ADRC control system for airborne opto-electronic platform

WEI Wei; DAI Ming; LI Jia-quan; MAO Da-peng; BAI Xu-guang; SUN Jing-hui

doi:10.3788/OPE.20152308.2296

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ADRC control system for airborne opto-electronic platform

更新时间：2020-08-12

- ADRC control system for airborne opto-electronic platform
- Optics and Precision Engineering Vol. 23, Issue 8, Pages: 2296-2305(2015)
- 作者机构：
  
  1. 中国科学院长春光学精密机械与物理研究所,吉林长春,中国,130033
  2. 中国科学院大学北京,中国,100049
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20152308.2296
  CLC： TP273;V476.5
- Received：28 April 2014，
  
  Revised：18 May 2014，
  
  Published：25 August 2015
- 稿件说明：
移动端阅览
魏伟, 戴明, 李嘉全等. 航空光电稳定平台的自抗扰控制系统[J]. 光学精密工程, 2015,23(8): 2296-2305

WEI Wei, DAI Ming, LI Jia-quan etc. ADRC control system for airborne opto-electronic platform[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2296-2305
魏伟, 戴明, 李嘉全等. 航空光电稳定平台的自抗扰控制系统[J]. 光学精密工程, 2015,23(8): 2296-2305 DOI： 10.3788/OPE.20152308.2296.

WEI Wei, DAI Ming, LI Jia-quan etc. ADRC control system for airborne opto-electronic platform[J]. Editorial Office of Optics and Precision Engineering, 2015,23(8): 2296-2305 DOI： 10.3788/OPE.20152308.2296.

摘要

对航空光电稳定平台模型进行分析并利用电流环简化了平台模型。阐述了影响平台稳定性的扰动及抑制扰动的方法

提出一种基于预报修正的自抗扰控制系统。首先

提出了一种预报修正方法

采用"先预报

后修正"的方法来减小扰动观测值的滞后和超调;然后

设计了基于二阶扩张状态观测器的自抗扰控制系统

对扰动进行线性化动态补偿;最后

在振动平台上对系统进行了速度稳定实验、目标跟踪实验和鲁棒性分析。结果表明

与经典的平方滞后超前控制方法相比

本文设计的控制方法对扰动的隔离度至少提高了5.88 dB。另外

设计的系统具有很强的鲁棒性

在系统参数改变± 15%的范围内

仍得到很好的控制效果。由于所设计的控制系统具有很强的实用性和鲁棒性

在工程实际应用中提高了航空光电稳定平台的抗扰动性能。

Abstract

A model for aerial photoelectrical stabilized platforms was analyzed and it was simplified with a current loop. The disturbance influencing the platform stability was explained and a disturbance rejection method was illustrated. An Active Disturbance Rejection Controller(ADRC) was designed based on forecast revision. Firstly

a method is proposed to reduce the time lag and the overshoot of disturbance observing values by amending followed by forecasting. Then

a new controller was designed based on the two stage extended state observer to isolate the disturbance linearly and dynamically. Finally

a speed stability experiment and a target tracking experiment were taken on a vibration platform and the robustness of the system was also analyzed. The experimental results show that the designed controller method improves the disturbance isolation by 5.88 dB as compared with conventional method. Moreover

the designed control system has good robustness while the system parameters vary by 15%. As the proposed control system has good practicability and stronger robustness

it observably improves the disturbance isolation of the opto-electronic platforms.

关键词

Keywords

references

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