关键词: 稳定平台, 摩擦, 干扰观测器, 抖动, 速度规划

Abstract:

In order to compensate the external disturbances of stable platform system, a new compensation control loop was added to the feedback channel of classical disturbance observer. The structure of traditional disturbance observer was improved and the speed planning algorithm was introduced in the controller. The control system with improved disturbance observer was proved to have internal stability and robust stability. In order to verify the compensation effect of the disturbance observer, a stable platform system control model based on the improved disturbance observer was established. The classical LuGre friction model was introduced to simulate the friction disturbance during the movement of the stabilized platform. Compared with traditional PI controller and classical disturbance observer controller, the improved disturbance observer compensated the frictional disturbance and improved the ability of suppressing high-frequency measurement noise. The controller introduced speed planning algorithm, which can significantly inhibit the system positioning jitter and improve system controlling performance.

Key words: stable platform, friction, disturbance observer (DOB), jitter, speed planning