Seeker isolation optimization method and isolation optimization system based on disturbance compensation

Abstract

The invention provides a seeker isolation optimization method and isolation optimization system based on disturbance compensation, and the optimization method comprises the steps: obtaining an ideal sight angular velocity at a current moment when a servo mechanism of an aircraft has no disturbance torque according to an actual sight angular velocity at the current moment and a control voltage at the current moment; obtaining an angular velocity error at the current moment according to the actual sight angular velocity at the current moment and the ideal sight angular velocity at the current moment so as to obtain a control voltage at the next moment, updating the control voltage at the current moment into the control voltage at the next moment, and repeating the above steps to obtain the control voltage at the next moment. According to the method, the ideal sight angular velocity and the actually acquired sight angular velocity are acquired to obtain an error of the sight angular velocity caused by external disturbance, and the error is compensated to the motor control model in a voltage control quantity mode, so that the disturbance is inhibited, and the isolation degree is improved; and the risk that the stability margin of the system is reduced due to over-high controller gain is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a seeker isolation optimization method and an isolation optimization system based on disturbance compensation. Background Art

[0002] As an important part of the guidance and control system, the seeker head mainly measures the relative motion information of the target and feeds back the line of sight angle, line of sight angular velocity and other information to the guidance and control system, so that the aircraft can be guided to the target according to the predetermined control law. During the flight, the aircraft has angular velocity disturbances in the three directions of roll, heading and pitch, which are mainly fed back to the seeker head in the form of disturbance torque and back electromotive force. The ability of the seeker head to suppress the disturbance of the aircraft is called isolation. The higher the isolation, the smaller the impact of the aircraft disturbance on the seeker head, so it is directly related to the guidance accuracy of the aircraft. At present, with the improvement of guidance accuracy requirements, isolation has become an important indicator affecting the guidance system and guidance accuracy.

[0003] Most of the current seeker servo mechanisms use a cascade control structure with a velocity inner loop and an angle outer loop to achieve the pointing and tracking functions. Figure 2 As shown. The disturbance isolation capability of the seeker is achieved by the speed stabilization loop driving the platform to quickly move in the opposite direction. In order to ensure that the isolation of the seeker can meet the combat requirements, the bandwidth of the speed stabilization loop needs to be high enough to ensure the rapid response of the system. The current isolation capability of the seeker servo mechanism is mainly achieved by increasing the controller gain of the speed loop. However, too high a controller gain will reduce the stability margin of the system, which also limits the seeker's ability to isolate the aircraft disturbance. Summary of the invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, the present application aims to provide a seeker isolation optimization method and isolation optimization system based on disturbance compensation.

[0005] In a first aspect, the present application provides a method for optimizing the isolation of a seeker based on disturbance compensation, comprising the following steps:

[0006] S100. Obtaining the current disturbance angular velocity and the current control voltage, wherein the current disturbance angular velocity is the actual angular velocity of the aircraft at the current moment;

[0007] S200. Input the disturbance angular velocity at the current moment and the control voltage at the current moment into the motor control model to obtain the actual line of sight angular velocity at the current moment, wherein the actual line of sight angular velocity at the current moment is the line of sight angular velocity at the current moment when the servo mechanism of the aircraft is subjected to the disturbance torque;

[0008] S300. According to the actual sight line angular velocity at the current moment and the control voltage at the current moment, the ideal sight line angular velocity at the current moment is obtained, wherein the ideal sight line angular velocity is the sight line angular velocity at the current moment when the servo mechanism has no disturbance torque;

[0009] S400. Obtaining a current moment sight angular velocity error according to the current moment actual sight angular velocity and the current moment ideal sight angular velocity;

[0010] S500. Obtaining the control voltage at the next moment according to the line of sight angular velocity error at the current moment;

[0011] S600. Update the control voltage at the current moment to the control voltage at the next moment, and repeat steps S100-S600.

[0012] According to the technical solution provided in the embodiment of the present application, step S300 includes the following steps:

[0013] S310. Constructing a nominal motor control model, wherein the nominal motor control model is a motor control model of the servo mechanism when there is no disturbance torque, wherein the input is a voltage control variable and the output is a line of sight angular velocity;

[0014] S320. Input the control voltage at the current moment into the nominal motor control model to obtain the ideal line of sight angular velocity at the current moment.

[0015] According to the technical solution provided in the embodiment of the present application, step 500 includes the following steps:

[0016] S510. Input the line of sight angular velocity error at the current moment as output to the nominal motor control model to obtain the compensation voltage at the current moment;

[0017] S520. Obtain the input voltage at the next moment;

[0018] S530. Subtract the input voltage at the next moment from the compensation voltage at the current moment to obtain the control voltage at the next moment.

[0019] According to the technical solution provided in the embodiment of the present application, the following steps are further included after step S510 and before step S520:

[0020] S511. Filter the current compensation voltage.

[0021] According to the technical solution provided in the embodiment of the present application, obtaining the control voltage at the current moment includes the following steps:

[0022] S110. Obtain the current input voltage and the previous compensation voltage;

[0023] S120. Subtract the input voltage at the current moment from the compensation voltage at the previous moment to obtain the control voltage at the current moment.

[0024] In a second aspect, the present application provides a seeker isolation optimization system based on disturbance compensation, which is used to implement the seeker isolation optimization method based on disturbance compensation as described above, and the isolation optimization system includes:

[0025] A motor control module, the motor control module is used to obtain the line of sight angular velocity after being disturbed according to the disturbance angular velocity and the control voltage;

[0026] A first calculation module, wherein an output end of the first calculation module is connected to an input end of the motor control module, and the first calculation module is used to input the control voltage into the motor control module;

[0027] A speed loop control module, wherein an output end of the speed loop control module is connected to an input end of the first calculation module, and the speed loop control module is used to obtain an input voltage according to a set angular velocity and the feedback line of sight angular velocity;

[0028] A disturbance compensation module, wherein the input end of the disturbance compensation module is connected to the output end of the first calculation module and to the output end of the motor control module, and the output end thereof is connected to the input end of the first calculation module, and the disturbance compensation module is used to input a compensation voltage to the first calculation module, and the compensation voltage is: the difference between the voltage corresponding to the line of sight angular velocity obtained after the disturbance and the voltage corresponding to the line of sight angular velocity obtained without the disturbance, wherein the first calculation module obtains the control voltage by subtracting the input voltage from the compensation voltage.

[0029] According to the technical solution provided in the embodiment of the present application, the disturbance compensation module includes:

[0030] A first nominal unit, wherein an input end of the first nominal unit is connected to an output end of the first calculation module, and the first nominal unit is used to obtain a line of sight angular velocity of the servo mechanism when there is no disturbance torque according to a voltage control amount;

[0031] a second calculation unit, wherein one of the input terminals of the second calculation unit is connected to the output terminal of the motor control model, and the other input terminal of the second calculation unit is connected to the output terminal of the first nominal unit;

[0032] A second nominal unit, wherein the input end of the second nominal unit is connected to the output end of the second calculation unit, and the output end of the second nominal unit is connected to one of the input ends of the first calculation module.

[0033] According to the technical solution provided in the embodiment of the present application, it also includes a filtering module, the input end of the filtering module is connected to the output end of the second nominal unit, and the output end of the filtering module is connected to the input end of the first calculation module.

[0034] In summary, the present application proposes a method for optimizing the isolation of a seeker based on disturbance compensation, by obtaining the disturbance angular velocity at the current moment and the control voltage at the current moment, inputting the two into a voltage control model, obtaining the actual line of sight angular velocity at the current moment, and obtaining the ideal line of sight angular velocity at the current moment when the aircraft servo mechanism has no disturbance torque according to the actual line of sight angular velocity at the current moment and the control voltage at the current moment, and then obtaining the angular velocity error at the current moment according to the actual line of sight angular velocity at the current moment and the ideal line of sight angular velocity at the current moment, and then obtaining the control voltage at the next moment, and then updating the control voltage at the current moment to the control voltage at the next moment, and repeating the above steps, the present application obtains the error of the line of sight angular velocity caused by external disturbance by obtaining the ideal line of sight angular velocity and the actually obtained line of sight angular velocity, and compensates it to the motor control model in the form of a voltage control amount, thereby suppressing the disturbance and improving the isolation, and compared with the existing method of improving the isolation by increasing the controller gain of the speed stabilization loop, it avoids the risk of reducing the system stability margin due to excessive controller gain. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a method for optimizing the isolation of a seeker based on disturbance compensation provided in an embodiment of the present application;

[0036] Figure 2 The circuit schematic diagram of the existing seeker servo mechanism control system is shown in FIG.

[0037] Figure 3 A circuit schematic diagram of a seeker servo mechanism control system provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a seeker servo mechanism control system provided in an embodiment of the present application;

[0039] Figure 5 When the disturbance is a sinusoidal disturbance with an angle of 1 degree and a frequency of 3Hz, as shown in the attached figure Figure 1 The line of sight angular velocity curve diagram extracted by the forward channel in the seeker servo mechanism control system shown;

[0040] Figure 6 is a line of sight angular velocity curve extracted by the forward channel in the isolation optimization system provided in an embodiment of the present application when the disturbance is a sinusoidal disturbance with an angle of 1° and a frequency of 3 Hz;

[0041] Figure 7 When the disturbance is a sinusoidal disturbance with an angle of 1 degree and a frequency of 3Hz, as shown in the attached figure Figure 1 The line of sight angular velocity curve diagram extracted by the rate gyro module in the seeker servo mechanism control system shown;

[0042] Figure 8 is a line of sight angular velocity curve extracted by the rate gyro module in the isolation optimization system provided in an embodiment of the present application when the disturbance is a sinusoidal disturbance with an angle of 1° and a frequency of 3 Hz;

[0043] The text annotations in the figure represent:

[0044] 100, angle loop control module; 200, speed loop control module; 300, first calculation module; 400, motor control module; 500, integration module; 600, rate gyro module; 700, disturbance compensation module; 710, second calculation unit; 720, first nominal unit; 730, second nominal unit; 740, filtering module. DETAILED DESCRIPTION

[0045] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0046] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] Example 1

[0048] As mentioned in the background technology, the present application proposes a seeker isolation optimization system based on disturbance compensation, such as Figure 3 and Figure 4 As shown, the isolation optimization system is an improvement based on the existing seeker servo mechanism control system. The circuit schematic diagram of the existing seeker servo mechanism control system is as follows: Figure 2 As shown, first Figure 2 The transfer function model of isolation degree is established, and its input is the disturbance angular velocity ω of the aircraft. p , the output is the line-of-sight angular velocity caused by the disturbance The transmission model of the isolation degree is shown as follows:

[0049]

[0050] In the formula, represents the line of sight angular velocity caused by the disturbance; w p(s) represents the disturbed angular velocity of the aircraft, that is, the actual angular velocity of the aircraft after being disturbed; G p (s) is the disturbance torque transfer function, G1(s) is the angle loop controller transfer function, G2(s) is the speed loop controller transfer function, H(s) is the rate gyro transfer function, K E is the motor back electromotive force coefficient, K T is the motor torque coefficient, L is the motor inductance, R is the motor resistance; J is the motor moment of inertia;

[0051] Specifically, the existing guidance head control system includes:

[0052] The motor control module 400 has a motor control model, whose input is the disturbance angular velocity and the voltage control amount, and the output is the line of sight angular velocity w; wherein the motor control module 400 includes a disturbance torque module, the disturbance torque module has a disturbance torque model, and the transfer function of the disturbance torque model is G p (s), its input is the disturbance angular velocity, and its output is the disturbance torque;

[0053] An integration module, the input end of which is connected to the output end of the motor control module 400, and its function is to convert the line of sight angular velocity into a line of sight angle;

[0054] An angle loop control module 100, one of the input ends of the angle loop control module 100 is connected to the output end of the integration module, the angle loop control module 100 has an angle loop control model, the transfer function of the angle loop control model is G1(s), the input is an angle, and the output is an angular velocity. Since the present invention relates to changes in the system caused by disturbances, other inputs are set to 0, that is, q is set to 0, that is, the input of G1(s) is only the line of sight angular velocity w. The function of the angle loop control module 100 is to compare the feedback line of sight angle with the set angle. According to the comparison result, the angle loop control module 100 calculates a control instruction for adjusting the attitude of the aircraft to change the line of sight direction, thereby controlling the line of sight angle.

[0055] A rate gyro module 600, wherein the input end of the rate gyro module 600 is connected to the output end of the motor control module 400, and is used to measure the actual output line of sight angular velocity;

[0056] The speed loop control module 200 has an input end connected to the output end of the rate gyro module 600, and an output end connected to the motor control module 400. The speed loop control module 200 is used to compare the line of sight angular velocity measured by the rate gyro module 600 with the set angular velocity, and calculate a control instruction through a specific control algorithm according to the comparison result, and send it to the actuator of the aircraft to adjust the rotation speed of the aircraft so that the line of sight angular velocity actually measured is as close to the set angular velocity as possible. The speed loop control module 200 has a speed loop control model, the input of the speed loop control model is the angular velocity, and the output is the voltage control amount u; the transfer function of the speed loop control module 200 is G2(s).

[0057] The disturbance frequency is not too high during the flight of the aircraft. For the convenience of analysis, we can first ignore its high-frequency terms and the correction network of the controller and regard the disturbance torque as the damping torque, and let G1(s) = K1, G2(s) = K2, H(s) = 1, G p (s) = K v ; Usually the motor inductance L value is very small, so it can also be ignored.

[0058] After simplification, the system isolation transfer function is:

[0059]

[0060] Usually, K E K T <<K v R<<K2K T ,

[0061] Therefore, the isolation transfer function can be further optimized as:

[0062]

[0063] It can be seen that the back electromotive force has a small effect on the isolation of the seeker, while the disturbance torque has a greater effect on the isolation of the seeker. Therefore, compensating the disturbance torque of the seeker servo mechanism can effectively improve the isolation.

[0064] The isolation optimization system of the present invention comprises:

[0065] A motor control module 400, wherein the motor control module 400 is used to obtain the line of sight angular velocity after being disturbed according to the disturbance angular velocity and the control voltage;

[0066] A first calculation module 300, wherein an output end of the first calculation module 300 is connected to an input end of the motor control module 400, and the first calculation module 300 is used to input the control voltage into the motor control module 400;

[0067] A speed loop control module 200, wherein an output end of the speed loop control module 200 is connected to an input end of the first calculation module 300, and the speed loop control module 200 is used to obtain an input voltage according to a set angular velocity and the feedback line of sight angular velocity;

[0068] A disturbance compensation module 700, wherein the input end of the disturbance compensation module 700 is connected to the output end of the first calculation module 300 and to the output end of the motor control module 400, and the output end thereof is connected to the input end of the first calculation module 300, and the disturbance compensation module 700 is used to input a compensation voltage to the first calculation module 300, wherein the compensation voltage is the difference between the voltage corresponding to the line of sight angular velocity obtained after the disturbance and the voltage corresponding to the line of sight angular velocity obtained without the disturbance, wherein the first calculation module 300 obtains the control voltage by subtracting the input voltage from the compensation voltage.

[0069] Among them, the motor control module 400 and the speed loop control module 200 in the present invention are the same as the prior art and will not be repeated here. Compared with the prior art, the present application adds the first calculation module 300 and the disturbance compensation module 700 to compensate the error caused by the disturbance in the loop in the form of voltage control amount, thereby suppressing the disturbance and improving the isolation.

[0070] In a preferred embodiment, the disturbance compensation module 700 includes:

[0071] A first nominal unit 720, wherein an input end of the first nominal unit 720 is connected to an output end of the first calculation module 300, and the first nominal unit 720 is used to obtain the line of sight angular velocity of the servo mechanism when there is no disturbance torque according to the voltage control amount; the first nominal unit 720 has a first nominal model, wherein the input of the first nominal model is the voltage control amount, and the output is the line of sight angular velocity w;

[0072] The first nominal unit 720 does not include the disturbance torque unit, but includes other units in the motor control module 400 except the disturbance torque unit. The transfer function of the first nominal unit 720 is P N (s); inputting the control voltage into the first nominal unit 720 to obtain the ideal line of sight angular velocity when the servo mechanism has no disturbance torque;

[0073] At the initial moment, when the line of sight angular velocity is not obtained, the input of the first nominal unit 720 is the input voltage output by the speed loop control module 200. When the line of sight angular velocity is fed back to the disturbance compensation module 700, the input of the first nominal unit 720 is the control voltage output by the first calculation module 300.

[0074] A second calculation unit 710, wherein one input terminal of the second calculation unit 710 is connected to the output terminal of the motor control model, and the other input terminal of the second calculation unit 710 is connected to the output terminal of the first nominal unit 720;

[0075] The second calculation unit 710 obtains an error line of sight angular velocity by subtracting the received actual line of sight angular velocity from the ideal line of sight angular velocity.

[0076] A second nominal unit 730, wherein the input end of the second nominal unit 730 is connected to the output end of the second calculation unit 710, and the output end thereof is connected to one of the input ends of the first calculation module 300, wherein the second nominal unit 730 has a second nominal model, which is the inverse of the first nominal model, and whose input is the line of sight angular velocity, and whose output is a voltage control quantity.

[0077] The second nominal unit 730 converts the error line of sight angular velocity into the compensation voltage u∧ d The compensation voltage is input to the first calculation module 300, and the first calculation module 300 obtains the control voltage by subtracting the received compensation voltage from the input voltage.

[0078] In a preferred embodiment, the isolation optimization system further includes a filtering module 740 , the input end of the filtering module 740 is connected to the output end of the second nominal unit 730 , and the output end of the filtering module 740 is connected to the input end of the first calculation module 300 .

[0079] Among them, since it is difficult to obtain the accurate first nominal model, and the inverse of the model is also difficult to achieve, there are disturbances such as noise in the system. Optionally, the filtering unit is a low-pass filter, and the transfer function of the low-pass filter is Q(s); the low-frequency band gain of the low-pass filter is close to 1 to improve the disturbance suppression capability, and the high-frequency band gain is close to 0 to suppress high-frequency noise signals, and the relative order should be greater than or equal to the relative order of the first nominal model, so as to ensure Q(s)·P N (s) -1 The filtering module 740 is used to filter the compensation voltage, and transmit the filtered compensation voltage to the first calculation module 300, and obtain the control voltage by subtracting the filtered compensation voltage from the input voltage.

[0080] Example 2

[0081] Based on Example 1, this application proposes a method for optimizing the isolation of a seeker based on disturbance compensation, such as Figure 1 As shown, the following steps are included:

[0082] S100. Obtaining the current disturbance angular velocity and the current control voltage, wherein the current disturbance angular velocity is the actual angular velocity of the aircraft at the current moment;

[0083] Wherein, a sampling period is set to periodically collect relevant data, and the disturbance angular velocity at the current moment is the actual angular velocity of the aircraft after being subjected to external disturbance, which can be obtained through sensors such as gyroscopes;

[0084] In a preferred embodiment, obtaining the control voltage at the current moment includes the following steps:

[0085] S110. Obtain the current input voltage and the previous compensation voltage;

[0086] like Figure 3 and Figure 4 As shown, the current input voltage is the voltage obtained by inputting the actual line of sight angular velocity at the previous moment obtained by the rate gyro module 600 into the velocity stabilization module; the compensation voltage at the previous moment is obtained by the filtering module 740;

[0087] S120. Subtract the input voltage at the current moment from the compensation voltage at the previous moment to obtain the control voltage at the current moment.

[0088] S200. Input the disturbance angular velocity at the current moment and the control voltage at the current moment into the disturbance motor control model to obtain the actual line of sight angular velocity at the current moment, wherein the actual line of sight angular velocity at the current moment is the line of sight angular velocity at the current moment when the servo mechanism of the aircraft has a disturbance torque;

[0089] The disturbance motor control model is a model of the motor control module 400 .

[0090] S300. According to the actual sight line angular velocity at the current moment and the control voltage at the current moment, the ideal sight line angular velocity at the current moment is obtained, wherein the ideal sight line angular velocity is the sight line angular velocity at the current moment when the servo mechanism has no disturbance torque; comprising the following steps:

[0091] S310. Constructing a nominal motor control model, wherein the nominal motor control model is a motor control model of the servo mechanism when there is no disturbance torque, wherein the input is a voltage control variable and the output is a line of sight angular velocity;

[0092] The nominal motor control model does not include the disturbance transfer function Gp (s), the rest are the same as the disturbance motor control model, and its transfer function is P N (s).

[0093] S320. Inputting the control voltage at the current moment into the nominal motor control model to obtain the ideal line of sight angular velocity at the current moment;

[0094] The nominal motor control model here is the first nominal model, and the control voltage at the current moment is input into the first nominal unit 720 to obtain the ideal line of sight angular velocity at the current moment.

[0095] S400. Obtaining a current moment sight angular velocity error according to the current moment actual sight angular velocity and the current moment ideal sight angular velocity;

[0096] The second calculation unit 710 makes a difference between the actual line of sight angular velocity at the current moment and the ideal line of sight angular velocity at the current moment to obtain the angular velocity error achieved at the current moment.

[0097] S500. Obtaining the control voltage at the next moment according to the line of sight angular velocity error at the current moment; comprising the following steps:

[0098] S510. Input the line of sight angular velocity error at the current moment as output to the nominal motor control model to obtain the compensation voltage at the current moment;

[0099] The nominal motor control model here is the second nominal model, which is the inverse of the first nominal model. Its output is voltage and its input is line of sight angular velocity. Therefore, the line of sight angular velocity at the current moment is input into the second nominal model to obtain the compensation voltage at the current moment.

[0100] S511. Filtering the current compensation voltage; wherein filtering the current compensation voltage by filtering with a low-pass filter is achieved by the following formula:

[0101]

[0102] In the formula, Q(s) represents the transfer function of the filter, and τ represents the time constant of the filter;

[0103] Among them, by continuously adjusting the time constant of the filter, the filter is made to have the ability to suppress both disturbances and high-frequency noise.

[0104] S520. Obtain the input voltage at the next moment;

[0105] The actual line of sight angular velocity at the previous moment is obtained by the rate gyro module 600 and input into the speed loop control module 200 to obtain the input voltage at the next moment;

[0106] S530. Subtract the input voltage at the next moment from the compensation voltage at the current moment to obtain the control voltage at the next moment;

[0107] Input the filtered compensation voltage at the current moment and the input voltage at the next moment into the first calculation module 300 and perform a difference to obtain the control voltage at the next moment;

[0108] S600. Update the control voltage at the current moment to the control voltage at the next moment, and repeat steps S100-S600.

[0109] This application obtains the error of the line of sight angular velocity caused by external disturbance by obtaining the ideal line of sight angular velocity and the actual line of sight angular velocity, and compensates it to the motor control model by means of voltage control quantity, thereby suppressing the disturbance and improving the isolation. Compared with the existing method of improving the isolation by increasing the controller gain of the speed stabilization loop, this method avoids the risk of reducing the system stability margin by excessive controller gain. The isolation of the servo mechanism is obtained by the following formula:

[0110] Isolation = 1-line of sight angular velocity / disturbance angular velocity

[0111] like Figure 5-Figure 6 As shown, under the condition of sinusoidal disturbance with an angle of 1° and a frequency of 3Hz, the line of sight angular velocity curve extracted by the forward channel, i.e., the line of sight angular velocity curve output by the angle loop control module 100, is calculated to improve the isolation of the present application from 96.8% to 98.4%. Figure 7-Figure 8 As shown, the line of sight angular velocity obtained by the rate gyro module in this solution has a smaller amplitude than that in the prior art, thereby improving the isolation.

[0112] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A method for optimizing the isolation of a seeker based on disturbance compensation, characterized in that: The steps include: S100. Obtaining the current disturbance angular velocity and the current control voltage, wherein the current disturbance angular velocity is the actual angular velocity of the aircraft at the current moment; S200. Input the disturbance angular velocity at the current moment and the control voltage at the current moment into the motor control model to obtain the actual line of sight angular velocity at the current moment, wherein the actual line of sight angular velocity at the current moment is the line of sight angular velocity at the current moment when the servo mechanism of the aircraft has a disturbance torque; S300. According to the actual sight line angular velocity at the current moment and the control voltage at the current moment, the ideal sight line angular velocity at the current moment is obtained, wherein the ideal sight line angular velocity is the sight line angular velocity at the current moment when the servo mechanism has no disturbance torque; S400. Obtaining a current moment sight angular velocity error according to the current moment actual sight angular velocity and the current moment ideal sight angular velocity; S500. Obtaining the control voltage at the next moment according to the line of sight angular velocity error at the current moment; S600. Update the control voltage at the current moment to the control voltage at the next moment, and repeat steps S100-S600.

2. The method for optimizing the isolation of a seeker based on disturbance compensation according to claim 1, characterized in that: Step S300 includes the following steps: S310. Constructing a nominal motor control model, wherein the nominal motor control model is a motor control model of the servo mechanism when there is no disturbance torque, wherein the input is a voltage control variable and the output is a line of sight angular velocity; S320. Input the control voltage at the current moment into the nominal motor control model to obtain the ideal line of sight angular velocity at the current moment.

3. The method for optimizing the isolation of a seeker based on disturbance compensation according to claim 2, characterized in that: Step 500 includes the following steps: S510. Input the line of sight angular velocity error at the current moment as output to the nominal motor control model to obtain the compensation voltage at the current moment; S520. Obtain the input voltage at the next moment; S530. Subtract the input voltage at the next moment from the compensation voltage at the current moment to obtain the control voltage at the next moment.

4. The method for optimizing the isolation of a seeker based on disturbance compensation according to claim 3, characterized in that: After step S510 and before step S520, the following steps are also included: S511. Filter the current compensation voltage.

5. The method for optimizing the isolation of a seeker based on disturbance compensation according to claim 1, characterized in that: Obtaining the current control voltage includes the following steps: S110. Obtain the current input voltage and the previous compensation voltage; S120. Subtract the input voltage at the current moment from the compensation voltage at the previous moment to obtain the control voltage at the current moment.

6. A seeker isolation optimization system based on disturbance compensation, used to implement the seeker isolation optimization method based on disturbance compensation as described in any one of claims 1 to 5, characterized in that: The isolation optimization system comprises: A motor control module (400), the motor control module (400) being used to obtain a disturbed line of sight angular velocity according to the disturbed angular velocity and the control voltage; A first calculation module (300), the output end of the first calculation module (300) being connected to the input end of the motor control module (400), and the first calculation module (300) being used to input the control voltage into the motor control module (400); A speed loop control module, the output end of the speed loop control module is connected to the input end of the first calculation module (300), and the speed loop control module is used to obtain an input voltage according to a set angular velocity and the feedback line of sight angular velocity; A disturbance compensation module (700), wherein an input end of the disturbance compensation module (700) is connected to an output end of the first calculation module (300) and to an output end of the motor control module (400), and an output end thereof is connected to an input end of the first calculation module (300), wherein the disturbance compensation module (700) is used to input a compensation voltage to the first calculation module (300), wherein the compensation voltage is the difference between a voltage corresponding to a line of sight angular velocity obtained after being disturbed and a voltage corresponding to a line of sight angular velocity obtained without being disturbed, wherein the first calculation module (300) obtains the control voltage by subtracting the input voltage from the compensation voltage.

7. The isolation optimization system according to claim 6, characterized in that: The disturbance compensation module (700) comprises: a first nominal unit (720), the input end of the first nominal unit (720) being connected to the output end of the first calculation module (300), the first nominal unit (720) being used to obtain the line of sight angular velocity of the servo mechanism when there is no disturbance torque according to the voltage control amount; A second calculation unit (710), wherein one input terminal of the second calculation unit (710) is connected to the output terminal of the motor control model, and the other input terminal is connected to the output terminal of the first nominal unit (720); A second nominal unit (730), wherein the input end of the second nominal unit (730) is connected to the output end of the second calculation unit (710), and the output end of the second nominal unit (730) is connected to one of the input ends of the first calculation module (300).

8. The isolation optimization system according to claim 7, characterized in that: It also includes a filtering module (740), the input end of the filtering module (740) is connected to the output end of the second nominal unit (730), and the output end of the filtering module (740) is connected to the input end of the first calculation module (300).

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