A composite disturbance compensation method for airborne platform based on improved disturbance observer

Abstract

In order to satisfy the demand of disturbance compensation for airborne platform mounted on multi-rotor unmanned aerial vehicles(mUAV),a composite method of disturbance compensation which combines vibration damper with servo controller based on improved disturbance observer(IDO)is proposedAfter the in-depth analysis of the improved disturbance observer ability of disturbance compensation and ability of robustness,the construction of the servo control system based on the improved disturbance observer is designedThe structural parameters of vibration damper and the installation position are presented according to the vibration characteristics of airborne platform which is mounted on multirotor unmanned aerial vehiclesThe flight experiment shows that after introducing composite disturbance compensation method,the line of sight(LOS)error is reduced to 003°,and the vibration isolation is increased by about 15 dBThe composite disturbance compensation method can compensate the disturbance of airborne platform effectively,and the method can satisfy the disturbance compensation demand of airborne platform which is mounted on multi-rotor unmanned aerial vehicles completely