CN111812985B - Inertial loop narrow-band large-amplitude disturbance suppression method based on double-filter disturbance observer - Google Patents

Inertial loop narrow-band large-amplitude disturbance suppression method based on double-filter disturbance observer Download PDF

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CN111812985B
CN111812985B CN202010750089.9A CN202010750089A CN111812985B CN 111812985 B CN111812985 B CN 111812985B CN 202010750089 A CN202010750089 A CN 202010750089A CN 111812985 B CN111812985 B CN 111812985B
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毛耀
邓久强
张超
任戈
谭毅
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Institute of Optics and Electronics of CAS
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Abstract

The invention discloses an inertial loop narrow-band large-amplitude disturbance suppression method based on a double-filter disturbance observer, which is used for meeting the requirement of higher-precision inertial stability when narrow-band large-amplitude external disturbance exists in an inertial stable platform. The invention provides a narrow-band large-amplitude disturbance suppression method based on a double-filter disturbance observer in an inertial loop on the basis of multi-closed-loop control. In order to suppress the narrow-band large amplitude disturbance, the filter is designed to have a disturbance suppression characteristic of a notch effect. However, as soon as the filter is subject to stability constraints, the disturbance rejection characteristics of the notching effect are impaired, and the notch center point is shifted. On the basis of the first filter, the second filter is not restricted by stability, and can be used for correcting the shifted trapped wave central point and complementing the disturbance suppression characteristics of the system, so that the purpose of accurately suppressing external narrow-band large-amplitude disturbance is achieved, and the inertial stability precision of the system can be effectively improved.

Description

Inertial loop narrow-band large-amplitude disturbance suppression method based on double-filter disturbance observer
Technical Field
The invention belongs to the field of inertial stability control, and particularly relates to a double-filter disturbance observer method based on an inertial loop, which is mainly used for accurately inhibiting external narrow-band large-amplitude disturbance and further effectively improving the stability precision of an inertial stability platform.
Background
In the control device, the inertia stabilization accuracy of the inertia stabilization system can be influenced by external disturbance, such as disturbance caused by ground vibration and air flow to the inertia stabilization system. Particularly inertial stabilization devices mounted on moving platforms such as airplanes, automobiles, ships, etc., can cause the stabilized platform to be greatly disturbed due to irregular movement of the mounting carrier. When the inertially stabilized platform is installed on the moving platform, the external disturbance quantity can be measured by the direct sensor, and the disturbance often has the characteristic of narrow-band large amplitude, so that the inertially stabilized precision of the system is greatly reduced. The Control strategy of the traditional Control method is to adopt multi-closed-loop Control, namely, an MEMS accelerometer, a fiber optic gyroscope and an image sensor CCD are respectively used as acceleration, speed and position sensors to obtain dynamic data of an inertially stabilized platform, and a Control structure of multi-closed loops of acceleration, speed and position is established to improve the disturbance inhibition capability of the system. However, the method has no controller specially used for processing disturbance, and when strong disturbance occurs, the disturbance suppression effect is poor and even the system is unstable. On the basis, a traditional single-filter Disturbance observer is introduced into an acceleration ring in a document of MEMS interferometric Sensors-Based Multi-Loop Control Enhanced by Disturbance and Compensation for Fast Steering Mirror System, and the Disturbance suppression characteristic of the System is further improved in an inertia Loop by using a special Disturbance controller. However, the method cannot be used for accurately suppressing the narrow-band large-amplitude external disturbance in a targeted manner, so that the actual disturbance suppression effect is rough and low in efficiency. In order to accurately suppress external disturbance with a narrow band and a large amplitude and improve the inertial stability precision of a system, a control method capable of accurately suppressing disturbance with a narrow band and a large amplitude based on an inertial loop needs to be provided.
Disclosure of Invention
In order to effectively improve the stability precision of an inertially stabilized platform on a motion platform and meet the requirement of higher-precision inertially stabilized, the invention provides an inertially-stabilized loop narrow-band large-amplitude disturbance suppression method based on a double-filter disturbance observer. In an inertia loop after the loop is closed, a filter is designed according to a wave trap and stability constraint to restrain the disturbance of a narrow-band large amplitude, but the center point of the trapped wave is shifted due to the stability constraint. And on the basis that the first filter meets the stability constraint, the second filter is not limited by the stability in combination with the inertia loop closed-loop controller. Therefore, the second filter can be used for correcting the shifted trapped wave central point, complementing the disturbance suppression characteristics of the system, accurately suppressing the narrow-band large-amplitude disturbance, and improving the inertial stability precision of the system.
In order to realize the purpose of the invention, the invention provides an inertia loop narrow-band large-amplitude disturbance suppression method based on a double-filter disturbance observer, which comprises the following steps:
step (1): the two deflection shafts of the inertia stable platform are respectively provided with an inertia sensor, a gyroscope or an accelerometer can be used for measuring the angular velocity or the angular acceleration of the two shafts of the platform in an inertia space;
Step (2): testing the acceleration frequency object characteristic of the platform by a frequency response tester DSA, wherein the DSA input is a driving input value, and the DSA output is an accelerometer sampling value, thereby obtaining an acceleration ring controlled object Ga(s) mathematical model
Figure BDA0002609725100000021
The mathematical model of the controlled object of the acceleration loop can be expressed as follows:
Figure BDA0002609725100000022
where N(s) and D(s) are transfer functions of coprime and free of unstable characteristic roots, s2Mathematical model representing controlled object
Figure BDA0002609725100000023
There are 2 pure differential links;
and (3): upon acquiring the object model
Figure BDA0002609725100000024
On the basis, an acceleration controller C is designeda(s) the following:
Figure BDA0002609725100000025
wherein a isiAnd bjIs a controller parameter, j-1 is more than or equal to i, and a controller CaThe(s) contains a pure integral link which can weaken the controlled object Ga(s) the influence of pure differential links;
and (4): under the condition that the external disturbance quantity borne by the inertially stabilized platform can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on the measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
and (5): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbance iAt a main frequency point omegaiAs one of the parameters, the trap t(s) is designed as follows:
Figure BDA0002609725100000026
wherein omegaiA main frequency point, lambda, of external narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the notch depth of the notch filter t(s).
And (6): let the filter two Q2(s) is equal to 0, and the filter-Q of the double-filter disturbance observer is carried out1(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design; filter Q1The stability constraint of(s) may be expressed as:
Figure BDA0002609725100000031
wherein
Figure BDA0002609725100000032
Representing controlled object Ga(s) and mathematical models thereof
Figure BDA0002609725100000033
Uncertainty between;
and (7): Filter-Q for designing double-filter disturbance observer method1(s); let the filter two Q2(s) ═ 0, root under the condition of satisfying stability constraintDesigning filter Q with disturbance rejection characteristics as trap effect according to trap T(s)1(s) the following:
Figure BDA0002609725100000034
wherein n is a constant greater than zero and satisfies
Figure BDA0002609725100000035
And (8): at the filter-Q1(s) in the case of satisfying its stability constraint, let the filter be two Q' s2(s) ≠ 0, and carries out filter two Q in the disturbance observer with double filters2(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design; filter two Q 2The stability constraint of(s) may be expressed as:
Figure BDA0002609725100000036
wherein EDSA(s) is filter-Q1(s) and filter two Q2(s) simultaneously act on the disturbance suppression characteristic improving part brought to the system, and satisfy
Figure BDA0002609725100000037
Thus in the filter Q1(s) satisfying the stability constraint2(s) and a filter-Q1(s) when suppressing disturbance together, filter two Q2(s) is not constrained by system stability;
and (9): filter two Q for designing double-filter disturbance observer method2(s); let the filter two Q2(s) ≠ 0 at filter-Q1(s) in case of satisfying the stability constraint, i.e. filter-Q1(s) sacrificing partial disturbance rejection performance, and using a filter secondary Q after the shift of the trapped wave center point2(s) correcting the trapped wave central point, and complementing the disturbance suppression characteristic of the disturbance observer; designing a filter two Q2(s)Comprises the following steps:
Figure BDA0002609725100000041
wherein LP(s) is a low pass filter with a high cut-off frequency, which is used to complement the second Q filter2(s) denominator order, making it a causal system;
step (10): based on the single closed loop of the inertia loop, a disturbance observer method with double filters and a filter Q are used1(s) and filter two Q2(s) acting simultaneously; filter two Q in double filter disturbance observer 2When(s) is equal to 0, the filter is one Q1(s) the stability constraint of the disturbance observer is the same as that of the traditional single filter disturbance observer, when the disturbance observer is used for suppressing the disturbance of a narrow band large amplitude value, the trap central point of the disturbance observer can shift, and the disturbance suppression characteristic is weakened; filter two Q of double-filter disturbance observer2(s) ≠ 0 at filter-Q1(s) satisfying the stability constraint2And(s) stability constraint does not exist, the flexibility can be fully exerted, the trapped wave central point after offset correction is realized, the disturbance suppression characteristic of the system is supplemented, and the accurate trapped wave effect suppression characteristic can be provided, so that the inertial stability precision of the system is improved.
Compared with the prior art, the invention has the following advantages:
(1) compared with the traditional multi-closed-loop control method, the method has the advantages that a targeted inhibition method is provided for the external disturbance of the narrow-band large amplitude from the inertial loop, the narrow-band large amplitude disturbance of specific frequency can be effectively inhibited, and the stability and the precision of the system are effectively improved;
(2) compared with a control method of introducing a traditional single-filter disturbance observer into a multi-closed loop, the filter of the traditional single-filter disturbance observer is constrained by system stability and can cause the offset of a trapped wave central point, and the double-filter disturbance observer can correct the offset of the trapped wave central point;
(3) The method can realize accurate suppression of the disturbance of a narrow band with a large amplitude, can effectively improve the stability precision of the inertia stabilization equipment on the motion platform, and has the advantages of good practicability, easy realization and obvious effect;
(4) the method can flexibly adjust parameters and carry out targeted disturbance suppression in the frequency section with serious disturbance, thereby effectively improving the disturbance suppression performance of the system.
Drawings
FIG. 1 is a control block diagram of an inertial loop narrow-band large-amplitude disturbance suppression method based on a dual-filter disturbance observer according to the present invention;
FIG. 2 is a graph of the amplitude and frequency of measured external disturbance data after fast Fourier transform;
FIG. 3 is a frequency domain comparison of the notch effect disturbance rejection characteristics of the present invention versus a conventional single filter disturbance observer approach.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
FIG. 1 is a control block diagram of a method for suppressing a narrow-band large-amplitude disturbance in an inertial loop based on a dual-filter disturbance observer, wherein the dual-filter disturbance observer is used in the inertial loop of an acceleration feedback closed loop when an accelerometer is used as an inertial sensor; wherein a is refIs an acceleration input signal, adIs an acceleration disturbance signal, a is the inertially stabilized acceleration output of the system; after the acceleration feedback closed loop is completed, a speed feedback closed loop and a position feedback closed loop can be continuously constructed to form double-filter disturbance observer control based on multiple closed loops; in the dual-filter disturbance observer method, the filter Q1(s) and filter two Q2And(s) simultaneously feedforward and restrain disturbance, and further improvement of inertia stabilization precision is realized. The method comprises the following specific implementation steps:
step (1): the two deflection shafts of the inertia stable platform are respectively provided with an inertia sensor, a gyroscope or an accelerometer can be used for measuring the angular velocity or the angular acceleration of the two shafts of the platform in an inertia space;
step (2): DSA pair passing through frequency response testerTesting the acceleration frequency object characteristics of the platform, wherein DSA input is a driving input value, and DSA output is an accelerometer sampling value, so as to obtain an acceleration ring controlled object Ga(s) mathematical model
Figure BDA0002609725100000051
The mathematical model of the controlled object of the acceleration loop can be expressed as follows:
Figure BDA0002609725100000052
where N(s) and D(s) are transfer functions of coprime and free of unstable characteristic roots, s2Mathematical model representing controlled object
Figure BDA0002609725100000053
2 pure differential links are provided;
and (3): in obtaining object models
Figure BDA0002609725100000054
On the basis, an acceleration controller C is designeda(s) the following:
Figure BDA0002609725100000055
wherein a isiAnd bjIs a controller parameter, j-1 is more than or equal to i, and a controller CaThe(s) contains a pure integral link which can weaken the controlled object Ga(s) the influence of pure differential links;
and (4): under the condition that the external disturbance quantity borne by the inertially stabilized platform can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on the measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
and (5): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbanceiAt the main frequency point omegaiAs one of the parameters, the trap t(s) is designed as follows:
Figure BDA0002609725100000061
wherein ω isiIs a main frequency point, lambda, of external narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the trap depth of the trap T(s).
And (6): let the filter two Q2(s) ═ 0, filter-Q of the double-filter disturbance observer is performed1(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design; filter Q 1The stability constraint of(s) may be expressed as:
Figure BDA0002609725100000062
wherein
Figure BDA0002609725100000063
Representing controlled object Ga(s) and mathematical models thereof
Figure BDA0002609725100000064
Uncertainty between;
and (7): Filter-Q for designing double-filter disturbance observer method1(s); let the filter two Q2(s) ═ 0, and under the condition of satisfying stability constraint, designing filter-Q with disturbance suppression characteristic as trap effect according to wave trap T(s)1(s) the following:
Figure BDA0002609725100000065
wherein n is a constant greater than zero and satisfies
Figure BDA0002609725100000066
And (8): at the filter-Q1(s) in the case of satisfying its stability constraint, let the filter be two Q' s2(s) ≠ 0, and carries out filter two Q in the disturbance observer with double filters2(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design; filter two Q2The stability constraint of(s) may be expressed as:
Figure BDA0002609725100000067
wherein EDSA(s) is filter-Q1(s) and filter two Q2(s) simultaneously act on the disturbance suppression characteristic improving part brought to the system, and satisfy
Figure BDA0002609725100000068
Thus in the filter Q1(s) satisfying the stability constraint2(s) and a filter-Q1(s) when suppressing disturbance together, filter two Q2(s) is not constrained by system stability;
and (9): filter two Q for designing double-filter disturbance observer method 2(s); let the filter two Q2(s) ≠ 0 at filter-Q1(s) satisfy stability constraints, i.e. filter-Q1(s) after sacrificing part of the disturbance suppression performance and shifting the trapped wave center point, using the second filter Q2(s) correcting the center point of the trapped wave, and complementing the disturbance suppression characteristics of the disturbance observer; designing filter two Q2(s) is:
Figure BDA0002609725100000071
wherein LP(s) is a low pass filter with a high cut-off frequency, which is used to complement the second Q filter2(s) denominator order, making it a causal system;
step (10): based on the single closed loop of the inertia loop, a disturbance observer method with double filters and a filter Q are used1(s) and filter two Q2(s) acting simultaneously; filter two Q in double filter disturbance observer2When(s) ═ 0, the filter is Q1(s) the stability constraint of the disturbance observer is the same as that of the traditional single filter disturbance observer, when the disturbance observer is used for suppressing the disturbance of a narrow band large amplitude value, the trap central point of the disturbance observer can shift, and the disturbance suppression characteristic is weakened; filter two Q of double-filter disturbance observer2(s) ≠ 0 at filter-Q1(s) satisfying the stability constraint2And(s) stability constraint does not exist, the flexibility can be fully exerted, the trapped wave central point after offset correction is realized, the disturbance suppression characteristic of the system is supplemented, and the accurate trapped wave effect suppression characteristic can be provided, so that the inertial stability precision of the system is improved.
The following describes the design process and effect of the present invention in detail by taking an inertial stabilization platform simulation system as an example:
(1) constructing a double-filter disturbance observer structure by using the control block diagram shown in FIG. 1, using an accelerometer as an inertial sensor, and further constructing a multi-closed-loop control system;
(2) mathematical model for measuring controlled object of acceleration ring of system through frequency response tester DSA
Figure BDA0002609725100000072
Figure BDA0002609725100000073
(3) The controller for controlling the acceleration, the speed and the position can be designed through an acceleration object model as follows, so that multi-closed-loop control is realized:
Figure BDA0002609725100000074
Figure BDA0002609725100000075
Figure BDA0002609725100000081
(4) measuring the external disturbance amount by using another accelerometer, and performing Fast Fourier Transform (FFT) on the measurement result as shown in fig. 2 to obtain a main frequency point ω of the external disturbance amounti＝12.33Hz；
(5) The trap t(s) is designed as follows:
Figure BDA0002609725100000082
the trap central point is 12.33 Hz;
(6) let the filter two Q2(s) is 0, and the effect of the method is the same as that of the traditional single-filter disturbance observer method; under the condition of satisfying stability constraint, the filter Q1(s) is designed as:
Figure BDA0002609725100000083
wherein the constant n is 20;
(7) let the filter two Q2(s) ≠ 0, filter-Q1(s) satisfying the design shown in step (6), filter two Q2(s) is designed to:
Figure BDA0002609725100000084
(8) FIG. 3 is a frequency domain comparison graph of the disturbance rejection characteristics of the present invention and the conventional single filter disturbance observer method; the traditional single-filter disturbance observer method and the invention are both based on a plurality of closed loops and are used in an acceleration closed loop inertia loop; as can be seen from fig. 3, in the conventional single-filter disturbance observer method, the trap central point is shifted, and the disturbance with a narrow band and a large amplitude cannot be accurately suppressed; the invention can correct the offset of the trap central point and accurately restrain the disturbance of narrow-band large amplitude, thereby improving the inertial stability precision of the system.

Claims (10)

1. A method for suppressing the disturbance of a narrow band and a large amplitude of an inertia loop based on a double-filter disturbance observer is characterized by comprising the following steps:
step (1): the two deflection shafts of the inertia stable platform are respectively provided with an inertia sensor, and an accelerometer can be used for measuring the angular acceleration of the two shafts of the platform moving in an inertia space;
step (2): testing the acceleration frequency object characteristic of the platform by a frequency response tester DSA, wherein the DSA input is a driving input value, and the DSA output is an accelerometer sampling value, thereby obtaining an acceleration ring controlled object Ga(s) mathematical model
Figure FDA0002609725090000011
And (3): upon acquiring the object model
Figure FDA0002609725090000012
On the basis, an acceleration controller C is designeda(s) implementing an acceleration closed loop;
and (4): under the condition that the external disturbance quantity borne by the inertially stabilized platform can be directly measured, measuring the disturbance quantity for a period of time by using another accelerometer, and performing Fast Fourier Transform (FFT) processing on the measurement result to obtain an amplitude frequency diagram of the external disturbance quantity;
and (5): analyzing an amplitude frequency diagram of the external disturbance quantity to obtain a main frequency distribution point omega of the narrow-band large-amplitude external disturbanceiAt the main frequency point omega iAs one of the parameters, the trap t(s) is designed;
and (6): let the filter two Q2(s) is equal to 0, and the filter-Q of the double-filter disturbance observer is carried out1(s) analyzing the stability, wherein the obtained constraint condition is used for constraining the parameter design;
and (7): method for designing double-filter disturbance observerFilter of (1)1(s); let the filter two Q2(s) ═ 0, and under the condition of satisfying stability constraint, designing filter-Q with disturbance suppression characteristic as trap effect according to wave trap T(s)1(s)；
And (8): at the filter-Q1(s) in the case of satisfying its stability constraint, let the filter be two Q' s2(s) ≠ 0, and carries out filter two Q in the disturbance observer with double filters2(s) analyzing the stability, wherein the obtained constraint conditions are used for constraining the parameter design;
and (9): filter two Q for designing double-filter disturbance observer method2(s); let the filter two Q2(s) ≠ 0 at filter-Q1(s) in case of satisfying the stability constraint, i.e. filter-Q1(s) sacrificing partial disturbance rejection performance, and using a filter secondary Q after the shift of the trapped wave center point2(s) correcting the trapped wave central point, and complementing the disturbance suppression characteristic of the disturbance observer;
step (10): based on the single closed loop of the inertia loop, a disturbance observer method with double filters and a filter Q are used 1(s) and filter two Q2(s) acting simultaneously; filter Q1(s) partial performance is sacrificed to ensure the stability of the system, so that the center point of the trapped wave is shifted; filter two Q2(s) at filter-Q1And(s) on the basis, the shifted trapped wave central point is corrected, and the disturbance suppression characteristic of the disturbance observer is supplemented, so that the disturbance with narrow band and large amplitude can be accurately suppressed, and the inertial stability precision of the system is effectively improved.
2. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: the inertial sensor used in step (1) comprises a gyroscope for measuring inertial angular velocity and an accelerometer for measuring inertial angular acceleration.
3. The method for suppressing the narrow-band large-amplitude disturbance of the inertia loop based on the double-filter disturbance observer according to claim 1 or 2, characterized in that: the controlled object in the step (2) is a controlled object of an inertia loop, and is characterized in that a mathematical model of the controlled object contains a pure differential link, and when an accelerometer is used as an inertia sensor, the mathematical model of the controlled object can be expressed as follows:
Figure FDA0002609725090000021
where N(s) and D(s) are transfer functions of coprime and free of unstable characteristic roots, s 2Mathematical model representing controlled object
Figure FDA0002609725090000022
There are 2 pure differential links.
4. The method for suppressing the disturbance of the narrow band and the large amplitude of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: controller C of acceleration closed loop in step (3)a(s) is designed in the form of:
Figure FDA0002609725090000023
wherein a isiAnd bjIs a controller parameter, j +1 is more than or equal to i, and a controller CaThe(s) contains a pure integral link which can weaken the controlled object Ga(s) the influence of the pure differential element.
5. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: the wave trap T(s) in the step (5) is designed as follows:
Figure FDA0002609725090000024
wherein ω isiIs the outside worldDominant frequency point, lambda, of a narrow-band large-amplitude disturbanceiTrap width, alpha, for designing the trap T(s)iFor designing the trap depth of the trap T(s).
6. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: and (6) filtering second Q of the double-filter disturbance observer2When(s) ═ 0, the filter is Q1The stability constraint of(s) may be expressed as:
Figure FDA0002609725090000031
wherein
Figure FDA0002609725090000032
Representing the controlled object Ga(s) and mathematical models thereof
Figure FDA0002609725090000033
The uncertainty in between.
7. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: in step (7), in the filter two Q of the double-filter disturbance observer method2(s) ═ 0, filter-Q1(s) design the first Q of the filter under the condition of satisfying stability constraints1(s) is:
Figure FDA0002609725090000034
wherein n is a constant greater than zero and satisfies
Figure FDA0002609725090000035
8. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: in the step (8), the second Q of the filter of the double-filter disturbance observer2(s) ≠ 0, filter-Q1(s) satisfy the stability constraint, filter two Q2The stability constraint of(s) may be expressed as:
Figure FDA0002609725090000036
wherein EDSA(s) is filter-Q1(s) and filter two Q2(s) simultaneously acts on the disturbance suppression characteristic improving part brought to the system, and satisfies
Figure FDA0002609725090000037
Thus in the filter Q1(s) satisfying the stability constraint2(s) and a filter-Q1(s) when suppressing disturbance together, filter two Q2(s) is not constrained by system stability.
9. The method for suppressing the narrow-band large-amplitude disturbance of the inertial loop based on the double-filter disturbance observer according to claim 1, characterized in that: in step (9), the filter two Q of the double-filter disturbance observer2(s) ≠ 0, filter-Q1(s) satisfying the stability constraint condition, designing the second Q of the filter2(s) is:
Figure FDA0002609725090000038
wherein LP(s) is a low pass filter with a high cut-off frequency, which may be required to complement the filter two Q2The denominator order of(s) makes it a causal system.
10. According to any one of claims 1-9The method for suppressing the disturbance of the narrow band and the large amplitude of the inertial loop based on the double-filter disturbance observer is characterized by comprising the following steps of: filter two Q in double filter disturbance observer2When(s) ═ 0, the filter is Q1(s) the stability constraint of the disturbance observer is the same as that of the traditional single filter disturbance observer, when the disturbance observer is used for suppressing the disturbance of a narrow band large amplitude value, the trap central point of the disturbance observer can shift, and the disturbance suppression characteristic is weakened; filter two Q of double-filter disturbance observer2(s) ≠ 0 at filter-Q1(s) satisfying the stability constraint2And(s) stability constraint does not exist, the flexibility can be fully exerted, the trapped wave central point after offset correction is realized, the disturbance suppression characteristic of the system is supplemented, and the accurate trapped wave effect suppression characteristic can be provided, so that the inertial stability precision of the system is improved.
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