基于ESO和FF-2DOF稳定平台位置跟随控制方法研究

Research on Position Tracking Control Method of Stable Platform Based on ESO and FF-2DOF

捷联式稳定平台的闭环控制是自动垂直钻井系统的关键,其特点是惯性元件和电机定子均与钻铤固联并随之同步旋转,通过控制电机轴直接驱动执行机构中的盘阀以实现偏心轴方位控制。本文针对这一旋转动基座上反捷联位置跟随与扰动抑制的控制要求,将基于扩张状态观测器的扰动补偿思想与二自由度控制思想相结合,提出了一种基于扩张状态观测器的前馈型二自由度控制方法。该方法能够保证系统快速位置跟踪能力的同时,具备良好的扰动抑制能力,仿真与实验结果验证了该方法的有效性。

The closed-loop control of stabilized platform is the key to the automatic vertical drilling system （AVDS）. Its feature is the motor stator and inertial sensing elements are all fixed on the drill collar and rotate synchronously with it. The motor control system used in stabilized platform plays an important role in making the steady angle of stabilized platform adjustable and independent to the rotation of drilling string. In this paper, to meet the requirements of anti-strap-down position tracking and the disturbance rejection on the dynamic rotary base, the disturbance compensation and two degrees of freedom were combined together, and a control method of feed-forward two degrees of freedom（FF-2DOF） based on extended state observer was presented. This method can guarantee the capabilities of quickly position tracking and disturbance rejection. Simulation and experimental results verified the effectiveness of the method.