High-precision control method for three-axis inertially stabilized platform based on internal model principle and self-adaptive time-varying bandwidth observer

Abstract

A high-precision control method for a three-axis inertially stabilized platform based on an internal model principle and a self-adaptive time-varying bandwidth observer relates to the design of a composite controller of the internal model principle and the self-adaptive time-varying bandwidth observer. The method comprises the following steps: firstly, designing a servo compensator and a stability compensator according to a common instability model of reference input and disturbance signals of the triaxial inertially stabilized platform, and realizing suppression of constant values with known structural characteristics and frequencies and harmonic interference, so as to achieve zero-static-error control; and secondly, according to the state equation of the three-axis inertially stabilized platform, constructing the self-adaptive time-varying bandwidth observer, estimating residual structural characteristics, interference with unknown frequency and random interference in real time, and realizing high-precision control of the three-axis inertially stabilized platform in a complex environment while ensuring rapidity and small overshoot. The method has the advantages of being good in real-time performance, fast in dynamic parameter response, high in multi-source interference adaptability and the like, and can be used for high-precision control and the like of the three-axis inertially stabilized platform in the complex multi-source interference environment.

Description

technical field

[0001] The invention relates to a high-precision control method of a three-axis inertial stable platform based on an internal model principle and an adaptive time-varying bandwidth observer, which is suitable for the field of high-precision control of aeronautical surveying and mapping stable platforms. Background technique

[0002] The three-axis pod platform is fixed to the flight carrier through the base, supports and stabilizes the remote sensing load, and isolates the influence of the non-ideal attitude motion of the flight carrier on the boresight of the remote sensing load to improve the imaging quality of the remote sensing load, which has a wide application prospect.

[0003] As a complex multi-frame coupling system, the three-axis inertial stabilization platform has the characteristics of nonlinearity, strong coupling, and high control difficulty. In addition, the three-axis inertial stabilized platform has wind disturbance during flight, the angula...

Examples

Embodiment Construction

[0032] Such as figure 1 Shown, the concrete realization of the present invention is as follows

[0033] (1) Construction of servo compensator and stable compensator based on internal model principle

[0034] The standard model of the angular velocity system of the three-axis inertial stabilized platform is expressed as:

[0035]

[0036] Among them, when ζ = r, it means the roll channel, when ζ = p, it means the pitch channel, when ζ = a, it means the heading channel, x ζ is the state variable of the ζ-axis angular velocity system, y ζ is the output of the ζ-axis angular velocity system, x ζ =y ζ = ω ζ is the actual angular velocity of the ζ axis, u ζ is the ζ-axis control voltage, f ζ is the system ζ-axis lumped disturbance, and its first derivative f ζ Bounded, A ζ =[0],B ζ =[b ζ] is the ζ-axis motor control coefficient, C ζ =[1],D ζ =[0],E ζ =[b fζ ] is the ζ-axis interference coefficient, F ζ =[0];

[0037] Design a servo compensator and a stable compen...

technical field

[0001] The invention relates to a high-precision control method of a three-axis inertial stable platform based on an internal model principle and an adaptive time-varying bandwidth observer, which is suitable for the field of high-precision control of aeronautical surveying and mapping stable platforms. Background technique

[0002] The three-axis pod platform is fixed to the flight carrier through the base, supports and stabilizes the remote sensing load, and isolates the influence of the non-ideal attitude motion of the flight carrier on the boresight of the remote sensing load to improve the imaging quality of the remote sensing load, which has a wide application prospect.

[0003] As a complex multi-frame coupling system, the three-axis inertial stabilization platform has the characteristics of nonlinearity, strong coupling, and high control difficulty. In addition, the three-axis inertial stabilized platform has wind disturbance during flight, the angula...

Examples

Embodiment Construction

[0032] Such as figure 1 Shown, the concrete realization of the present invention is as follows

[0033] (1) Construction of servo compensator and stable compensator based on internal model principle

[0034] The standard model of the angular velocity system of the three-axis inertial stabilized platform is expressed as:

[0035]

[0036] Among them, when ζ = r, it means the roll channel, when ζ = p, it means the pitch channel, when ζ = a, it means the heading channel, x ζ is the state variable of the ζ-axis angular velocity system, y ζ is the output of the ζ-axis angular velocity system, x ζ =y ζ = ω ζ is the actual angular velocity of the ζ axis, u ζ is the ζ-axis control voltage, f ζ is the system ζ-axis lumped disturbance, and its first derivative f ζ Bounded, A ζ =[0],B ζ =[b ζ] is the ζ-axis motor control coefficient, C ζ =[1],D ζ =[0],E ζ =[b fζ ] is the ζ-axis interference coefficient, F ζ =[0];

[0037] Design a servo compensator and a stable compen...

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