自抗扰控制在坦克机动目标状态估计中的应用

The Application of Active Disturbance Rejection Controller to Estimating Maneuvering Target States for Tank

在以坦克火控系统为代表的一类状态不确定系统应用中,作为系统输入的目标运动特性是未知的,并且对目标的观测存在较大噪声。如何基于控制过程辨识出输入信号特性,是状态估计理论在实际应用中的一种特殊情况。利用自抗扰控制(ADRC)能够实时估计和补偿系统扰动的能力,将目标运动视为外界扰动,从而辨识出目标运动速度,并将ADRC的滤波特性用于目标运动的状态估计。实验表明,与传感器测量、Kalman滤波方法相比,无需额外的速度传感器件,运动状态估计更为精确、快速。

A new maneuvering target state estimating method was used in tank fire control system by using active disturbance rejection control （ADRC） theory. The target palstance is contributed to unknown disturbance, and ADRC was used to estimate the target state, compensate the disturbance and control the system to eliminate the influence of disturbance. The target state is estimated by extend state observer（ESO） and tracking differentiator （TD） of ADRC. Experiment shows that the method has better precision and rapidity performance than the old method which used palstance sensor and Kalman filter.