively;2)The root mean square value of velocity tracking error was decreased from 0.31(°)/s to 0.07(°)/s;and 3)The isolation of different-frequency disturbances was obviously improved.

关 键 词：Stribeck摩擦 经典PID控制 光电稳定平台 DOB观测器 隔离度 

分 类 号：TN391[电子电信—物理电子学]