基于频域的光电稳定平台扰动观测器设计

doi:10.6040/j.issn.1672-3961.0.2014.122

山东大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (4): 45-49.doi: 10.6040/j.issn.1672-3961.0.2014.122

基于频域的光电稳定平台扰动观测器设计

魏伟^1,2, 戴明¹, 李嘉全¹, 毛大鹏¹, 李贤涛^1,2

1. 中国科学院长春光学精密机械与物理研究所航空光学成像与测量重点实验室, 吉林长春 130033;
2. 中国科学院长春光学精密机械与物理研究所研究生部, 吉林长春 130033

收稿日期:2014-04-28 修回日期:2015-05-29 出版日期:2015-08-20 发布日期:2014-04-28
通讯作者: 戴明(1965-),男,湖北潜江人,研究员,硕士,主要研究方向为动机座稳定技术.E-mail:daim@vip.163.com E-mail:daim@vip.163.com
作者简介:魏伟(1987-),男,甘肃兰州人,博士,主要研究方向为航空光电稳定平台视轴稳定技术.E-mail:451123977@qq.com
基金资助:
国家重点基础研究发展规划(973计划)资助项目(2009CB72400603B);国家高技术研究发展计划(863计划)资助项目(2008AA121803)

Design of the disturbance observer of opto-electronic platform in frequency domain

WEI Wei^1,2, DAI Ming¹, LI Jiaquan¹, MAO Dapeng¹, LI Xiantao^1,2

1. Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, Jilin, China;
2. Postgraduate Department of Institute of Optics and Fine Mechanics, Graduate University of Chinese Academy of Sciences, Changchun 130033, Jilin, China

Received:2014-04-28 Revised:2015-05-29 Online:2015-08-20 Published:2014-04-28

摘要/Abstract

摘要： 为了解决传统扰动观测器(disturbance observer, DOB) 无法保证标称系统和非最小相位系统内部稳定性的问题,提出了在频域中设计扰动观测器的新方法,通过对补偿器的设计,避免传统DOB传递函数分母为0的情况,从而保证系统稳定性。结合光电稳定平台进行视轴稳定试验,试验结果表明:在幅度为3°、1 Hz的扰动作用下,结合本研究扰动观测器所设计的控制系统,不但可以保证标称系统和非最小相位系统的内部稳定性,并且具有更宽的带宽和更为快速的频率响应,可以更加有效地隔离扰动,相比传统DOB控制系统的输出,扰动残差减少75%,为光电稳定平台控制系统设计提供参考。

关键词: 鲁棒稳定性, 非最小相位系统, 标称模型, 扰动隔离度, 扰动观测器

Abstract: Traditional disturbance observer(DOB) could not guarantee the internal stability of nominal systems and non-minimum phase systems. A new DOB method was proposed in the frequency domain to improve the stability of the system. The compensator was sophisticatedly designed, which circumvented the situation that the denominator of the modulation transfer function was zero. The line of sight (LOS) stabilization experiment showed that the output disturbance residual of the control system was decreased by 75% under the disturbance of 3 degrees, 1 Hz. The proposed method was capable of insuring the internal stability of the system, and could suppress the disturbance effectively with wide bandwidth and rapid frequency response. This method presented an instruction to design the control system of photoelectric stabilized platforms.

Key words: the disturbance isolation, disturbance observer, the nominal plant, robust stability, non-minimum phase plant

中图分类号:

TP273

魏伟, 戴明, 李嘉全, 毛大鹏, 李贤涛. 基于频域的光电稳定平台扰动观测器设计[J]. 山东大学学报(工学版), 2015, 45(4): 45-49.

WEI Wei, DAI Ming, LI Jiaquan, MAO Dapeng, LI Xiantao. Design of the disturbance observer of opto-electronic platform in frequency domain[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2015, 45(4): 45-49.

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基于频域的光电稳定平台扰动观测器设计

Design of the disturbance observer of opto-electronic platform in frequency domain

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