Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC

LI Xian-tao; ZHANG Bao; SHEN Hong-hai

doi:10.3788/OPE.20142208.2223

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Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC

更新时间：2020-08-13

- Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC
- Optics and Precision Engineering Vol. 22, Issue 8, Pages: 2223-2231(2014)
- 作者机构：
  
  1. 中国科学院大学北京,中国,100049
  2. 中国科学院长春光学精密机械与物理研究所中国科学院航空光学成像与测量重点实验室,吉林长春,130033
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20142208.2223
  CLC： TP273
- Received：06 October 2013，
  
  Revised：01 December 2013，
  
  Published：25 August 2014
- 稿件说明：
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李贤涛, 张葆, 沈宏海. 基于自抗扰控制技术提高航空光电稳定平台的扰动隔离度[J]. 光学精密工程, 2014,22(8): 2223-2231

LI Xian-tao, ZHANG Bao, SHEN Hong-hai. Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC[J]. Editorial Office of Optics and Precision Engineering, 2014,22(8): 2223-2231
李贤涛, 张葆, 沈宏海. 基于自抗扰控制技术提高航空光电稳定平台的扰动隔离度[J]. 光学精密工程, 2014,22(8): 2223-2231 DOI： 10.3788/OPE.20142208.2223.

LI Xian-tao, ZHANG Bao, SHEN Hong-hai. Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC[J]. Editorial Office of Optics and Precision Engineering, 2014,22(8): 2223-2231 DOI： 10.3788/OPE.20142208.2223.

摘要

提出一种基于电流环的自抗扰控制新方法以进一步提高航空光电稳定平台的抗干扰能力。首先，利用电流环将硬件电路中复杂的电机模型简化为一阶模型，从而减小了由于参数过大噪声对扰动观测值的影响；然后，采用带宽单参数化的设计方法为简化后的一阶系统设计了扩张状态观测器及带扰动补偿的控制规律；最后，在飞行模拟转台中测试了自抗扰控制器对2.5 Hz以内任意频率扰动的抑制能力，并与目前航空光电稳定平台中常用的平方滞后超前校正方法进行了对比。实验结果表明：与传统的平方滞后超前控制器相比，采用自抗扰控制器后系统的扰动隔离度至少提高了6.56 dB；而且随着扰动频率大于0.5 Hz，自抗扰控制器的扰动抑制能力更为明显，扰动隔离度最多可提高12.03 dB。同时，自抗扰控制器具有很强的鲁棒性，允许被控对象参数在15%的范围内任意变化，可满足高精度航空光电稳定平台的性能要求，对提高航空光电稳定平台控制系统的抗扰动性能具有较高的实用价值。

Abstract

A new Active Disturbance-rejection Controller(ADRC) based on a current loop was proposed to improve the isolation degree of disturbance for an aerial photoelectrical stabilized platform. First

the structure diagram of a dc torque motor was simplified to a first-order model by the current loop to avoid the influence of noise from the parameters on disturbance observation values. And then

based on bandwidth parameterization

an extended state observer and the control law with disturbance compensation were designed. Finally

an experiment was performed to test the disturbance rejection performance of the ADRC at the speed disturbance from 0.1 Hz to 2.5 Hz and to compare with the traditional square lag-lead compensation method. Experiment results show that the ADRC can reduce the disturbance error by 6.56 dB at least. The isolation degree of disturbance is improved obviously when the perturbation frequency is more than 0.5 Hz

and the best isolation degree of disturbance is increased by 12.03 dB. Moreover

the ADRC have strong robustness

allowing the range of system parameters to change in 15%. In conclusion

the ADRC based on current loop satisfies the performance requirements of aerial photoelectrical stabilized platforms and has higher practical values.

关键词

Keywords

references

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