Inertially stabilized platform disturbance observer design method based on angular acceleration

The invention discloses an inertially stabilized platform disturbance observer design method based on angular acceleration. The method includes: on the basis of a traditional three-cycle PID composite control system structure, interference torque borne by frames of an inertially stabilized platform is estimated according to current information and frame angular acceleration information measured by current sensors and frame rate gyroscopes, the required torque motor current value for balancing off the interference torque is calculated, the current value is compensated into a given current input value of a current ring to allow a motor to output the torque which is identical with the interference torque in size and direction, torque interference is interfered by the compensation platform, and platform stabilizing precision is increased. By the method suitable for the aerial remote sensing inertially stabilized platform with the interference torque, real-time estimation and compensation of the interference torque are achieved, and stabilizing precision is increased.