Resonance Suppression of Servo System Based on State Equalizer Method

Abstract

Aiming at the problem of mechanical resonance faced by the servo control system of the aero-optical stabilization platform, based on the proportional integral and disturbance observer combination (PI+DOB) control algorithm, a state equalizer speed closed loop is proposed. Compared with the traditional PI+DOB control algorithm, this new control structure can suppress the resonance peak and the anti-resonance peak at the same time. The experimental results show that compared with the PI+DOB control algorithm, after adding the state equalizer speed closed-loop to compensate for the model, the closed-loop bandwidth is increased by 42%. The anti-disturbance capability of the control system has been significantly improved, and it has good robustness under vibration conditions. To sum up, adding the state equalizer speed closed loop on the basis of PI+DOB has an obvious effect on the suppression of mechanical resonance and the performance improvement of the control system.