Research on hierarchical composite controller for inertial platform servo loop

The paper proposed a disturbance observer (DOB) based hierarchical composite controller for inertial platform serve loop. Firstly analysis the characteristics and control challenges of the servo loop and establish its mathematical model. As for the detailed design of the composite controller, apply DOB based velocity feedback loop to estimate the disturbance of the system which is caused by model parameters change, load change, and friction and so on, then, this estimated value is used to construct a feed forward compensation which is added to the control input. Subsequently, the lead-lag correction (LLC) theory is applied to the feedback control design for the forward channel. Simulation results demonstrate: compared with traditional method, the proposed composite controller can get stronger anti-disturbance capability and better dynamical performance, thus, it is an excellent controller for the stabilization loop of inertial platform.