摘要
为了进一步提高系统的跟踪性能与抗干扰性能,运用自抗扰控制(active disturbance rejection control,ADRC)理论对具有交叉耦合以及会受内外干扰的动力陀螺稳像系统设计控制器。采用前馈控制解耦矩阵实现了通道之间的解耦。采用扩张状态观测器对系统的内外干扰进行实时估计和补偿,由非线性状态误差反馈控制律设计了ADRC控制器,实现对动力陀螺稳像系统的控制。数字仿真结果表明:所设计的自抗扰解耦控制器具有良好的解耦性能、跟踪性能、抗干扰性能和抑噪性能,可以满足动力陀螺稳像系统的控制要求。
In order to improve tracking performance and anti-interference performance, a controller based on the active disturbance rejection control（ADRC） theory is designed for the dynamic gyro which is strongly coupled and disturbed. A decoupling feed forward control matrix deal with coupling of channels. Use extended state observer to estimate and compensate the interior and exterior disturbance of system in real time, and ADRC controller is designed by nonlinear state error feedback control principle to realize control of dynamic gyro. Numerical simulation shows that the controller designed by ADRC can meet the need of dynamic gyro, and it has excellent decoupling performance, tracking performance and anti-interference performance for coupling system. It can meet control needs of dynamic gyro video stabilization system.
出处
《兵工自动化》
2016年第5期63-67,共5页
Ordnance Industry Automation
