改进型干扰观测器在稳定平台伺服系统中的应用

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振动与冲击 ›› 2013, Vol. 32 ›› Issue (8) : 96-99.

论文

改进型干扰观测器在稳定平台伺服系统中的应用

陆建山，王昌明，何云峰，胡伟伟

作者信息 +

Application of Improved Disturbance Observer in Stabilized Platform Servo System

LU Jian-shan，WANG Chang-ming，HE Yun-feng，HU Wei-wei

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文章历史 +

摘要

为提高稳定平台伺服系统对各种扰动的抑制性能，将一种改进型干扰观测器应用到了平台系统中，该改进型干扰观测器在经典干扰观测器的基础上新增了一个补偿系统输出的控制结构。文中对改进型干扰观测的性能进行了详细分析，并对存在模型摄动时的鲁棒稳定性进行了推导，同时给出了低通滤波器的设计原则。最后通过数值仿真分析表明，改进型干扰观测器能够较好地消除外部干扰和模型摄动的影响，改善了测量噪声的抑制性能。

Abstract

In order to improve the disturbance suppression performance of stabilized platform servo system, a new improved disturbance observer is used in platform system. Based on the structure of classical disturbance observer (DOB), an additional controller is applied in improved DOB to compensate system outputs. The performance of improved DOB is analyzed detailedly, and the robust stability when existing model perturbation is derived. Besides these, some design principles of the lowpass filter is given out. Numerical simulation results illustrate that the improved DOB can suppress external disturbances and model perturbation well, and the suppression performance of measurement noise is improved, too.

导出引用

陆建山;王昌明;何云峰;胡伟伟. 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

LU Jian-shan;WANG Chang-ming;HE Yun-feng;HU Wei-wei. Application of Improved Disturbance Observer in Stabilized Platform Servo System[J]. Journal of Vibration and Shock, 2013, 32(8): 96-99