机载光电稳定平台自抗扰控制研究

ADRC of Airborne Electro-Optical Stabilized Platform

为了提高机载光电稳定平台的稳定精度,在分析研究机载光电稳定平台工作原理的基础上,对稳定控制回路进行了分析建模,简要分析了影响稳定平台精度的因素和经典控制算法存在的不足,提出了基于自抗扰控制技术的改进算法。首先,将电机模型进行处理,简化为二阶积分串联型环节;然后,设计扩张观测器对扰动进行实时估计,设计带扰动补偿的反馈控制律;最后,仿真测试了自抗扰控制器对扰动的抑制能力,并与现有的经典控制方法进行对比。仿真结果表明,自抗扰控制能够有效地抑制各种扰动的影响,与经典控制算法相比,抗干扰能力有明显增强,速度稳定精度和视轴稳定精度也有较明显的提高。

The purpose of this paper is to improve the stabilization accuracy of airborne electro-optical stabilized platform. Analysis is made to the working principle of the stabilized platform, based on which a stabilized control loop is modeled. The factors that have effect on the stability accuracy and the deficiencies of classical control algorithm are analyzed briefly. An improved algorithm is then presented based on Active Disturbance-Rejection Control （ADRC）. At first, the model of motor is simplified. Then, an extended state observer is designed to estimate the disturbance in real time and a feedback control law with disturbance compensation is designed. Eventually, simulation is made to test the ability of active disturbance rejection controller with comparison with the existing classical control algorithms. The result proves that： 1 ） The ADRC algorithm can reject the nonlinear disturbance effectively; and 2 ） Compared with the classical algorithm, it has stronger anti-jamming capability, and higher velocity/LOS stabilization accuracy.