自抗扰控制在捷联寻北仪速度稳定回路中应用

Application of Active Disturbance Rejection Control in Strap-down North Seeker Speed Stabilization Loop

在捷联寻北仪工作过程中,摩擦非线性造成转台伺服系统低速不平稳性,导致陀螺输出漂移变大,影响寻北精度。为了提高伺服转台速度平稳性,设计了自抗扰控制器,实现转台的稳速控制,保证转台快速、平稳定位,以便减少陀螺漂移。仿真结果表明,与采用PID控制相比,速度稳定回路获得较好的动态性能,快速性、平稳性和抗干扰能力都得到提高;实验结果表明,动力调谐陀螺输出更加平稳,减小了陀螺输出的随机漂移,寻北误差从34.4″减小到27.7″,有效地提高了系统的寻北精度。

In the running of strap-down north seeker,the friction nonlinearity causes creeping phenomena in the servo system of the turntable in the lower velocity.So the drift of the gyroscope output become larger and the north-seeking precision is affected.In order to achieve the speed stabilization control to ensure fast and stable location of servo-turntable,then to decrease the drift of the gyroscope,an Active Disturbance Rejection Controller（ADRC） is designed and applied in the speed-loop of the servo-turntable.The simulation results compared with PID control show that a fine dynamic performance is obtained,and fast,stabilization and anti-jamming are improved.The results of experiment show that the output signal of Dynamically Tuned Gyroscope（DTG） is more stable,the random drift of DTG is decreased,the north-seeking error is reduced from 34.4″ to 27.7″,and the north-seeking precision is improved effectively.