惯性稳定平台中的双观测器宽频扰动抑制技术  

Wide-band disturbance rejection technique of dual observer for an inertially stabilized platform

作　　者：边启慧 苗青青 唐涛[1,2,3,4] 马浩统[1,2,3,4] Bian Qihui;Miao Qingqing;Tang Tao;Ma Haotong(National Key Laboratory of Optical Field Manipulation Science and Technology,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;Key Laboratory of Optical Engineering,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;Institute of Optics and Electronics,Chinese Academy of Sciences,Chengdu,Sichuan 610209,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]中国科学院光场调控科学技术全国重点实验室,四川成都610209 [2]中国科学院光束控制重点实验室,四川成都610209 [3]中国科学院光电技术研究所,四川成都610209 [4]中国科学院大学,北京100049

出　　处：《光电工程》2025年第3期125-134,共10页Opto-Electronic Engineering

基　　金：国家自然科学基金面上项目(62375267)。

摘　　要：如何增强光学载荷与运动平台间的主动隔振能力一直是光电跟踪系统面临的难题。提出一种双观测器方法实现惯性稳定平台中的宽频扰动抑制。双观测器方法包含两方面:其一,经典误差观测器通过低通滤波器的设计而具有较强的低频抑制能力;其二,饱和加速度扰动观测器根据自身稳定性条件调整饱和阈值与滤波器带宽,改善其扰动抑制特性并完成对中高频扰动的抑制。双观测器综合了二者的优势,同时分析了两种观测器间的相互作用以更好地参数化。所提方法在惯性稳定装置中进行了闭环验证,实验结果表明,双观测器可在单频及混频扰动下提升系统闭环性能。Increasing the active vibration isolation capability between the optical payload and the motion platform has always been a challenge for optoelectronic tracking systems.Therefore,a dual observer method is proposed to achieve wide-band disturbance rejection for an inertially stabilized platform.The dual observer method consists of two aspects.Firstly,a classical error observer has a strong low-frequency suppression ability through the design of a low-pass filter.Secondly,a saturated acceleration disturbance observer improves its disturbance suppression characteristics and completes the rejection of medium and high-frequency disturbances by adjusting the saturation threshold and filter bandwidth according to its stability conditions.The dual observer combines both advantages,and the interaction between the two observers is analyzed for better parameterization.Closed-loop verification of the proposal is carried out using the inertial stabilization device.The experimental results show that the dual observer can improve the closed-loop performance under both single-frequency and mixed-frequency disturbances.

关 键 词：惯性稳定平台 扰动抑制 误差观测器 饱和限制 双观测器 

分 类 号：V241[航空宇航科学与技术—飞行器设计]