单轴稳定平台的自抗扰控制器设计

Design of ADRC Based on Single-axis Stable Platform

制导火箭弹中,常采用永磁同步电动机(PMSM)直驱稳定平台的控制方式实现稳定平台的解旋控制。自抗扰控制器(ADRC)算法中的扩张状态观测器(ESO)不依赖于控制系统的精确模型,能够实时估计载体转速和一些不确定的扰动。依据自抗扰控制技术,设计了单轴稳定平台的ADRC,对控制器优化处理,并进行了Matlab仿真以及实验验证。结果表明,该系统具有较强抗干扰能力及较高的控制品质。

Permanent magnet synchronous motor(PMSM)driving stable platform directly is often used in guided rockets to realize the decoupling control of stable platform.Due to the extended state observe(ESO)contained in the active disturbance rejection controller(ADRC),it can accurately estimate the speed of the rotated carrier and the uncertain disturbances accurately without requiring exact mathematic model of system.Based on active disturbance rejection control technique,an ADRC for single-axis stable platform was designed,and optimized the controller.The Matlab simulation and experimental verification show that the system has strong anti-interference ability and high control quality.