摘要
为了减小干扰力矩对转台性能的影响,提出了基于观测器的扰动补偿控制来抑制干扰力矩的方法。首先采用传递函数的方法分析了状态观测器中各观测状态与观测器输入之间的关系,利用观测器获得角加速度信号构造扰动补偿器对外部扰动进行补偿控制,设计了具有扰动补偿的转台控制系统,并分析了加入扰动补偿后对控制系统的影响。分析和试验结果表明,此基于状态观测器的扰动补偿可以对低频的扰动进行有效的抑制,能够显著的提高转台低频小信号振动时的失真度和三轴联动精度,同时对瞬态扰动也有一定的抑制作用。
In order to reduce the influences of disturbance torque on turntable, a disturbance compensation control method based on the state observer is presented. The relationship between input and output of the state observer is analyzed by the transfer function. The acceleration signal is obtained by state observer, and a disturbance compensator is constructed to compensate the exterior disturbance. The control system with compensation control is designed. The influences on turntable control are analyzed by using disturbance compensation. The experiments indicate that the disturbance compensation based on state observer is effective to reject low-frequency disturbance, the turntable performance can be improved and distortion can be reduced when turntable is running in low-frequency vibration with small signal, and it is rejection factor for transient disturbance.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期488-492,共5页
Journal of Chinese Inertial Technology
基金
航空科学基金(2007ZD43002)
关键词
状态观测器
扰动补偿
抑制
转台
state observer
disturbance compensation
rejection
turntable
