TY - GEN
T1 - Research on hierarchical composite controller for inertial platform servo loop
AU - Chu, Zhongyi
AU - Cui, Jing
AU - Xu, Jingyi
AU - Ma, Jing
PY - 2010
Y1 - 2010
N2 - The paper proposed a disturbance observer (DOB) based hierarchical composite controller for inertial platform serve loop. Firstly analysis the characteristics and control challenges of the servo loop and establish its mathematical model. As for the detailed design of the composite controller, apply DOB based velocity feedback loop to estimate the disturbance of the system which is caused by model parameters change, load change, and friction and so on, then, this estimated value is used to construct a feed forward compensation which is added to the control input. Subsequently, the lead-lag correction (LLC) theory is applied to the feedback control design for the forward channel. Simulation results demonstrate: compared with traditional method, the proposed composite controller can get stronger anti-disturbance capability and better dynamical performance, thus, it is an excellent controller for the stabilization loop of inertial platform
AB - The paper proposed a disturbance observer (DOB) based hierarchical composite controller for inertial platform serve loop. Firstly analysis the characteristics and control challenges of the servo loop and establish its mathematical model. As for the detailed design of the composite controller, apply DOB based velocity feedback loop to estimate the disturbance of the system which is caused by model parameters change, load change, and friction and so on, then, this estimated value is used to construct a feed forward compensation which is added to the control input. Subsequently, the lead-lag correction (LLC) theory is applied to the feedback control design for the forward channel. Simulation results demonstrate: compared with traditional method, the proposed composite controller can get stronger anti-disturbance capability and better dynamical performance, thus, it is an excellent controller for the stabilization loop of inertial platform
KW - Dynamical performance
KW - Hierarchical composite controller
KW - Inertial platform
KW - Servo loop
UR - https://www.scopus.com/pages/publications/77958129457
U2 - 10.1109/WCICA.2010.5554644
DO - 10.1109/WCICA.2010.5554644
M3 - 会议稿件
AN - SCOPUS:77958129457
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2572
EP - 2576
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -