一种结合扰动观测器的惯性稳定平台稳定回路设计

介绍了大型重力测量惯性稳定平台的典型陀螺稳定回路设计，在此基础上以稳定回路闭环传递函数为被控对象设计了扰动观测器，实现了扰动观测器与陀螺稳定回路的结合。进行了没有扰动观测器和带有扰动观测器的稳定回路控制仿真对比，仿真结果表明，结合扰动观测器的稳定回路，具有更好的抗低频干扰力矩和高频陀螺测量噪声的能力。

A Stabilizing Control Loop Design Combined With Disturbance Observer for Large Stabilization Platform

The design of typical stabilizing control loop of large inertial stabilization platforms in gravity measurement is described. Based on it, a disturbance observer (DOB) which is aiming at the stabilizing loop and taking its transfer function as the controlled object is designed and the stabilizing control loop combined with disturbance observer is realized. The control simulations of the stabilizing control loop without DOB and with DOB are both executed. The simulation results demonstrate that a stabilizing control loop with disturbance observer owns more capabilities to stand disturbance moments in low frequency and constrain gyro measuring noises in high frequency.