基于KF-LESO-PID洛伦兹惯性稳定平台控制

To overcome the disadvantages of the existing inertial stabilization platform such as large interference for using mechanical bearings, high difficulty for using air/liquid bearings and poor linearity for using magnetic resistance magnetic bearings, a new Lorentz inertial stability platform (LISP) based on Lorentz force deflection magnetic bearing is proposed. To suppress the influence of coupling effect and load-bearing friction resonance interference on the high-frequency attitude compensation control of the platform deflection channel, a digital control scheme based on LESO-PID combined with Kalman filter (KF) feedback is proposed. According to the structural characteristics of rotor tilt supported by Lorentz force magnetic bearing (LFMB), a dynamics model for LISP deflection is established; the tilting relationship of two radial channels is analyzed with the established model, and the linear extended state observer (LESO) and Kalman filter feedback control is introduced into PID controller to suppress friction resonance interference and coupling effects; a digital control system based on DSP and FPGA is construed, and the control method is digitalized in a discrete form. The stability of the proposed control method is analyzed by logarithmic frequency characteristic criterion and Nichols curve, and the stabilities of the rotor deflection channel before and after importing LESO-Kalman are compared through simulation. Experimental results show that with traditional PID, the rotor system causes serious distortion at high frequency, while the system reduces noise and interference greatly after importing LESO-Kalman control. Meanwhile, the internal state parameters of the system can be monitored in real time. Experimental results verify the effectiveness of proposed control method to suppress the frictional resonance interference and coupling effects.