TY - GEN
T1 - Harmonic Disturbance Observer-Based Composite Controller of Gimbal Servo System under Multiple Disturbances
AU - Cui, Yangyang
AU - Zhao, Lei
AU - Zhu, Yukai
AU - Yang, Yongjian
AU - Zhou, Changsheng
AU - Qiao, Jianzhong
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - For the gimbal servo system, multiple disturbances restrict the improvement of its angular velocity tracking accuracy. Aiming at solving this problem, a harmonic disturbance observer-based composite controller is developed in this paper. Firstly, multiple disturbances are modeled, Fourier analyzed, and classified based on frequency distribution characteristics. Secondly, a robust control method is designed based on loop-shaping technology for the gimbal servo system to ensure servo performance and suppress low-frequency disturbances. To estimate and compensate the imbalance vibration, a harmonic disturbance observer (HDO) is proposed according to the frequency information of imbalance vibration. Finally, numerical simulations are carried out to evaluate the effectiveness of the proposed method.
AB - For the gimbal servo system, multiple disturbances restrict the improvement of its angular velocity tracking accuracy. Aiming at solving this problem, a harmonic disturbance observer-based composite controller is developed in this paper. Firstly, multiple disturbances are modeled, Fourier analyzed, and classified based on frequency distribution characteristics. Secondly, a robust control method is designed based on loop-shaping technology for the gimbal servo system to ensure servo performance and suppress low-frequency disturbances. To estimate and compensate the imbalance vibration, a harmonic disturbance observer (HDO) is proposed according to the frequency information of imbalance vibration. Finally, numerical simulations are carried out to evaluate the effectiveness of the proposed method.
KW - Harmonic disturbance observer (HDO)
KW - gimbal servo system
KW - imbalance vibration
KW - multiple disturbances
KW - robust control
UR - https://www.scopus.com/pages/publications/85129495345
U2 - 10.1109/ISAS55863.2022.9757274
DO - 10.1109/ISAS55863.2022.9757274
M3 - 会议稿件
AN - SCOPUS:85129495345
T3 - 2022 5th International Symposium on Autonomous Systems, ISAS 2022
BT - 2022 5th International Symposium on Autonomous Systems, ISAS 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th International Symposium on Autonomous Systems, ISAS 2022
Y2 - 8 April 2022 through 10 April 2022
ER -