雷达伺服系统的高跟踪精度改进型自抗扰控制器

Improved auto-disturbance rejection controller of radar servo-system with high tracking accuracy

针对机载雷达伺服系统跟踪机动目标时,载机平台扰动和目标加速度影响跟踪精度的问题,提出对机动目标具有更高跟踪精度的改进型自抗扰控制(I-ADRC)方法。考虑到载机平台扰动因素较多,包含载机机械振动/冲击、外部气流、环境温度及载机姿态变化等,采用系统模型补偿的方法,降低扩张观测器的观测负担,从而解决传统自抗扰控制器中扩张状态观测器(ESO)由于扰动量大引起的观测精度下降问题。此外,采用加速度前馈补偿的方式,消除机动目标加速度引起的系统建模误差。实验结果表明:与传统的PI控制相比,采用改进型自抗扰控制方法的雷达伺服系统跟踪精度高、抗干扰性能好,当目标存在加速度时,也能快速高精度跟踪目标位置。

In order to solve the problem that tracking accuracy of radar servo system is affected by the disturbance quantity of airborne platform and the acceleration of object, the improved auto-disturbance-rejection control (I-ADRC) method, with high tracking precision, is proposed. Considering more disturbance factors of airborne radar platform, such as the mechanical vibration, airflow, environment temperature, and attitude change of airborne, the model compensation method was introduced in the I-ADRC to reduce the load for extended state observer (ESO), which overcomes the observation accuracy decrease for the ESO caused by the large disturbance in traditional ADRC. Moreover, in the I-ADRC, the feed-forward compensation of acceleration was also adopted to eliminate the model error of servo system resulted from the acceleration of maneuvering target. Compared with traditional PI control, the airborne radar servo system with the proposed I-ADRC show its more high accuracy and more strong anti-interference, and the system can quickly track the target in the state of acceleration.