机载三轴云台的ESO_LQR复合控制方法

ESO_LQR composite control method for airborne three-axis PTZ

针对机载三轴云台在工作时受多种复杂情况干扰的影响,传统的线性二次型调节器(LQR)可能无法快速隔离扰动从而导致系统鲁棒性变差的问题,提出扩张状态观测器(ESO)_LQR复合控制策略,通过ESO实时观测估计云台电机转轴上的非线性扰动并对其进行补偿以提高LQR姿态角控制器的鲁棒性,提高了机载三轴云台系统的控制品质。通过仿真验证了该方法可以有效克服无人机机动及云台内部控制器耦合带来的力矩干扰,有效提高了系统的控制质量。

In order to solve the problem that the traditional linear quadratic regulator(LQR)may not be able to quickly isolate the disturbance,which results in the poor robustness of the airborne three-axis PTZ system,An extended state observer(ESO)_LQR composite control strategy is proposed to improves the robustness of LQR attitude angle controller and the control quality of airborne three-axis PTZ system by real-time estimation and compensation of nonlinear disturbances on the motor shaft of the PTZ through ESO observation.The simulation results show that the method can effectively overcome the moment interference caused by UAV maneuvering and the coupling of the internal controller of the platform,and effectively improve the control quality of the system.