基于扩张状态观测器的稳定控制算法

Research on Stability Control Algorithm Based on ESO Filter

在稳定控制系统中,以PID控制算法为典型代表的传统负反馈设计,依靠系统在低频段的增益来实现对载体扰动作用的抑制,具有一定的局限性。以某陀螺稳定平台为研究对象,在PID负反馈稳定控制系统的基础上,通过加入扩张状态观测器对扰动进行了观测及补偿。仿真比较了加入扩张状态观测器前后的算法控制效果,结果表明扩张状态观测器是提高控制系统稳定精度的一种有效方法。

In the stability control system,the traditional negative feedback design,PID control algorithm is the typical representative,relying on the system in the low frequency gain to suppress disturbance effect on the carrier,has the certain limitation. This paper takes the gyro stabilized platform as the research object,on the basis of PID feedback stable control system,the disturbance is observed and compensated through adding the extended state observer. Before and after algorithm control effect added the extended state observer is compared simulatively,the results show that the extended state observer is an effective method for increasing stabilization accuracy of control system.