Design of a high speed stable platform control system based on improved tracking differentiator

To achieve position inertial space stability of high-speed stable platform and optimize the transition process of position step, the input step signal is prone to system overshoot and differential distortion of high-frequency noise signal of an inertial gyroscope sensor. As such, the self-disturbance rejection control strategy is used to improve the differential tracker. First, the control system of a high-speed stable platform is modeled, and the tracking differentiator is improved based on the mathematical model. The nonlinear function of hyperbolic tangent function is introduced into the tracking differentiator, and simulations and stability theoretical analysis are conducted on different nonlinear parameters. Finally, the improved tracking differentiator is experimentally tested in an actual system. The experimental results show that in the position step condition and position inertia space stability condition of the high-speed stable platform control system, the expected actions can be well completed. The step response adjustment time of the system has been shortened by 3%, achieving transition process planning with gyroscope signal noise and inertial space stability of the system.