Mechanical vibrations in low-frequency resonance and harmonic modes severely affect the closed-loop performance of inertially stabilized platforms (ISPs). This article proposes a new vibration control scheme capable of suppressing low-frequency vibration with large amplitude and harmonic disturbances in application to an ISP. Concretely, we first design an optimized repetitive control (ORC) framework with a plug-in optimization function, where the ORC retains the suppression effect of vibration in tip-tilt modes and mitigates the waterbed effect. To enhance vibration suppression, by introducing the ORC-based inner calibration network (ICN), a modified ADRC framework with the reduced-order extended state observer (ESO) design is established. Subsequently, substantial comparison experiments have been verified on an ISP to evaluate the superiorities of the proposed method, and the experiment results verify the effectiveness of the hybrid vibration control method, attenuating vibration in resonance mode to −51.94 dB.

中文翻译：

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基于低频振动和谐波干扰抑制优化重复控制的改进 ADRC：惯性稳定平台的设计与应用


低频共振和谐波模式下的机械振动严重影响惯性稳定平台 （ISP） 的闭环性能。本文提出了一种新的振动控制方案，能够抑制 ISP 应用中的大振幅和谐波干扰的低频振动。具体来说，我们首先设计了一个具有插件优化功能的优化重复控制 （ORC） 框架，其中 ORC 保留了 tip-tilt 模式下振动的抑制效果并减轻了水床效应。为了增强振动抑制，通过引入基于 ORC 的内部校准网络 （ICN），建立了具有降阶扩展状态观测器 （ESO） 设计的改进 ADRC 框架。随后，在 ISP 上进行了大量对比实验，以评估所提方法的优越性，实验结果验证了混合振动控制方法的有效性，将共振模式下的振动衰减至 −51.94 dB。