线性自抗扰的增稳云台控制系统研究与实现

Research and implementation of stability augmented gimbal control system with LADRC function

增稳云台是维持摄像头稳定并获得清晰图像的重要装置。文中提出一种LADRC线性自抗扰控制算法与FOC矢量控制算法相结合的方法,并将其应用于增稳云台系统中,提高增稳云台的控制精度、稳定性与抗干扰能力。其次,对无人系统增稳云台的硬件和软件进行设计,搭建测试实验平台。测试结果表明,所设计的控制系统运行良好,对阶跃控制命令的上升时间在0.3 s以内,在17.5 m/s的风速环境下,三轴角度的变化范围在0.15°以内,可达到预期目标。

The autostability gimbal is an important device for maintaining camera stability and obtaining clear images.A method combining LADRC(linear active disturbance rejection control)algorithm and FOC(field⁃oriented control)algorithm is proposed and applied to the autostability gimbal system,so as to improve the control precision,stability and anti⁃interference ability of the gimbal system.The hardware and software of the unmanned system autostability gimbal are designed.The testing and experimental platform was built.The testing results show that the designed control system can work well,the rise time of the step control command is within 0.3 s,and the change range of the three⁃axis angle is within 0.15°at the wind speed of 17.5 m/s,which can realize the expected goal.