A propeller load balancing device is taken as the research object to achieve the goal of the orientation control and load balancing of the device by controlling the position angle of pitch and deflection.Based on the strong coupling characteristics of the system,the location control is combined with the system decoupling realized through the state feedback strategy to realize the precise control of the orientation and pitching angle of the device.At the same time,in order to cope with the influence of the load disturbance on the device's position and posture,a disturbance observer is designed to observe the external interference in real time and the way of feedforward compensation is used to improve the response of the device for interference suppression.Through the research of system dynamic model,decoupling design,position control design,perturbation observer design and feedforward interference suppression compensation design based on the observation output,this paper realizes the disturbance suppression and attitude control when the external load is abrupt.The results show that the disturbance rejection ability can be enhanced by introducing the adjusted controller with interference observer and feedforward compensation.It has great engineering application value for the stability improvement of the platform.%以一螺旋桨负载平衡装置为研究对象,通过对该装置在俯仰及偏转位置角度的控制,以达到对该装置方位控制和负载力平衡的目标;基于该系统强的耦合特性,通过状态反馈策略实现对系统解耦,并结合位置控制,实现该装置方位和俯仰角度的精确控制;同时,为了应对负载突变扰动对该装置位置及姿态影响,一个干扰观测器被设计出以用于实时观测外部干扰推力大小,最后,通过前馈补偿的方式提高该装置对干扰抑制的响应效果;通过系统动态模型建立、解耦设计、位置控制设计、扰动观察器设计和基于该观察输出的前馈干扰抑制补偿设计等研究,实现了当外载荷突变时的扰动抑制及姿态控制;研究结果表明引入干扰观测器及前馈补偿调节控制器时的扰动抑制能力得以增强;这对于基于该装置的平台的稳定性提高有着极大的工程应用价值.
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