Disturbance control method and system based on inertial reference unit

Abstract

The present invention provides a disturbance control method and system based on an inertial reference unit. A light source for emitting a reference beam is installed on a platform of the inertial reference unit. The disturbance control method comprises: generating a driving voltage based on instruction information, wherein the instruction information comprises a target angle; controlling the platform to rotate based on the driving voltage to obtain a rotation angle of the reference beam, wherein there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by a disturbance; and controlling the platform to rotate based on the target angle and the rotation angle using n disturbance observers, so that the reference beam rotates to the target angle, wherein n is greater than or equal to 2.

Description

Technical Field

[0001] The present invention relates to the field of disturbance control, and in particular to a disturbance control method and system based on an inertial reference unit. Background Art

[0002] The optoelectronic tracking and aiming system can be installed on moving platforms such as vehicles, ships, aircraft, and satellites. Compared with the ground-based optoelectronic tracking and aiming system, the optoelectronic tracking and aiming system on the moving platform is disturbed by the vibration of the moving platform, which will cause the visual axis to shake or jitter, affecting the tracking and aiming accuracy. The strategy of combining composite axis tracking and aiming with inertial reference unit can reduce the impact of the vibration of the moving platform and improve the stability and accuracy of the optoelectronic tracking and aiming system. The inertial reference unit is an attitude measurement system composed of inertial sensors, which can provide the optoelectronic tracking and aiming system with a stable reference beam relative to the inertial space, and provide an accurate carrier coordinate system for the target positioning and tracking of the payload.

[0003] However, in the disturbance control method of the related inertial reference unit, since there are many disturbances in the control process, the precise control of the inertial reference unit is affected, resulting in a shortcoming of low tracking accuracy. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a disturbance control method based on an inertial reference unit, wherein a light source for emitting a reference beam is installed on a platform of the inertial reference unit, and the disturbance control method comprises: generating a driving voltage based on instruction information, wherein the instruction information comprises a target angle; based on the driving voltage, controlling the rotation of the platform to obtain a rotation angle of the reference beam, wherein there is an angular deviation between the rotation angle and the target angle, and the angular deviation is caused by a disturbance; based on the target angle and the rotation angle, controlling the rotation of the platform using n disturbance observers to rotate the reference beam to the target angle, wherein n is greater than or equal to 2.

[0005] An embodiment of the present invention also provides a disturbance control system based on an inertial reference unit, comprising: an inertial reference unit, a light source for emitting a reference beam being installed on a platform of the inertial reference unit; a control device comprising n disturbance observers and a position loop controller, wherein the control device is configured to generate a driving voltage using the position loop controller based on instruction information, wherein the instruction information includes a target angle; based on the driving voltage, the position loop controller is used to control the rotation of the platform to obtain a rotation angle of the reference beam, wherein there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by a disturbance; based on the target angle and the rotation angle, the n disturbance observers and the position loop controller are used to control the rotation of the platform to rotate the reference beam to the target angle, wherein n is greater than or equal to 2.

[0006] According to an embodiment of the present invention, by setting n disturbance observers, disturbances of different frequency bands and / or different amplitudes can be suppressed, thereby suppressing various disturbances existing in the process of controlling the inertial reference unit, and achieving the purpose of improving the control accuracy of the inertial reference unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings.

[0008] Figure 1 A flow chart of a disturbance control method based on an inertial reference unit according to an embodiment of the present invention is shown.

[0009] Figure 2 The working principle diagram of the disturbance control system based on the inertial reference unit according to an embodiment of the present invention is shown.

[0010] Figure 3 Shows Figure 2 The working principle diagram of the embodiment shown in the initial stage.

[0011] Figure 4 Shows Figure 2 The working principle diagram of the illustrated embodiment in the first update round.

[0012] Figure 5 Shows Figure 2 The working principle diagram of the illustrated embodiment in the second update round.

[0013] Figure 6 Shows Figure 2 The working principle diagram of the illustrated embodiment in the third update round.

[0014] Figure 7 Shows Figure 2The illustrated embodiment is a working principle diagram in the fourth update round.

[0015] Figure 8 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 10 Hz.

[0016] Fig. 9 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 10 Hz.

[0017] Fig.10 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 10 Hz.

[0018] Fig.11 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 10 Hz.

[0019] Fig.12 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the instruction information is 10 Hz and the disturbance signal is 35 Hz.

[0020] Fig.13 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 35 Hz.

[0021] Fig.14 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 35 Hz.

[0022] Fig.15 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 35 Hz.

[0023] Fig.16 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the instruction information is 10 Hz and the disturbance signal is 40 Hz.

[0024] Fig.17The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 40 Hz.

[0025] Fig.18 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 40 Hz.

[0026] Fig.19 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 40 Hz. DETAILED DESCRIPTION

[0027] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0028] The description of the structural embodiments and methods of the present invention is disclosed herein. It should be understood that this is not intended to limit the present invention to the specific disclosed embodiments, and the present invention can be implemented by using other features, elements, methods and embodiments. Similar elements in different embodiments are usually marked with similar numbers.

[0029] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0030] In the description of the present invention, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0031] The inertial reference unit can be installed on a motion platform. The inertial reference unit may include a base and a platform. A light source for emitting a reference beam may be disposed on the platform. A motor may be disposed between the base and the platform, and the motor may be used to drive the platform to rotate. The motor may be a voice coil motor. In the disturbance control method of the related inertial reference unit, since there are many disturbances in the control process, the precise control of the inertial reference unit will be affected, resulting in the disadvantage of low tracking accuracy. The many disturbances may include internal disturbances and external disturbances of the inertial reference unit. Different disturbances have different bandwidths and amplitudes. The internal disturbance may be the mechanical resonance caused by the flexible support in the inertial reference unit, the sensor noise in the sensor, and the driver ripple disturbance caused by the driver. The external disturbance may include the disturbance of the base caused by the movement of the motion platform, etc.

[0032] In view of the above problems, an embodiment of the present invention provides a disturbance control method based on an inertial reference unit, comprising: generating a driving voltage based on instruction information, wherein the instruction information includes a target angle; based on the driving voltage, controlling the platform rotation of the inertial reference unit to obtain a rotation angle of a reference beam of the platform, wherein there is an angular deviation between the rotation angle and the target angle, and the angular deviation is caused by a disturbance; based on the target angle and the rotation angle, using n disturbance observers, controlling the platform rotation to rotate the reference beam to the target angle, wherein n is greater than or equal to 2.

[0033] Figure 1 A flow chart of a disturbance control method based on an inertial reference unit according to an embodiment of the present invention is shown.

[0034] like Figure 1 As shown, the method may include the following operations S110 to S130.

[0035] In operation S110 , a driving voltage is generated based on instruction information.

[0036] According to an embodiment of the present invention, the instruction information may include a target angle. The instruction information may be a sinusoidal signal, for example, the instruction information may be a sinusoidal signal with an amplitude of 0.1 mrad and a frequency of 10 Hz or 20 Hz.

[0037] According to an embodiment of the present invention, a light source for emitting a reference beam is installed on the platform of the inertial reference unit.

[0038] In operation S120, the platform is controlled to rotate based on the driving voltage to obtain a rotation angle of the reference beam.

[0039] According to the embodiment of the present invention, there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by disturbance.

[0040] According to an embodiment of the present invention, the rotation angle of the platform can be characterized as the rotation angle of the reference beam.

[0041] According to an embodiment of the present invention, the platform can be driven to rotate by a driver based on a driving voltage. In the process of using the driver to drive the motor to rotate, driver ripple disturbance may be caused. In addition, the flexible support in the inertial reference unit may cause mechanical resonance.

[0042] According to an embodiment of the present invention, the rotation angle may be obtained by a sensor. In the process of obtaining the rotation angle, the sensor may introduce sensor noise of the sensor itself. Sensor noise, driver ripple disturbance, base vibration, mechanical resonance and other disturbances work together to cause an angle deviation between the rotation angle and the target angle.

[0043] In operation S130, based on the target angle and the rotation angle, the platform is controlled to rotate using n disturbance observers so that the reference beam is rotated to the target angle.

[0044] According to the embodiment of the present invention, n may be greater than or equal to 2, that is, more than two disturbance observers may be provided.

[0045] According to the embodiment of the present invention, each disturbance observer can suppress disturbances of different frequency bands and / or different amplitudes.

[0046] According to an embodiment of the present invention, by setting n disturbance observers, disturbances of different frequency bands and / or different amplitudes can be suppressed, thereby suppressing various disturbances existing in the process of controlling the inertial reference unit, and achieving the purpose of improving the control accuracy of the inertial reference unit.

[0047] In some embodiments, operation S130 may include the following operations S131-S132.

[0048] In operation S131 , in the kth update round, a driving voltage updated in the kth update round is determined using the rotation angle determined in the k−1th update round and first m disturbance observers among the n disturbance observers.

[0049] According to an embodiment of the present invention, k may be greater than or equal to 1. When k is less than or equal to n, m is equal to k. When k is greater than or equal to n, m is equal to n.

[0050] In operation S132, based on the driving voltage updated in the kth updating round, the stage is controlled to rotate to determine a rotation angle of the reference beam in the kth updating round.

[0051] According to an embodiment of the present invention, when the angle deviation satisfies a preset condition, it can be determined that the reference beam is rotated to a target angle. The angle deviation satisfies the preset condition that the angle deviation is within a predetermined value range. The predetermined value range can be set according to requirements.

[0052] According to an embodiment of the present invention, in the kth update round, using the rotation angle determined in the k-1th update round can be expressed as using the rotation angle determined in the previous update round in the current update round.

[0053] According to the embodiment of the present invention, the first m disturbance observers among the n disturbance observers may be used to update the driving voltage, that is, the driving voltage may be updated by using multiple disturbance observers, thereby suppressing various disturbances.

[0054] According to an embodiment of the present invention, based on the driving voltage updated in the kth update round, the platform is controlled to rotate to determine the rotation angle in the kth update round. It can be expressed as follows: in the kth update round, the driving voltage is updated once, and the platform is controlled to rotate based on the updated driving voltage, so that the rotation angle of the reference beam is updated. Correspondingly, the driving voltage is updated once in each update round, and the platform is controlled to rotate based on the updated driving voltage to update the rotation angle once, so that the reference beam is rotated to the target angle based on multiple rotations.

[0055] In some embodiments, when k is less than or equal to n, operation S131 may include the following operations.

[0056] In the kth update round, a first voltage is determined based on the target angle and the rotation angle determined in the k-1th update round, that is, the first voltage determined in the kth update round.

[0057] Based on the rotation angle determined in the k-1th update round and the first voltage determined in the k-1th update round, a first disturbance estimate value, ie, the first disturbance estimate value determined in the kth update round, is determined using the mth disturbance observer.

[0058] The driving voltage updated in the k-th updating round is determined based on the m-1 second disturbance estimation values, the first disturbance estimation value, and the first voltage determined in the k-1-th updating round.

[0059] According to an embodiment of the present invention, the first voltage is determined based on the target angle and the rotation angle determined in the k-1th update round. This can be expressed as: in the kth update round, the first voltage can be determined based on the rotation angle determined in the k-1th update round, that is, in the current update round, the first voltage can be determined using the rotation angle determined in the previous update round.

[0060] According to an embodiment of the present invention, the first voltage determined in the k-1th update round, that is, a first voltage will also be determined in the k-1th update round. Correspondingly, a first voltage will be determined in each update round, and the first voltage can be expressed as the voltage generated in the current update round.

[0061] According to an embodiment of the present invention, the first disturbance estimate is determined using the mth disturbance observer, that is, in the kth update round, the first disturbance estimate is determined by the mth disturbance observer. Since in the kth update round, only the first m disturbance observers among the n disturbance observers are used to update the driving voltage, in other words, when the update round is less than or equal to the number of disturbance observers, in each update round, the first disturbance estimate is generated using the disturbance observer corresponding to the round. For example, when the number of disturbance observers is 4, in the third update round, the driving voltage is updated using the first to third disturbance observers, wherein the first disturbance estimate can be generated using the third disturbance observer. When the update round is greater than the number of disturbance observers, in each update round, the first disturbance estimate is generated using the last disturbance observer. For example, when the number of disturbance observers is 4, in the fifth updating round, the driving voltage is updated using the first to fourth disturbance observers, wherein the first disturbance estimation value may be generated using the fourth disturbance observer.

[0062] According to an embodiment of the present invention, when k is less than or equal to n, m-1 second disturbance estimation values ​​are determined in the k-1th update round, that is, m-1 second disturbance estimation values ​​can be determined in the k-1th update round, and further, m second disturbance estimation values ​​can be determined in the k-1th update round.

[0063] In some embodiments, when k is less than or equal to n, the disturbance control method may further include: in the k-1th update round, based on the first voltage determined in the k-1th update round and the first disturbance estimate value determined in the k-1th update round, determining the m-1th second voltage among the m-1 second voltages.

[0064] In the k-1th updating round, the i-1th second voltage among the m-1 second voltages is updated based on the i-th second voltage determined in the k-1th updating round and the i-1th second disturbance estimation value determined in the k-2th updating round.

[0065] According to the embodiment of the present invention, i may be less than or equal to m, and i may be greater than or equal to 2. When i is equal to 2, the i-1th second voltage is represented as the driving voltage, that is, the first second voltage is represented as the driving voltage.

[0066] According to an embodiment of the present invention, the i-th second voltage determined in the current update round may be determined by the i+1-th second voltage determined in the current update round and the i-th second disturbance estimate value determined in the previous update round. For example, when the current update round is 4, 4 second voltages and 4 second disturbance estimate values ​​may be determined, and the 2nd second voltage may be determined by the 3rd second voltage among the 4 second voltages and the 2nd second disturbance estimate value among the 3 second disturbance estimate values ​​determined in the 3rd update round.

[0067] In some embodiments, when k is less than or equal to n, the disturbance control method may further include: in the k-1th update round, based on the rotation angle determined in the k-2th update round and the first voltage determined in the k-2th update round, using the m-1th disturbance observer, determining the first disturbance estimate. In the k-1th update round, based on the rotation angle determined in the k-2th update round and the i-th second voltage among the m-1 second voltages determined in the k-1th update round, using the i-th disturbance observer, determining the i-th second disturbance estimate among the m-1 second disturbance estimates.

[0068] According to an embodiment of the present invention, the i-th second disturbance estimate in the current update round can be determined based on the i-th second voltage determined in the current update round. Further, the i-th second disturbance estimate in the current update round can be determined based on the rotation angle updated in the previous update round using the i-th disturbance observer. For example, when the number of disturbance observers is 4 and the current update round is the third update round, the second second disturbance estimate in the current update round can be determined based on the second second voltage of the three second voltages determined in the third update round and the rotation angle updated in the second update round using the second disturbance observer.

[0069] According to an embodiment of the present invention, a first disturbance estimation value is determined in each update round. The first disturbance estimation value in the current update round can be characterized as a disturbance estimation value generated based on the first voltage determined in the previous update round. The second disturbance estimation value in the current update round can be characterized as a disturbance estimation value generated based on the second voltage determined in the current update round.

[0070] In each update round, only one first disturbance estimate is generated, and correspondingly, m second disturbance estimates are generated. For example, when the number of disturbance observers is 4 and the fourth update round is used, one first disturbance estimate can be generated and four second disturbance estimates can be generated. When the number of disturbance observers is 4 and the fifth update round is used, one first disturbance estimate can be generated and four second disturbance estimates can be generated.

[0071] In the case of the 4th update round, the first disturbance estimate value determined in the 4th update round can be generated based on the first voltage determined in the 3rd update round. The 4 second voltages can be determined based on the first disturbance estimate value determined in the 4th update round and the first voltage determined in the 4th update round. The 4th second voltage among the 4 second voltages can determine the 4th second disturbance estimate value. The 3rd second voltage can determine the 3rd second disturbance estimate value. The 2nd second voltage can determine the 2nd second disturbance estimate value, and the 1st second voltage can determine the 1st second disturbance estimate value. The 1st second voltage can be characterized as a driving voltage.

[0072] In some embodiments, when k is greater than n, operation S131 may include the following operations.

[0073] In the kth updating round, a first voltage is determined based on the target angle and the rotation angle determined in the k-1th updating round.

[0074] Based on the rotation angle determined in the k-1th updating round and the mth second voltage determined in the k-1th updating round, a first disturbance estimation value is determined using the mth disturbance observer.

[0075] The driving voltage updated in the k-th updating round is determined based on the first m-1 second disturbance estimation values, the first disturbance estimation value, and the first voltage determined in the k-1-th updating round.

[0076] Further, when k is greater than n, m second disturbance estimation values ​​can be determined in the k-1th update round, that is, m second disturbance estimation values ​​can be determined in both the k-1th update round and the kth update round.

[0077] Further, when k is greater than n, in the k-1th update round, based on the i+1th second voltage determined in the k-1th update round and the i-th second disturbance estimate value determined in the k-2th update round, the i-th second voltage among the m second voltages is determined. When i is equal to m, the i+1th second voltage is characterized as the first voltage determined in the k-1th update round. The i+1th second disturbance estimate value can represent the first disturbance estimate value determined in the k-1th update round.

[0078] Further, when k is greater than n, in the k-1th update round, based on the rotation angle determined in the k-2th update round and the i-th second voltage among the m second voltages determined in the k-1th update round, the i-th disturbance observer is used to determine the i-th second disturbance estimate among the m second disturbance estimates.

[0079] The execution logic of operation S131 in this embodiment is the same as the execution logic of operation S131 described above. The difference in the execution operation is that, when k is greater than n, the first disturbance estimation value is determined by the mth second voltage determined in the k-1th update round, rather than the first voltage. The number of determined second voltages is m, and the number of second disturbance estimation values ​​is m, i.e., n.

[0080] For example, when the number of disturbance observers is 4 and the current update round is the fifth update round, four second voltages and four second disturbance estimation values ​​may be determined. Based on the fourth second voltage of the four second voltages determined in the fifth update round and the rotation angle updated in the fourth update round, the fourth second disturbance estimation value in the current update round is determined using the fourth disturbance observer. Based on the third second voltage of the four second voltages determined in the fifth update round and the rotation angle updated in the fourth update round, the third second disturbance estimation value in the fifth update round may be determined using the third disturbance observer.

[0081] In some embodiments, when k is less than or equal to n, determining the first disturbance estimate value using the mth disturbance observer based on the rotation angle determined in the k-1th update round and the first voltage determined in the k-1th update round may include the following operations.

[0082] Based on the first voltage determined after the k-1th updating round, a candidate angle is determined.

[0083] Based on the candidate angles and the rotation angle determined after the k-1th update round, a candidate angle deviation is determined.

[0084] Based on the candidate angular deviations, a candidate inhibition voltage is determined.

[0085] A first disturbance estimation value is determined based on a voltage among the candidate suppression voltages corresponding to a suppression frequency band of a filter in the mth disturbance observer.

[0086] According to an embodiment of the present invention, the first disturbance estimation value in the current update round may be determined based on the rotation angle and the first voltage determined in the previous update round.

[0087] According to an embodiment of the present invention, the candidate angle can be determined based on the first voltage determined after the k-1th update round using the nominal model of the controlled object of the position loop. The nominal model can be a transfer function that ignores poles far from the origin and is identified based on input and output data of the controlled object of the position loop. The position loop can be characterized as a position control loop of a disturbance control system.

[0088] According to an embodiment of the present invention, the rotation angle determined after the k-1th update round may be the rotation angle of the reference beam obtained after the first voltage control platform determined after the k-1th update round rotates.

[0089] According to an embodiment of the present invention, the candidate suppression voltage may be determined based on the candidate angle deviation using the inverse of the nominal model of the controlled object of the position loop.

[0090] According to an embodiment of the present invention, a first disturbance estimation value is determined based on a voltage corresponding to a suppression frequency band of a filter in an m-th disturbance observer, and a first voltage for suppressing the suppression frequency band of the filter can be determined based on the first disturbance estimation value, so that a driving voltage for suppressing the suppression frequency band of the filter can be determined, that is, the updated driving voltage can suppress the disturbance corresponding to the suppression frequency band of the filter. By setting each filter to have a different suppression frequency band, a variety of disturbances in different frequency bands can be suppressed.

[0091] In some embodiments, when k is less than or equal to n, in the k-1th update round, based on the rotation angle determined in the k-2th update round and the i-th second voltage among the m-1 second voltages determined in the k-1th update round, the i-th disturbance observer is used to determine the i-th second disturbance estimate among the m-1 second disturbance estimates, which may include the following operations.

[0092] Based on the i-th second voltage among the m-1 second voltages determined in the k-1-th updating round, a candidate angle is determined.

[0093] Based on the candidate angles and the rotation angle determined in the k-2th update round, a candidate angle deviation is determined.

[0094] Based on the candidate angular deviations, a candidate inhibition voltage is determined.

[0095] An i-th second disturbance estimate value among the m-1 second disturbance estimate values ​​is determined based on a voltage among the candidate suppression voltages corresponding to a suppression frequency band of a filter in the i-th disturbance observer.

[0096] Further, when k is greater than n, the manner of determining the first disturbance estimation value and the second disturbance estimation value is similar and will not be described in detail herein.

[0097] In some embodiments, the disturbance observer includes a first disturbance observer and at least one second disturbance observer, the suppression frequency band of the filter in the first disturbance observer is wider than the suppression frequency band of the filter in the second disturbance observer, and the suppression amplitude of the filter in the first disturbance observer is lower than the suppression amplitude of the filter in the second disturbance observer within the suppression frequency band of the second disturbance observer, thereby suppressing both broadband low-amplitude disturbances and narrowband high-value disturbances.

[0098] The present invention also provides a disturbance control system based on an inertial reference unit. The disturbance suppression system may include an inertial reference unit and a control device. The control device may include n disturbance observers and a position loop controller. A light source for emitting a reference beam may be installed on the platform of the inertial reference unit. The control device may be used to generate a driving voltage based on instruction information and using a position loop controller, wherein the instruction information includes a target angle. Based on the driving voltage, the position loop controller is used to control the rotation of the platform to obtain a rotation angle of the reference beam, wherein there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by a disturbance. Based on the target angle and the rotation angle, n disturbance observers are used, and the position loop controller is used to control the rotation of the platform to rotate the reference beam to the target angle, wherein n is greater than or equal to 2.

[0099] According to an embodiment of the present invention, by setting a plurality of disturbance observers, disturbances of different frequency bands and different amplitudes can be suppressed, thereby suppressing various disturbances existing in the process of controlling the inertial reference unit, and achieving the purpose of improving the control accuracy of the inertial reference unit.

[0100] According to an embodiment of the present invention, the control device can implement the above-described disturbance control method based on an inertial reference unit.

[0101] According to an embodiment of the present invention, a driver may also be provided in the disturbance control system to drive the motor to drive the platform to rotate.

[0102] In some embodiments, the disturbance control system may further include a notch filter. The notch filter may generate a control signal based on the drive voltage to control the reference beam to rotate to a target angle based on the control signal when there is mechanical resonance within the bandwidth of the inertial reference unit. The notch filter may be a double T-type notch filter. The notch filter may be used to suppress mechanical resonance within the bandwidth of the inertial reference unit.

[0103] In some embodiments, the plurality of disturbance observers may include a first disturbance observer and at least one second disturbance observer. The first disturbance observer may include a first filter. The second disturbance observer may include a second filter. The first filter may be used to suppress disturbances located in a first frequency band and within a first amplitude range. The second filter may be used to suppress disturbances located in a second frequency band and within a second amplitude range. The first frequency band may be wider than the second frequency band. The first amplitude range may be lower than the second amplitude range. That is, the first filter may be used to suppress broadband low-amplitude disturbances. The second filter may be used to suppress narrowband large-amplitude disturbances, thereby suppressing disturbances of different frequency bands and different amplitudes, so as to suppress various disturbances existing in the process of controlling the inertial reference unit, and achieve the purpose of improving the control accuracy of the inertial reference unit.

[0104] According to an embodiment of the present invention, the first filter may be a low-pass filter, such as a binomial low-pass filter. The second filter may be a band-pass filter, such as a Butterworth band-pass filter.

[0105] Reference below Figure 2-Figure 6 , the disturbance control system based on the inertial reference unit is further explained in conjunction with specific embodiments.

[0106] Figure 2 The working principle diagram of the disturbance control system based on the inertial reference unit according to an embodiment of the present invention is shown. Figure 3 Shows Figure 2 The working principle diagram of the embodiment shown in the initial stage. Figure 4 Shows Figure 2 The working principle diagram of the illustrated embodiment in the first update round. Figure 5 Shows Figure 2 The working principle diagram of the illustrated embodiment in the second update round. Figure 6 Shows Figure 2 The working principle diagram of the illustrated embodiment in the third update round. Figure 7 Shows Figure 2 The illustrated embodiment is a working principle diagram in the fourth update round.

[0107] like Figure 2 As shown, the disturbance suppression system may include an inertial reference unit 、Notch filter , position loop controller C and multiple disturbance observers. Inertial reference unit and notch filter After being connected in series, it can be used as the controlled object of the position control loop of the disturbance control system, that is, the controlled object of the position loop. The disturbance control system can be provided with 4 disturbance observers, namely disturbance observer DOB1, disturbance observer DOB2, disturbance observer DOB3 and disturbance observer DOB4. Disturbance observer DOB1, disturbance observer DOB2, disturbance observer DOB3 can be the second disturbance observer. Disturbance observer DOB4 can be the first disturbance observer. Disturbance observer DOB1, disturbance observer DOB2, disturbance observer DOB3 and disturbance observer DOB4 are respectively provided with the inverse of the nominal model of the controlled object of the position loop. and the nominal model of the controlled object with position loop The disturbance observer DOB1 can also be provided with a bandpass filter The disturbance observer DOB2 can also be equipped with a bandpass filter The disturbance observer DOB3 can also be equipped with a bandpass filter The disturbance observer DOB4 can also be equipped with a low-pass filter The disturbance observer DOB1, the disturbance observer DOB2, the disturbance observer DOB3 and the disturbance observer DOB4 can be represented as a first disturbance observer, a second disturbance observer, a third disturbance observer and a fourth disturbance observer, respectively.

[0108] According to an embodiment of the present invention, in the initial stage, Figure 3 As shown, based on the target angle r in the command information, the position loop controller C can be used to generate a drive voltage . Driving voltage Through the notch filter Then the control signal U can be obtained. In the process of using the driver to drive the platform to rotate, the driver ripple disturbance will be introduced , the driver can generate a motor drive voltage based on the control signal U , to drive the motor voltage Drive the inertial reference unit platform to rotate to When the mobile platform rotates, the reference beam will rotate more due to the disturbance of the base. , so that the reference beam actually rotates to However, when measuring the actual rotation angle of the reference beam When the sensor noise is introduced , so that the measured rotation angle of the reference beam is The sensor used to measure the rotation angle of the reference beam may be an eddy current displacement sensor.

[0109] In the first update round, if Figure 4 As shown, the first disturbance observer DOB1 can be used to update the driving voltage Specifically, the driving voltage After the nominal model After that, we can get the candidate angle. Candidate angle and rotation angle By doing the difference, we can get the candidate angle deviation. The candidate angle deviation is inversely proportional to the nominal model. After that, the candidate suppression voltage can be obtained. The candidate suppression voltage passes through the filter Then, we can get the disturbance estimate . Perturbation estimate can be expressed as the first disturbance estimate generated in the first update round. Further, the rotation angle The error information e can be obtained by subtracting the target angle r. After the error information e passes through the position loop controller C, a voltage signal can be obtained. . Voltage signal and the disturbance estimate After the difference is made, the driving voltage updated in the first update round can be obtained. The driving voltage updated in the first update round It can be represented as the second voltage determined in the first update round. Voltage signal It can be expressed as the first voltage determined in the first update round. Based on the driving voltage updated in the first update round You can get the rotation angle updated in the first update round Based on the driving voltage updated in the first update round and the rotation angle in the initial stage The disturbance estimate can be updated , get the disturbance estimate updated in the first update round , which is the perturbation estimate updated in the first update round It can be expressed as the second disturbance estimate determined in the first update round.

[0110] In the second update round, if Figure 5 As shown, the driving voltage updated in the first update round can be updated by using the disturbance observer DOB1 and the disturbance observer DOB2. Specifically, the voltage signal After the disturbance observer DOB2, the disturbance estimate can be obtained . Perturbation estimate It can be expressed as the first disturbance estimate generated in the second update round. Further, based on the rotation angle updated in the first update round Voltage signal can be obtained . Voltage signal It can be represented as the first voltage determined in the second update round. Voltage signal and the disturbance estimate After the difference is taken, the voltage signal updated in the second update round can be determined The voltage signal updated in the second update round It can be expressed as a second second voltage determined in the second update round. Based on the voltage signal updated in the second update round The perturbation estimate updated in the second update round can be determined The perturbation estimate updated in the second update round is It can be characterized as the second disturbance estimate determined in the second update round. The voltage signal updated in the second update round is The perturbation estimate updated in the first update round After the difference is made, the driving voltage updated in the second update round can be obtained. The driving voltage updated in the second update round It can be expressed as the first second voltage determined in the second update round. Based on the driving voltage updated in the second update round You can get the rotation angle updated in the second update round Based on the driving voltage updated in the second update round and the rotation angle updated in the first update round The disturbance estimate updated in the second update round can be obtained , that is, the disturbance estimate updated in the second update round It can be expressed as the first second disturbance estimate determined in the second update round. , Updates and , The updates can be performed simultaneously.

[0111] In the third update round, if Figure 6 As shown, the driving voltage updated in the second update round can be updated using the disturbance observer DOB3, the disturbance observer DOB2 and the disturbance observer DOB1. Specifically, the voltage signal After the disturbance observer DOB3, the disturbance estimate can be obtained . Perturbation estimate It can be expressed as the first disturbance estimate generated in the third update round. Further, based on the rotation angle updated in the second update round Voltage signal can be obtained . Voltage signal It can be represented as the first voltage determined in the third update round. Voltage signal and the disturbance estimate After the difference is taken, the voltage signal updated in the third update round can be determined The voltage signal updated in the third update round It can be expressed as the third second voltage determined in the third update round. The voltage signal updated in the third update round and the perturbation estimate updated in the second update round After the difference is taken, the voltage signal updated in the third update round can be determined The voltage signal updated in the third update round It can be expressed as the second second voltage determined in the third update round. The voltage signal updated in the third update round and the perturbation estimate updated in the second update round After the difference is made, the driving voltage updated in the third update round can be determined The driving voltage updated in the third update round It can be expressed as the first second voltage determined in the third update round. Based on the driving voltage updated in the third update round The rotation angle updated in the third update round can be obtained Based on the driving voltage updated in the third update round and the rotation angle updated in the second update round The disturbance estimate updated in the third update round can be obtained , which is the perturbation estimate updated in the third update round It can be expressed as the first second disturbance estimate determined in the third update round. Based on the voltage signal updated in the third update round The perturbation estimate updated in the third update round can be determined The perturbation estimate updated in the third update round is It can be characterized as the second second disturbance estimate determined in the third update round. Based on the voltage signal updated in the third update round The perturbation estimate updated in the third update round can be determined The perturbation estimate updated in the third update round is It can be characterized as the third second disturbance estimate determined in the third updating round. , , Updates and , , The updates can be performed simultaneously.

[0112] In the fourth update round, if Figure 7 As shown, the driving voltage updated in the third update round can be updated using disturbance observer DOB4, disturbance observer DOB3, disturbance observer DOB2 and disturbance observer DOB1. Specifically, the voltage signal After the disturbance observer DOB4, the disturbance estimate can be obtained . Perturbation estimate It can be expressed as the first disturbance estimate generated in the fourth update round. Further, based on the rotation angle updated in the third update round Voltage signal can be obtained . Voltage signal It can be represented as the first voltage determined in the fourth update round. Voltage signal and the disturbance estimate After the difference is taken, the voltage signal updated in the fourth update round can be determined The voltage signal updated in the fourth update round It can be expressed as the fourth second voltage determined in the fourth update round. The voltage signal updated in the fourth update round and the perturbation estimate updated in the third update round After the difference is taken, the voltage signal updated in the fourth update round can be determined The voltage signal updated in the fourth update round It can be expressed as the third second voltage determined in the fourth update round. The voltage signal updated in the fourth update round and the perturbation estimate updated in the third update round After the difference is taken, the voltage signal updated in the fourth update round can be determined The voltage signal updated in the fourth update round It can be expressed as the second second voltage determined in the fourth update round. The voltage signal updated in the fourth update round and the perturbation estimate updated in the third update round After the difference is made, the driving voltage updated in the fourth update round can be determined The driving voltage updated in the fourth update round It can be expressed as the first second voltage determined in the fourth update round. Based on the driving voltage updated in the fourth update round The rotation angle updated in the fourth update round can be obtained Based on the driving voltage updated in the fourth update round and the rotation angle updated in the third update round The disturbance estimate updated in the fourth update round can be obtained , that is, the disturbance estimate updated in the fourth update round It can be expressed as the first second disturbance estimation value determined in the fourth update round. Based on the voltage signal updated in the fourth update round The disturbance estimate updated in the fourth update round can be determined The perturbation estimate updated in the fourth update round is It can be characterized as the second second disturbance estimate value determined in the fourth update round. Based on the voltage signal updated in the fourth update round The disturbance estimate updated in the fourth update round can be determined The perturbation estimate updated in the fourth update round is It can be characterized as the third second disturbance estimation value determined in the fourth update round. Based on the voltage signal updated in the fourth update round The disturbance estimate updated in the fourth update round can be determined The perturbation estimate updated in the fourth update round is It can be characterized as the fourth second disturbance estimate determined in the fourth updating round. , , , Updates and , , , The updates can be performed simultaneously.

[0113] According to an embodiment of the present invention, a double-T-type notch filter can be designed according to the characteristics of the mechanical resonance existing in the inertial reference unit. , in order to suppress mechanical resonance.

[0114] According to an embodiment of the present invention, the model of the inertial reference unit It can be expressed by the following formula (1).

[0115] (1).

[0116] in, can be the actual rotation angle of the reference beam, can be the motor driving voltage, and s can be a complex frequency domain variable.

[0117] According to an embodiment of the present invention, the transfer function of the notch filter is It can be expressed by the following formula (2).

[0118] (2).

[0119] in, can be the notch filter depth parameter, k can be the notch filter width parameter, Can be the notch center frequency.

[0120] According to an embodiment of the present invention, the characteristics of the controlled object of the position loop It can be expressed by the following formula (3).

[0121] (3).

[0122] According to the embodiment of the present invention, the controlled object can be ignored. The poles far from the imaginary axis will Perform order reduction to obtain the nominal model of the controlled object The nominal model of the controlled object It can be expressed by the following formula (4).

[0123] (4).

[0124] According to an embodiment of the present invention, the inverse of the nominal model of the controlled object It can be expressed by the following formula (5).

[0125] (5).

[0126] According to an embodiment of the present invention, the position loop controller C can be expressed by the following formula (6).

[0127] (6).

[0128] in, can be the proportional gain, Can be the integration time constant.

[0129] According to an embodiment of the present invention, the low-pass filter may be a binomial low-pass filter. Sensor noise, driver ripple disturbance, and base disturbance may be concentrated within 100 Hz. A binomial low-pass filter may be designed based on the characteristics of the inertial reference unit that the sensor noise, driver ripple disturbance, and base disturbance are concentrated within 100 Hz. .

[0130] Binomial Low Pass Filter The closed-loop transfer function can be expressed by the following formula (7).

[0131] (7).

[0132] in, can be a binomial coefficient, N can be the order of the denominator, and M can be the order of the numerator. Can be the time constant of the filter.

[0133] According to an embodiment of the present invention, a Butterworth bandpass filter can be designed based on the characteristics of narrowband and large amplitude disturbances in the disturbance suppression system. , , . Butterworth Bandpass Filter , , The maximum attenuation of the filter passband can be , Stopband minimum attenuation , left edge of passband , right edge of passband , Stop band cutoff left boundary And the right edge of the stopband cutoff The filter can be designed according to the distribution frequency band of disturbance and noise in the disturbance suppression system. For example, if the disturbance suppression system is identified to have power frequency interference at 50Hz, the maximum attenuation of the passband can be adjusted. , Stopband minimum attenuation , left edge of passband , right edge of passband , Stop band cutoff left boundary And the right edge of the stopband cutoff , so that the amplitude of the bandpass filter at 50Hz is as close to 1 (0dB) as possible, and the phase lag is as small as possible, thereby effectively suppressing the disturbance at 50Hz.

[0134] According to an embodiment of the present invention, the rotation angle Transfer function relative to target angle r It can be expressed by the following formula (8).

[0135] (8).

[0136] in, .

[0137] According to an embodiment of the present invention, the driver ripple disturbance Transfer function relative to target angle r It can be expressed by the following formula (9).

[0138] (9).

[0139] According to an embodiment of the present invention, the base disturbance Transfer function relative to target angle r It can be expressed by the following formula (10).

[0140] (10).

[0141] According to an embodiment of the present invention, the sensor noise Transfer function relative to target angle r It can be expressed by the following formula (11).

[0142] (11).

[0143] According to an embodiment of the present invention, Table 1 may represent the filter ,filter ,filter and filter The effect of disturbance suppression.

[0144] Table 1

[0145]

[0146] According to an embodiment of the present invention, it is assumed that is an ideal low-pass filter, , and is an ideal bandpass filter. DOB1 can be used to suppress disturbances such as sensor noise and driver ripple. , and DOB2, DOB3, and DOB4 can be used to suppress narrow-band and large-amplitude disturbances such as residual mechanical resonance and power frequency interference. As shown in Table 1, when , , and When the amplitudes of are all 0, the performance of the control structure of the disturbance control system is exactly the same as that of the control structure without disturbance observer. , and Satisfy (1) , , (2) , , (3) , or (4) When , the control structure of the disturbance control system can improve the system's ability to suppress sensor noise compared to the single disturbance observer structure. , , and Satisfy (1) , (2) , (3) or (4) When , the disturbance transfer characteristic of the disturbance control system is 0. Therefore, within the frequency band where the filter amplitude is 1, the disturbance control system based on the inertial reference unit has a strong ability to suppress the driver ripple and base disturbance. , , and The four filters work together to suppress various disturbances that exist in the process of controlling the inertial reference unit, thereby achieving the purpose of improving the control accuracy of the inertial reference unit.

[0147] Figure 8 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 10 Hz. Fig. 9The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 10 Hz. Fig.10 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 10 Hz. Fig.11 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 10 Hz. Fig.12 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the instruction information is 10 Hz and the disturbance signal is 35 Hz. Fig.13 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 35 Hz. Fig.14 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 35 Hz. Fig.15 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 35 Hz. Fig.16 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the instruction information is 10 Hz and the disturbance signal is 40 Hz. Fig.17 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 10 Hz and the disturbance signal is 40 Hz. Fig.18 The diagram shows the effect of disturbance suppression based on the existing disturbance control system according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 40 Hz. Fig.19 The diagram shows the effect of disturbance suppression of the disturbance control system based on the inertial reference unit of the present application according to an embodiment of the present invention when the command information is 20 Hz and the disturbance signal is 40 Hz.

[0148] According to an embodiment of the present invention, sinusoidal command information of 10Hz and 20Hz can be input to the disturbance control system of the embodiment of the present invention and the disturbance control system of the prior art respectively. And an angular vibration table can be used to input disturbance signals of 10Hz, 35Hz and 40Hz to the disturbance control system of the embodiment of the present invention and the disturbance control system of the prior art respectively. A driver can be used to drive the platform to rotate relative to the base, an eddy current displacement sensor (ECDS) can be used to measure the relative angular displacement between the platform and the base, an angular vibration table can be used to simulate the disturbance of the base, and a control device can be used to collect the rotation angle output by the ECDS in real time. The sampling frequency for collecting the rotation angle can be set to 5kHz. Thus, the following can be obtained: Figure 8-Figure 19 The disturbance suppression effect comparison diagram shown in the figure. The disturbance control system in the prior art is only provided with a filter .

[0149] like Figure 8-Figure 19 As shown, under the disturbance of 10Hz, the disturbance suppression effect of the existing disturbance control system and the disturbance control system of the inertial reference unit of the present application is basically the same. At the two frequencies of 35Hz and 40Hz, the disturbance suppression effect of the disturbance control system of the inertial reference unit of the present application is significantly improved compared with the disturbance suppression effect of the existing disturbance control system. Through calculation, it can be obtained that when the 10Hz command information is added, under the disturbance of 10Hz, 35Hz, and 40Hz, the disturbance suppression effect of the disturbance control system of the inertial reference unit of the present application is improved by 4.20%, 87.95%, and 74.33% respectively compared with the disturbance suppression effect of the existing disturbance control system.

[0150] According to an embodiment of the present invention, by setting a plurality of observers having bandpass filters, it is possible to suppress a plurality of narrowband and large-amplitude disturbances that the low-pass filter has failed to suppress successfully when the low-pass filter is attenuated, thereby compensating for the problem of insufficient suppression of low-frequency disturbances of the inertial reference unit due to amplitude attenuation of the low-pass filter.

[0151] The flow chart in the accompanying drawings illustrates the possible functions of the method according to various embodiments of the present invention. In this regard, each square frame in the flow chart can represent a part of a module, a program segment, or a code, and the part of the above-mentioned module, a program segment, or a code comprises one or more executable instructions for realizing the logical function of the specification. It should also be noted that in some alternative implementations, the function marked in the square frame can also occur in a sequence different from that marked in the accompanying drawings. For example, two square frames represented in succession can actually be performed substantially in parallel, and they can sometimes be performed in the opposite order, depending on the function involved. It should also be noted that each square frame in the flow chart, and the combination of the square frames in the flow chart, can be realized by a special hardware-based system that performs the function or operation of the specification, or can be realized by a combination of special hardware and computer instructions.

[0152] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations and / or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0153] The embodiments of the present invention have been described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment has been described above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. The scope of the present invention is limited by the attached embodiments and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A disturbance control method based on an inertial reference unit, characterized in that: A light source for emitting a reference beam is installed on the platform of the inertial reference unit, and the disturbance control method comprises: Generate a driving voltage based on the instruction information, wherein the instruction information includes a target angle; Based on the driving voltage, the platform is controlled to rotate to obtain a rotation angle of the reference beam, wherein there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by a disturbance; Based on the target angle and the rotation angle, using n disturbance observers, controlling the platform to rotate so that the reference beam rotates to the target angle, comprising: In a kth update round, determining a driving voltage updated in the kth update round using the rotation angle determined in the k-1th update round and the first m disturbance observers of the n disturbance observers, wherein n is greater than or equal to 2, k is greater than or equal to 1, and when k is less than or equal to n, m is equal to k, and when k is greater than or equal to n, m is equal to n; and Based on the driving voltage updated in the kth update round, the platform is controlled to rotate to determine the rotation angle in the kth update round; wherein, when the angle deviation meets a preset condition, the reference beam is determined to rotate to the target angle.

2. The disturbance control method based on inertial reference unit according to claim 1, characterized in that: In the case where k is less than or equal to n, determining, in the kth update round, the driving voltage updated in the kth update round using the rotation angle determined in the k-1th update round and the first m disturbance observers among the n disturbance observers, comprises: In the kth update round, determining a first voltage based on the target angle and the rotation angle determined in the k-1th update round; Determining a first disturbance estimate using an mth disturbance observer based on the rotation angle determined in the k-1th update round and the first voltage determined in the k-1th update round; The driving voltage updated in the k-th updating round is determined based on the m-1 second disturbance estimation values ​​determined in the k-1-th updating round, the first disturbance estimation value, and the first voltage.

3. The disturbance control method based on inertial reference unit according to claim 2, characterized in that: Also includes: In the k-1th update round, determining an m-1th second voltage among the m-1 second voltages based on the first voltage determined in the k-1th update round and the first disturbance estimate determined in the k-1th update round; Based on the i-th second voltage determined in the k-1-th update round and the i-1-th second disturbance estimate determined in the k-2-th update round, update the i-1-th second voltage among the m-1 second voltages, where i is less than or equal to m and i is greater than or equal to 2, and where, when i is equal to 2, the i-1-th second voltage is represented as the driving voltage.

4. The disturbance control method based on inertial reference unit according to claim 3 is characterized in that: Also includes: In the k-1th update round, based on the rotation angle determined in the k-2th update round and the first voltage determined in the k-2th update round, the first disturbance estimate is determined using the m-1th disturbance observer; Based on the rotation angle determined in the k-2th update round and the i-th second voltage among the m-1 second voltages determined in the k-1th update round, the i-th second disturbance estimate value among the m-1 second disturbance estimate values ​​is determined using the i-th disturbance observer.

5. The disturbance control method based on inertial reference unit according to claim 1, characterized in that: In the case where k is greater than n, in the kth update round, using the rotation angle determined in the k-1th update round and the first m disturbance observers among the n disturbance observers, determining the driving voltage updated in the kth update round comprises: In the kth update round, determining a first voltage based on the target angle and the rotation angle determined in the k-1th update round; Determining a first disturbance estimate using an mth disturbance observer based on the rotation angle determined in the k-1th update round and the mth second voltage determined in the k-1th update round; The driving voltage updated in the k-th updating round is determined based on the first m-1 second disturbance estimation values ​​determined in the k-1-th updating round, the first disturbance estimation value, and the first voltage.

6. The disturbance control method based on inertial reference unit according to claim 2, characterized in that: The determining of the first disturbance estimation value by using the mth disturbance observer based on the rotation angle determined in the k-1th update round and the first voltage determined in the k-1th update round comprises: Determining a candidate angle based on the first voltage determined after the k-1th update round; Determining a candidate angle deviation based on the candidate angle and the rotation angle determined after the k-1th update round; determining a candidate inhibition voltage based on the candidate angular deviation; The first disturbance estimation value is determined based on a voltage among the candidate suppression voltages corresponding to a suppression frequency band of a filter in the mth disturbance observer.

7. The disturbance control method based on inertial reference unit according to claim 5, characterized in that: The disturbance observer includes a first disturbance observer and at least one second disturbance observer, the suppression frequency band of the filter in the first disturbance observer is wider than the suppression frequency band of the filter in the second disturbance observer, and the suppression amplitude of the filter in the first disturbance observer is lower than the suppression amplitude of the filter in the second disturbance observer within the suppression frequency band of the second disturbance observer.

8. A disturbance control system based on an inertial reference unit, characterized in that: include: An inertial reference unit, wherein a light source for emitting a reference beam is mounted on a platform of the inertial reference unit; A control device, comprising n disturbance observers and a position loop controller, wherein the control device is configured to generate a driving voltage using the position loop controller based on instruction information, wherein the instruction information includes a target angle; based on the driving voltage, control the rotation of the platform using the position loop controller to obtain a rotation angle of the reference beam, wherein there is an angle deviation between the rotation angle and the target angle, and the angle deviation is caused by a disturbance; based on the target angle and the rotation angle, control the rotation of the platform using the n disturbance observers and the position loop controller to rotate the reference beam to the target angle, wherein n is greater than or equal to 2; Wherein, based on the target angle and the rotation angle, using n disturbance observers to control the rotation of the platform so that the reference beam rotates to the target angle includes: In a kth update round, determining a driving voltage updated in the kth update round using the rotation angle determined in the k-1th update round and the first m disturbance observers of the n disturbance observers, wherein k is greater than or equal to 1, and when k is less than or equal to n, m is equal to k, and when k is greater than or equal to n, m is equal to n; and Based on the driving voltage updated in the kth update round, the platform is controlled to rotate to determine the rotation angle in the kth update round; wherein, when the angle deviation meets a preset condition, the reference beam is determined to rotate to the target angle.

9. The inertial reference unit based disturbance control system according to claim 8, characterized in that: Also includes: The notch filter is configured to generate a control signal based on the driving voltage, so as to control the reference beam to rotate to the target angle based on the control signal when mechanical resonance exists within the bandwidth of the inertial reference unit.

Images