| 基于扰动观测器的机载云台扰动复合补偿方法 |
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| 引用本文： | 王日俊,白越,续志军,赵常均,张欣,田彦 涛.基于扰动观测器的机载云台扰动复合补偿方法[J].光电子．激光,2015,26(1):108-115. |
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| 作者姓名： | 王日俊 白越 续志军 赵常均 张欣 田彦 涛 |
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| 作者单位： | 中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033 ;中国科学院大学 ,北京 100039;中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033;中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033;中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033 ;中国科学院大学 ,北京 100039;中国科学院 长春光学精密机械与物理研究所,吉林 长春 130033 ;中国科学院大学 ,北京 100039 ;长春工 程学院 电气与信息工程学院,吉林 长春 1300123;吉林大学 通信学院,吉林 长春 130025 |
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| 基金项目： | 国家自然科学基金(11372309,61304017)和院省专项项目(2014YSHZ004)资助项目 (1.中国科学院长春光学精密机械与物理研究所,吉林 长春 130033； 2.中国科学院大学 ,北京 100039； 3.长春工程学院 电气与信息工程学院,吉林 长春 1300123； 4.吉林大学 通信学院,吉林 长春 130025) |
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| 摘 要： | 针对多旋翼无人机(mUAV)机载云台的扰动补 偿需求,提出一种基于改进的扰动观测器(IDO,improved disturbance observer)的伺服控 制器与减振装 置相结合的复合补偿方法。深入分析了IDO的扰动补偿能力和鲁棒性,构建 了基于IDO的云 台伺服控制结构；依据mUAV机载云台的振动特性,设计出减振装置的结构参数 及安装位置。飞行实验表明, 引入复合补偿方法后,视轴(LOS)指向误差减小到了0.03°,振动隔 离度提高了约15dB。复合补偿方法有效地补偿了机载云 台的扰动,完全满足了mUAV机载云台扰动补偿的需求。
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| 关 键 词： | 多旋翼无人机(mUAV) 机载云台 减振装置 扰动观测器(DO) 扰动复合补偿 |
| 收稿时间： | 2014/7/27 0:00:00 |
A composite disturbance compensation method for airborne platform based on impr oved disturbance observer |
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| WANG Ri-jun,BAI Yue,XU Zhi-jun,ZHAO Chang-jun,ZHANG Xin and TIAN Yan-tao.A composite disturbance compensation method for airborne platform based on impr oved disturbance observer[J].Journal of Optoelectronics·laser,2015,26(1):108-115. |
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| Authors: | WANG Ri-jun BAI Yue XU Zhi-jun ZHAO Chang-jun ZHANG Xin and TIAN Yan-tao |
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| Affiliation: | Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China ;University of Chinese Academy of Sciences,Beijing 100039,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China ;University of Chinese Academy of Sciences,Beijing 100039,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China ;University of Chinese Academy of Sciences,Beijing 100039,China ;School of E lectrical and Information Technology, Changchun Institute of Technology,Changchun 130012,China;School of Telecomm unication Engineering,Jilin University,Changchun 130025,China |
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| Abstract: | In order to satisfy the demand of disturbance compensation for airborne platform mounted on multi-rotor unmanned aerial vehicles (mUAV),a composite method of disturbance c ompensation which combines vibration damper with servo controller based on improved disturbance observer (IDO) is propose d.After the in-depth analysis of the improved disturbance observer ability of disturbance compensation and ability of robustne ss,the construction of the servo control system based on the improved disturbance observer is designed.The structural p arameters of vibration damper and the installation position are presented according to the vibration characteris tics of airborne platform which is mounted on multi-rotor unmanned aerial vehicles.The flight experiment shows that after int roducing composite disturbance compensation method,the line of sight (LOS) error is reduced to 0.03°,and the vibration isol ation i s increased by about 15dB.The composite disturbance compensation method can compensate the disturbance of airborne platf orm effectively,and the method can satisfy the disturbance compensation demand of airborne platform which is mounte d on multi-rotor unmanned aerial vehicles completely. |
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| Keywords: | multi-rotor unmanned aerial vehicle (mUAV) airborne platform vibration dam per disturbance observer (DO) composite disturbance compensation |
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