基于DOB与扰动前馈的惯性参考单元位置控制技术研究  

Research on position control technology of inertial reference unit based on DOB and disturbance feedforward

作　　者：王天宇 拓卫晓 李醒飞[1,2] 何梦洁 WANG Tian-yu;TUO Wei-xiao;LI Xing-fei;HE Meng-jie(State Key Laboratory of Precision Measurement Technology and Instruments,Tianjin University,Tianjin 300072,China;Taihu Laboratory of Deepsea Technological Science,Wuxi 214000,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]深海技术科学太湖实验室,江苏无锡214000

出　　处：《控制与决策》2025年第4期1331-1338,共8页Control and Decision

基　　金：国家自然科学基金青年基金项目(62203322);中国博士后科学基金项目(2022M712372)。

摘　　要：惯性参考单元(IRU)是抑制运动载体光电跟瞄系统载体振动干扰的有效手段. IRU系统指向精度受机械谐振、传感噪声、驱动器输出纹波、基座角振动等内外部扰动影响,不同扰动的来源、特征均有所不同.对IRU系统的多源异质扰动抑制方法展开研究,在分析系统内外部扰动来源、特征的基础上,提出改进型扰动观测器(RDOB)结构,实现系统窄带大幅值扰动的抑制,结合扰动前馈结构,进一步提升系统对外部扰动的抑制能力,并通过仿真和实验验证控制方法的有效性.结果表明:基于RDOB与扰动前馈技术的控制结构能够实现100 Hz的位置控制带宽,多源异质扰动作用下的闭环指向精度为1μrad,对20 Hz外部扰动的抑制能力可达-32.03 dB,在0.1 mrad、20 Hz外部扰动作用下, IRU系统对0.2 mrad、1 Hz正弦信号的跟踪精度为6.1μrad.Inertial reference unit(IRU)is an effective means of suppressing the vibration interference of a moving platform's optoelectronic tracking system.The pointing accuracy of the IRU system is affected by internal and external disturbances such as mechanical resonance,sensor noise,actuator output ripple,and base vibration.The sources and characteristics of different disturbances are different.This paper studies the multi-source heterogeneous disturbance suppression method for the IRU system.Based on the analysis of the sources and characteristics of the internal and external disturbances,a refined disturbance observer(RDOB)structure is proposed to achieve suppression of narrowband large-amplitude disturbances.Combined with the disturbance feedforward structure,the system's suppression ability against external disturbances is further improved.The effectiveness of the control method is verified through simulation and experiment.The results show that the control structure based on the RDOB and disturbance feedforward technology can achieve a position control bandwidth of 100 Hz,a closed loop pointing accuracy of 1μrad under multi-source heterogeneous disturbances,and a suppression ability of−32.03 dB against an external disturbance of 20 Hz.Under an external disturbance of 0.1 mrad and 20 Hz,the IRU system has a tracking accuracy of 6.1μrad for a 0.2 mrad,1 Hz sinusoidal signal.

关 键 词：惯性参考单元 扰动观测器 多源异质扰动 扰动前馈 位置控制 

分 类 号：TH741[机械工程—光学工程]