惯性平台稳定回路干扰观测补偿控制律设计

为改善惯性平台稳定回路静/动态性能，以工程实用性为原则，提出稳定回路干扰观测补偿控制律设计方法。从回路模型分析入手，借鉴干扰观测机制，将被控模型不确定性、轴端摩擦等视为未知扰动，通过前馈方式引入在线补偿，依据鲁棒稳定条件改进低通滤波器设计，结合线性反馈控制保证回路各项指标。模拟计算表明，该方法不仅保留经典控制响应快速、易调节等全部优点，而且系统鲁棒性显著提高。

Design Acontrol Law with Disturbance-observer-based Compensation Forstabiization Loops of Inertial Platform

For improving the static and the dynamic performances of stabilization loops for inertial platform, a design method on disturbance-observer-based compensation i.e. DOBC is proposed with the principle of the engineering application. With the analysis of loop models, its uncertainty and the friction existing in gimbals are considered as the unknown disturbance using the DOB mechanism for reference and then an online compensation is introduced by the feed-forward mode. According to the conditions for the robust stability, the low pass filter is improved and with the composite of a linear feedback controller, the index of the loops can be guaranteed. It is shown from simulation results that all advantages of the classical controller such as the quick response and easy adjustment are reserved in the method and the robustness is obviously enhanced.