高精度稳定平台伺服系统的自抗扰控制

Active disturbance rejection control of high precision stabilized platform servo control system

提出了一种应用于高精度稳定平台伺服系统的设计方法。为满足稳定平台快速隔离扰动、稳定视轴的要求,将自抗扰控制应用于平台系统的速度环,和常规PID控制的电流环一起构成ADRC-PID控制。Simulink仿真结果表明,与传统PID控制相比,采用自抗扰控制后系统响应速度快,隔离度有较大的提高。ADRC-PID控制可满足高精度光电稳定平台的性能要求,系统具有响应速度快,隔离度好,鲁棒性强,稳定性高等特点。

A new design method applied in high- precision stabilized platform is introduced. In view of the requirements of isolating disturbances and stabilizing optical axis of a stabilized platform,it can improve the performance of the system control by optimizing control algorithms. Active disturbance rejection control（ ADRC） controllers are used to design the speed loop of the high- precision stabilized system,together with current loop based on conventional PID control consist ADRC- PID control. By Simulink simulations it shows that the ADRC has more faster response,and the isolation degree of disturbance high than that of PID. In conclusion,the ADRC based on current loop satisfies the performance requirements of photoelectrical stabilized platforms and has such characters as fast response,good isolation,strong robustness and high stability.