惯性稳定平台的扰动观测器/不完全微分PID复合控制  

Disturbance Observer/Incomplete Differential PID Compound Control for Inertial Stabilized Platform

作　　者：钟婧佳 杨功流[1] 王汀 于沛[1] Zhong Jing-jia;Yang Gong-liu;Wang Ting;Yu Pei(School of Instrumentation Science and Opto-electronics Engineering,Beihang University,Beijing,100191)

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191

出　　处：《导弹与航天运载技术》2020年第2期72-77,共6页Missiles and Space Vehicles

摘　　要：为提高惯性稳定平台控制系统的稳态性能,提出了一种扰动观测器与不完全微分PID相结合的复合控制算法。利用扰动观测器将控制系统中存在的外部扰动观测出来并补偿到原系统中,在增强系统扰动抑制能力、提高鲁棒性的同时,提高系统稳定精度。仿真结果表明:扰动观测器/不完全微分PID复合控制算法可显著改善惯性稳定平台的稳态性能,对比于常规PID校正方法,复合控制方法不仅提高了系统的响应速度,而且显著提高系统的扰动抑制能力,提高稳定精度。In order to improve the steady-state performance of inertial stabilized control loop,a compound control algorithm combining disturbance observer(DOB)with incomplete differential PID is proposed.The DOB is used to observe the external disturbances in the control loop and compensate it to the original system.It improves the stability of the system while enhancing the disturbance rejection and robustness.The simulation results show that the disturbance observer/incomplete differential PID compound control algorithm can significantly improve the steady-state performance of the inertial stabilized platform.Compared to the conventional PID control,the compound control method not only improves the response speed of the system,but also improves the disturbance rejection capability of the system and the stability accuracy.

关 键 词：惯性稳定平台 扰动观测器 不完全微分PID 扰动抑制 

分 类 号：V448[航空宇航科学与技术—飞行器设计]