Inertially stabilized platform disturbance observer design method based on angular acceleration

An inertial stabilization platform and interference observer technology, which is applied in the field of aerial remote sensing inertial stabilization platforms, and can solve problems such as insufficient platform interference torque suppression capability.

Inactive Publication Date: 2013-12-04
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem to be solved in the present invention is: to overcome the defects of the conventional three-loop PID compound control and the insufficient ability of the ordinary disturbance observer to suppress the disturbance moment of the platform, and to provide a design method for the disturbance observer of the inertial stable platform based on angular acceleration, in order to improve System stability accuracy

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  • Inertially stabilized platform disturbance observer design method based on angular acceleration
  • Inertially stabilized platform disturbance observer design method based on angular acceleration
  • Inertially stabilized platform disturbance observer design method based on angular acceleration

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Embodiment Construction

[0062] Such as figure 1 , figure 2 and image 3 Shown, the concrete implementation method of the present invention is as follows:

[0063] (1) To establish a three-ring PID compound control system for an aviation remote sensing three-axis inertial stabilization platform, the steps are as follows:

[0064] (11) Establish a current loop PID feedback loop;

[0065] The output of the stable loop is used as the current given value I of the current loop set , the current sensor in the motor power drive circuit outputs the frame motor current value as the current feedback value I of the current loop fb , the error value of the two is used as the input of the current loop PID controller, and the output value of the current loop PID controller is used as the input frame motor voltage value to make the frame motor generate a corresponding current value.

[0066] (12) Establish a stable loop PID feedback loop;

[0067] The output of the tracking loop is given as the angular veloci...

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Abstract

The invention discloses an inertially stabilized platform disturbance observer design method based on angular acceleration. The method includes: on the basis of a traditional three-cycle PID composite control system structure, interference torque borne by frames of an inertially stabilized platform is estimated according to current information and frame angular acceleration information measured by current sensors and frame rate gyroscopes, the required torque motor current value for balancing off the interference torque is calculated, the current value is compensated into a given current input value of a current ring to allow a motor to output the torque which is identical with the interference torque in size and direction, torque interference is interfered by the compensation platform, and platform stabilizing precision is increased. By the method suitable for the aerial remote sensing inertially stabilized platform with the interference torque, real-time estimation and compensation of the interference torque are achieved, and stabilizing precision is increased.

Description

technical field [0001] The invention relates to a design method of an inertial stable platform disturbance observer based on angular acceleration, which can be used for compensation of disturbance moments of various medium and high-precision aerial remote sensing inertial stable platforms, and is especially suitable for aerial remote sensing inertial systems with large mass eccentricity stable platform. Background technique [0002] Aerial remote sensing system is an effective means of obtaining high-resolution and high-precision remote sensing images, and plays an important role in basic surveying and mapping, disaster monitoring, resource and environmental investigation, and meteorological and hydrological detection. The aerial remote sensing inertial stabilization platform is installed between the flight carrier and the remote sensing load, carrying and stabilizing the remote sensing load, and is one of the important components of the aerial remote sensing system. The us...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D13/62
Inventor 周向阳赵强房建成李永宫国浩
Owner BEIHANG UNIV
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