扰动观测器在惯性参考单元位置校准中的应用

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Application of disturbance observer to position calibration of inertialreferenceunit

TUO Weixiao 1，2 ，HE Mengjie 1 ，LI Xingfei 1，2* ， WANG Tianyul

（1. ， University， 3OoO72，China；

2. Taihu ofDeepsea Technological Science，Wuxi 2l4OOO，China） * Corresponding author， E -mail：lixftju@hotmail.com

Abstract：Inertial Reference Unit -based visual axis stabilization is the main technical means to overcome the angular vibration interference of moving carriers realize high-precision aiming.The IRU system is faced with multiple sources of heterogeneous disturbances， such as mechanical resonance，sensing noise， actuatordisturbance，base disturbance，etc.， the stability of the system isaffected by the diffrent disturbances 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 characteristics of internal external disturbances in IRU systems，we compared analyzed the suppression of multi-source heterogeneous disturbances in IRU systems by three structures： the classical DOB，the noise observer， the noise reduction disturbance observer. The transfer characteristics of the classical DOB，NOB， NRDOB to the input comm signal the multi-source heterogeneous disturbance of the system were deduced，the design requirements of the disturbance estimator were derived， the simulation experimental platforms were designed to compare analyze the sinusoidal tracking capability the suppresson capability of the three structures to the multi-source heterogeneous disturbances.The results show that the disturbance suppression ability tracking accuracy of both DOB NRDOB structures are better than that of the NOB structure， the tracking error of the two structures for the 15Hz ，0.1mrad sinusoidal input signal under the effect of 20Hz ，0.2mrad base distur bance is 19.2μrad ，whichisreduced by 39.43% compared with that of the NOB structure.

words： photoelectric tracking targeting system; inertial reference unit; disturbance observer; disturbance suppressin

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