Unbalance disturbance restraining for inertial stabilized platform

The stability performance of inertial stabilized platform will be destroyed heavily by unbalance disturbance, and the classical PID control cannot restrain unbalance disturbance very well. So it is really important to take researches on unbalance disturbance modeling and restraining to improve stabilization precision of inertial stabilized platform. This paper establishes unbalance disturbance model of inertial stabilized platform according to the analysis of deflection angle and changing rules of unbalance arm of force. Based on the designed model of unbalance disturbance, it designs an integrated control method using both feedforward control and disturbance observer. And it analyses the error angles of inertial stabilized platform caused by unbalance disturbance quantificationally under the integrated control. The result shows that integrated control adopts advantages of feedforward control and disturbance observer, reduces unbalance disturbance's harm to inertial stabilized platform, and improves stabilization precision of inertial stabilized platform.