自抗扰控制器在惯性平台稳定回路中的应用

Active Disturbance Rejection Controller in the Stabilization Loop of Inertial Platform

为了解决传统PID控制的稳定回路抗干扰能力不高的问题,设计了自抗扰控制器。自抗扰控制器是在继承经典PID控制器不依赖对象模型优点的基础上,通过改进经典PID固有缺陷而形成的新型控制器。Matlab仿真结果表明,用自抗扰控制器设计控制规律,稳定回路的跟踪能力和抗干扰能力都得到了较大的改善,提高了惯性平台的可靠性和精度。

In order to solve the problem that traditional PID control for stabilization loop of inertial platform has low antijamming capability, the active disturbance rejection controller （ADRC） was present. ADRC is a new controller which inherits excellence of PID controller and conquers the disadvantages of it. The Matlab simulation results indicate that the capability of tracking and anti-jamming in the stabilization loop is highly improved by this method; the reliability and dynamic accuracy of the platform are also improved.