基于Lugre模型和自抗扰技术的稳定控制系统设计

Gyroscopic Stabilization Control System Based on Linear ADRC and Lugre Model

为了提升陀螺稳定平台的稳定精度和抗扰能力,该文提出了一种基于Lugre模型补偿的自抗扰稳定控制方案,通过对控制对象的建模,构建系统的整体控制结构,并给出线性自抗扰控制的扩张状态观测器设计方法,同时引入Lugre摩擦模型补偿,实现对干扰力矩的补偿和抑制。试验证明,与传统PI控制相比,该复合控制器具有更高的稳定精度和干扰隔离能力。

In order to improve the stability of the gyro stabilized platform precision and ability to resist disturbance,this paper proposed based on a linear self immunity and gyro stability control scheme of Lugre model,through the modeling of control object,build the system of the whole control structure,and gives the linear extended state observer design method of the immunity control,at the same time introducing compensation Lugre friction model,the implementation of disturbance torque compensation and inhibition test showed that compared with the traditional PI control,the compound controller has a higher steady precision and interference isolation.