光学精密工程2025，Vol.33Issue(4)：542-556,15.DOI:10.37188/OPE.20253304.0542
扰动观测器在惯性参考单元位置校准中的应用
Application of disturbance observer to position calibration of inertial reference unit
摘要
Abstract
Inertial Reference Unit-based visual axis stabilization is the main technical means to overcome the angular vibration interference of moving carriers and realize high-precision aiming.The IRU system is faced with multiple sources of heterogeneous disturbances,such as mechanical resonance,sensing noise,actuator disturbance,base disturbance,etc.,and the stability of the system is affected by the different dis-turbances through the additive,multiplicative,or implicit way.Disturbance observer can improve the ro-bustness of the system without affecting the system stability.In this paper,on the basis of analyzing the sources and characteristics of internal and external disturbances in IRU systems,we compared and ana-lyzed the suppression of multi-source heterogeneous disturbances in IRU systems by three structures:the classical DOB,the noise observer,and the noise reduction disturbance observer.The transfer characteris-tics of the classical DOB,NOB,and NRDOB to the input command signal and the multi-source heteroge-neous disturbance of the system were deduced,the design requirements of the disturbance estimator were derived,and the simulation and experimental platforms were designed to compare and analyze the sinusoi-dal tracking capability and the suppression capability of the three structures to the multi-source heteroge-neous disturbances.The results show that the disturbance suppression ability and tracking accuracy of both DOB and NRDOB structures are better than that of the NOB structure,and the tracking error of the two structures for the 15 Hz,0.1 mrad sinusoidal input signal under the effect of 20 Hz,0.2 mrad base distur-bance is 19.2 μrad,which is reduced by 39.43%compared with that of the NOB structure.关键词
光电跟瞄系统/惯性参考单元/扰动观测器/扰动抑制Key words
photoelectric tracking and targeting system/inertial reference unit/disturbance observer/dis-turbance suppression分类
计算机与自动化引用本文复制引用
拓卫晓,何梦洁,李醒飞,王天宇..扰动观测器在惯性参考单元位置校准中的应用[J].光学精密工程,2025,33(4):542-556,15.基金项目
粤港关键领域重点突破项目(No.2004A10403021) （No.2004A10403021）
广东省攻关项目(No.2006A10401006) （No.2006A10401006）
