Changchun Institute of Optics,Fine Mechanics and Physics,CAS
A composite disturbance compensation method for airborne platform based on improved disturbance observer | |
Wang, R.-J.; Y. Bai; Z.-J. Xu; C.-J. Zhao; X. Zhang and Y.-T. Tian | |
2015 | |
发表期刊 | Guangdianzi Jiguang/Journal of Optoelectronics Laser
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卷号 | 26期号:1页码:108-115 |
摘要 | 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 compensation which combines vibration damper with servo controller based on improved disturbance observer (IDO) is proposed. After the in-depth analysis of the improved disturbance observer ability of disturbance compensation and ability of robustness, the construction of the servo control system based on the improved disturbance observer is designed. The structural parameters of vibration damper and the installation position are presented according to the vibration characteristics of airborne platform which is mounted on multi-rotor unmanned aerial vehicles. The flight experiment shows that after introducing composite disturbance compensation method, the line of sight (LOS) error is reduced to 0.03, and the vibration isolation is increased by about 15 dB. The composite disturbance compensation method can compensate the disturbance of airborne platform effectively, and the method can satisfy the disturbance compensation demand of airborne platform which is mounted on multi-rotor unmanned aerial vehicles completely. , 2015, Board of Optronics Lasers. All right reserved. |
文章类型 | 期刊论文 |
收录类别 | EI |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ciomp.ac.cn/handle/181722/56004 |
专题 | 中科院长春光机所知识产出 |
推荐引用方式 GB/T 7714 | Wang, R.-J.,Y. Bai,Z.-J. Xu,et al. A composite disturbance compensation method for airborne platform based on improved disturbance observer[J]. Guangdianzi Jiguang/Journal of Optoelectronics Laser,2015,26(1):108-115. |
APA | Wang, R.-J.,Y. Bai,Z.-J. Xu,C.-J. Zhao,&X. Zhang and Y.-T. Tian.(2015).A composite disturbance compensation method for airborne platform based on improved disturbance observer.Guangdianzi Jiguang/Journal of Optoelectronics Laser,26(1),108-115. |
MLA | Wang, R.-J.,et al."A composite disturbance compensation method for airborne platform based on improved disturbance observer".Guangdianzi Jiguang/Journal of Optoelectronics Laser 26.1(2015):108-115. |
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基于扰动观测器的机载云台扰动复合补偿方法(371KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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