Virtual multi-closed loop-based disturbance measurement feedforward suppression method

A disturbance suppression, multi-closed-loop technology, applied in simulators, program control, computer control, etc., can solve problems affecting the stability of closed-loop systems, achieve effective disturbance suppression effects, reduce loads and space requirements, and suppress external disturbances.

Active Publication Date: 2019-12-06
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

However, the disturbance observer method itself will affect the stability of the closed-loop system, and the ideal disturbance feed-forward compensation controller in the disturbance observer is a physically unrealizable non-causal system. Limited by these two constraints, it can only be used in practice Improve the disturbance suppression capability of the system in the middle or low frequency band

Method used

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  • Virtual multi-closed loop-based disturbance measurement feedforward suppression method
  • Virtual multi-closed loop-based disturbance measurement feedforward suppression method
  • Virtual multi-closed loop-based disturbance measurement feedforward suppression method

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Embodiment Construction

[0032] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0033] as attached figure 1 Shown is a control block diagram of a disturbance measurement feedforward suppression method based on a virtual multi-closed loop, which includes an acceleration feedback loop, a virtual velocity feedback loop, a position feedback loop, and a disturbance velocity feedforward compensation loop; a virtual gyro is used to replace the The fiber optic gyroscope installs the fiber optic gyroscope on a carrier frame with a large inertia, and feeds forward the disturbance speed to the control loop on the basis of virtual multi-closed loops to suppress more disturbances. The specific implementation steps of the method are as follows:

[0034] Step (1): Install accelerometers on the two deflection axes of the stable platform to measure the angular acceleration of the two axes of the platform in the inertial sp...

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Abstract

The invention discloses a virtual multi-closed loop-based disturbance measurement feedforward suppression method. The virtual multi-closed loop-based disturbance measurement feedforward suppression method is used for improving the disturbance suppression capability of a control system stable platform so as to meet the demand of a higher-accuracy stable control system. A virtual gyro is obtained bya method of integrating an accelerator and a position sensor, and a fiber gyro of the stable platform is substituted by the virtual gyro. On the basis that virtual multi-closed loop control is achieved by the virtual gyro, the substituted fiber gyro is arranged on a carrier rack and is used for measuring an external disturbance speed, and an ideal feedforward compensation controller is used for feedforwarding the external disturbance to a control loop so as to actively suppress the influence of disturbance. On the premise that the system stability is not completely affected, the load and space requirement of the stable platform is effectively reduced, the disturbance suppression capability of the system is effectively improved, so that the stable platform obtains higher stability accuracy.

Description

technical field [0001] The invention belongs to the field of stability control, and in particular relates to a virtual multi-closed-loop-based disturbance measurement feedforward suppression method, which is mainly used to reduce the load of a stable platform and further improve the stability performance of a motion platform stabilization device. Background technique [0002] In the control equipment, the stability and accuracy of the system will be affected by external disturbances, and the ground-based equipment is subject to ground vibration and vibration caused by air flow. Stabilization equipment installed on moving platforms such as aircraft, vehicles, ships, and satellites will be subject to a large number of disturbances due to the irregular movement of the installation carrier. In order to achieve high-performance stabilization, the stabilization equipment usually adopts a composite shaft stabilization structure. The coarse stabilization is completed by a carrier fr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 邓久强毛耀任维周翕
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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