Multi-disturbance-observer three-closed-loop stable tracking method based on acceleration and position disturbance information

A disturbance observer, stable tracking technology, applied in the direction of control using feedback, etc., can solve problems such as insufficient anti-interference ability, achieve good guiding significance, improve anti-interference ability, and simple structure

Active Publication Date: 2020-03-13
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0003] Aiming at the problem of insufficient anti-interference ability of the stable control platform at low and medium frequencies, the present invention proposes a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information

Method used

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  • Multi-disturbance-observer three-closed-loop stable tracking method based on acceleration and position disturbance information
  • Multi-disturbance-observer three-closed-loop stable tracking method based on acceleration and position disturbance information
  • Multi-disturbance-observer three-closed-loop stable tracking method based on acceleration and position disturbance information

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Embodiment Construction

[0033] The specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0034] Such as figure 1 Shown is a control block diagram of a multi-disturbance observer three-closed-loop stable tracking method based on acceleration and position disturbance information, which includes the feedforward compensation loop of the acceleration disturbance observer, the feedforward compensation loop of the position disturbance observer, the acceleration loop, Speed ​​loop and position loop; the disturbance observer structure based on acceleration disturbance information and position disturbance information is adopted, and the disturbance suppression ability of the system's medium frequency and low frequency is targetedly improved. The specific implementation steps of the method are as follows:

[0035]Step (1): Install microelectromechanical accelerometers and microelectromechanical gyroscopes on the X-axis and Y-...

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Abstract

The invention discloses a multi-disturbance-observer three-closed-loop stable tracking method based on acceleration and position disturbance information, mainly in order to solve the problem that thestability and tracking precision of a stable control platform are influenced due to intermediate-frequency and low-frequency external disturbance in the platform. According to the invention, an acceleration disturbance observer and a position disturbance observer are added on the basis of a traditional three-closed-loop system, so that the disturbance suppression capability of the system at intermediate frequency and low frequency is improved. Meanwhile, the invention provides a design scheme of the acceleration disturbance compensator and the position disturbance compensator, and the method can improve the anti-interference capability of the stable control platform on the basis of guaranteeing the stability of the system. The disturbance observation method does not need an additional sensor, does not increase the system cost, performs feed-forward compensation on the observed disturbance, and is easy to implement in engineering.

Description

technical field [0001] The invention belongs to the field of stable control platforms, in particular to a multi-disturbance observer triple-closed-loop stable tracking platform based on acceleration and position disturbance information, which is mainly used to enhance the anti-interference ability of the system, and can improve the robustness and tracking performance of the system at the same time . Background technique [0002] If vibration reduction measures are not adopted in the stable control platform, the visual axis jitter generated in the vibration environment will lead to dynamic deformation of the image, uneven imaging quality, poor contrast, blurred image, and decreased clarity. The degradation of imaging quality will lead to the decrease of closed-loop bandwidth and tracking accuracy of the system, resulting in the loss of tracking targets. Therefore, improving the disturbance suppression ability of the system is the key to make the airborne TV image have high-q...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 张瀚文毛耀邓久强
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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