【摘要】 针对未知干扰力矩严重影响航空遥感三轴惯性稳定平台稳定精度这一问题,对平台未知干扰力矩进行估计与补偿。将干扰力矩视为一类执行器故障,给出了一种比例多重积分(PMI)观测器设计方法,利用PMI观测器实时估计出未知干扰力矩,通过前馈控制器进行补偿。最后对传统PID控制和基于PMI观测器的前馈补偿控制分别进行了仿真分析和实验对比。结果表明:与传统PID控制相比该方法有效地抑制了干扰力矩的影响,提高了平台的动态特性和稳态性能,能更好的满足航空遥感对地观测的重大需求。更多还原

【Abstract】 Aiming at the problem that the unknown disturbance torque has a serious influence on the stabilization precision of the threeaxis inertially stabilized platform in aviation remote sensing,the unknown disturbance torque of the platform is estimated and compensated in this paper. The disturbance torque is taken as a kind of actuator fault. And a method of disturbance torque estimation and compensation method based on proportional and multiple-integral( PMI) observer is proposed. The PMI observer is designed and used to estimate the real-time unknown disturbance torque. Then,the feed-forward controller is used to compensate the disturbance torque. Traditional PID control and the feed-forward compensation control based on PMI observer were compared in simulation analysis and experiment study; the results show that compared with traditional PID control,this method can effectively suppress the influence of disturbance torque,improve the dynamic performance and steady-state performance of the platform,and fulfill the important demand of earth observation in aviation remote sensing.更多还原