[1]蒋鸿翔,朱娜,夏刚,等.一种结合扰动观测器的惯性稳定平台稳定回路设计[J].机械与电子,2016,(04):51-54.
　JIANG Hongxiang,ZHU Na,XIA Gang,et al.A Stabilizing Control Loop Design Combined With Disturbance Observer for Large Stabilization Platform[J].Machinery & Electronics,2016,(04):51-54.
点击复制

一种结合扰动观测器的惯性稳定平台稳定回路设计
分享到：

《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年04期
页码:
51-54
栏目:
机电一体化技术
出版日期:
2016-04-25

文章信息/Info

Title:
A Stabilizing Control Loop Design Combined With Disturbance Observer for Large Stabilization Platform
作者:
蒋鸿翔; 朱娜; 夏刚; 李洁
（北京航天控制仪器研究所，北京 100039）
Author(s):
JIANG Hongxiang; ZHU Na; XIA Gang; LI Jie
(Beijing Institute of Aerospace Control Devices, Beijing 100039，China)
关键词:
大型惯性稳定平台; 控制系统; 陀螺稳定回路;  扰动观测器;  控制仿真
Keywords:
large inertial stabilized platform;  control system;  gyro stabilizing control loop;  disturbance observer;  control system simulation
分类号:
TP273
文献标志码:
A
摘要:
介绍了大型重力测量惯性稳定平台的典型陀螺稳定回路设计，在此基础上以稳定回路闭环传递函数为被控对象设计了扰动观测器，实现了扰动观测器与陀螺稳定回路的结合。进行了没有扰动观测器和带有扰动观测器的稳定回路控制仿真对比，仿真结果表明，结合扰动观测器的稳定回路，具有更好的抗低频干扰力矩和高频陀螺测量噪声的能力。
Abstract:
The design of typical stabilizing control loop of large inertial stabilization platforms in gravity measurement is described. Based on it, a disturbance observer (DOB) which is aiming at the stabilizing loop and taking its transfer function as the controlled object is designed and the stabilizing control loop combined with disturbance observer is realized. The control simulations of the stabilizing control loop without DOB and with DOB are both executed. The simulation results demonstrate that a stabilizing control loop with disturbance observer owns more capabilities to stand disturbance moments in low frequency and constrain gyro measuring noises in high frequency.

参考文献/References:

[1]朱如意, 丁祝顺, 蒋鸿翔.遥感平台摩擦力矩的非线性校正补偿方法[J].导航与控制,2011,10(3): 21-25.
[2]周向阳, 张宏燕.航空遥感惯性稳定平台齿隙非线性建模与补偿[J].仪器仪表学报,2013,34(8):1703-1710.
[3]房建成, 戚自辉, 钟麦英.航空遥感用三轴惯性稳定平台不平衡力矩前馈补偿方法[J].中国惯性技术学报,2010,18(1):38-43.
[4]陆建山, 王昌明, 何云峰, 等.改进型干扰观测器在稳定平台伺服系统中的应用[J].振动与冲击,2013,32(8):96-99.
[5]扈宏杰, 王元哲.机载光电平台的复合补偿控制方法[J].光学精密工程,2012,20(6):1272-1281.
[6]于爽,付庄,闫维新,等.基于干扰观测器的惯性平台摩擦补偿方法[J].哈尔滨工业大学学报, 40(11): 1830-1833.
[7]Kravaris C, Sotiropoulos V, Georgiou C, et al.Nonlinear observer design for state and disturbance estimation[C]//Proceedings of the American Control Conference.Boston, MA,USA，2004: 2931-2936.

相似文献/References:

[1]潘雪荧,孟令森,牟奥敏,等.小型仿蚕机器人的运动与控制研究[J].机械与电子,2019,(09):64.
　,,et al. Research on Motion and Control of Small Silkworm Robot[J].Machinery & Electronics,2019,(04):64.
[2]吕栋腾.一种垂直升降立体车库控制系统的设计[J].机械与电子,2019,(08):50.
　Control System Design of Vertical Lifting Three-dimensional Garage[J].Machinery & Electronics,2019,(04):50.
[3]陆兴华,甄汉健,段五星.嵌入式多模控制系统的容错性控制器设计[J].机械与电子,2016,(04):62.
　LU Xinghua,ZHEN Hanjian,DUAN Wuxing.Fault Tolerant Controller Design for Embedded Multi Mode Control System[J].Machinery & Electronics,2016,(04):62.
[4]雷永锋,孙莉莉,王振玉,等.基于FMS的立体仓储堆垛机控制系统研究与设计[J].机械与电子,2016,(11):55.
　LEI Yongfeng,SUN Lili,WANG Zhenyu,et al.Research and Design of the Control System for Stereoscopic Warehouse Stacker Based on FMS[J].Machinery & Electronics,2016,(04):55.
[5]王 硕,李成求,罗 微,等.汽车轴承自动搬运装置的研制及应用[J].机械与电子,2020,(03):30.
　,,et al.Development and Application of Automatic Handling Device for Automobile Bearings[J].Machinery & Electronics,2020,(04):30.
[6]刘 斌１,龙健宁１,吴晟霖１,等.基于 ＡＴｍｅｇａ２５６０的金属ＦＤＭ 打印设备控制系统设计[J].机械与电子,2020,(05):13.
　,,et al.Design of Control System for Metal FDM Printing Equipment Based on Mega2560[J].Machinery & Electronics,2020,(04):13.
[7]郭玉嘉,杜向党,陈宏博,等.高机动性变压器内部检测机器人控制系统设计与算法研究[J].机械与电子,2020,(12):70.
　GUO Yujia,DU Xiangdang,CHEN Hongbo,et al.Control System Design and Algorithm Research of High Mobility Robot for Transformer Internal Detection[J].Machinery & Electronics,2020,(04):70.
[8]段晓英,孙克龙,王雪芹.双电机驱动的精密伺服转台及控制系统设计[J].机械与电子,2021,(04):49.
　DUAN Xiaoying,SUN Kelong,WANG Xueqin.Design of Precision Servo Turntable and Control System Driven by Dual-Motor[J].Machinery & Electronics,2021,(04):49.
[9]尹相国,赵莅龙,修方强,等.基于 KV31 的无刷直流电机控制系统设计[J].机械与电子,2021,(11):47.
　YIN Xiangguo,ZHAO Lilong,et al.Design of Brushless DC Motor Control System Based on KV31[J].Machinery & Electronics,2021,(04):47.
[10]吴会营,胡镕显,杨光露.基于 RFID 的智能化烟草生产自动控制系统设计[J].机械与电子,2022,(06):76.
　WU Huiying,HU Rongxian,YANG Guanglu.Design of Intelligent Tobacco Production Automatic Control System Based on RFID[J].Machinery & Electronics,2022,(04):76.

备注/Memo

备注/Memo:
收稿日期：2015-12-09
作者简介：蒋鸿翔(1979-)，男，湖南邵阳人，高级工程师，研究方向为惯性稳定平台控制；朱娜（1982-），女，山东泰安人，高级工程师，研究方向为惯性稳定平台电气系统。
更新日期/Last Update: 2016-04-25