| Citation: | GAO Wen-rui, CUI Hui-min, YIN Kui-ying, ZHAO Jing-jing. Stabilization method of photoelectric platform based on double speed loop observer[J]. Chinese Optics, 2023, 16(5): 1168-1176. doi: 10.37188/CO.2023-0048
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To achieve high-precision and stable tracking performance, a novel disturbance observer for the photoelectric platform based on dual velocity loops is designed. This method aims to minimize the impact of internal friction torque, external carrier disturbances and sensor noise, thereby enhancing the dynamic response performance of the system. Firstly, the mathematical model of double speed-loop is established. By analyzing the signal spectrum and response performance of various sensors, we have chosen the circular grating sensor with low noise and short delay to replace the traditional measuring machine for closing the inner speed loop. Moreover, the Fiber Optic Gyro (FOG) is utilized for the feedback device of the outer speed loop. Then, a disturbance observer is designed based on the gyro speed signal to observe the disturbance compensation residual in the inner speed loop and the outer carrier disturbance signal, while the feed-forward compensation is performed. The experimental results demonstrate that the double speed loop observer control method can reduce the system regulation time to 45% of the original. When subjected to sinusoidal disturbance signals with varying amplitudes (0.25° to 2°) and frequencies (0.25 Hz to 2 Hz), this method effectively improves the system's ability to suppress disturbances and increases the isolation degree from the initial 20.9 dB to 30 dB. The disturbance observer with double speed loops meets the system requirements of rapid response, stable tracking, high precision and strong anti-disturbance ability of the photoelectric tracking platform.
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