摘要
为了进一步提高两轴四框架航空光电稳定平台的抗干扰能力,提出了一种二级自抗扰控制器(ADRC)的新方法。首先,在外框架中加入高精度陀螺仪,使其具备扰动抑制能力;然后分别在内外框架中,采用带宽单参数化的设计方法设计ESO及带扰动补偿的二级自抗扰控制规律;最后,在飞行模拟转台中测试(ADRC)对2.5Hz以内任意频率扰动的抑制能力。实验结果表明,对比于传统的平方滞后超前控制器,采用二级ADRC,系统的扰动隔离度至少提高9.65dB,且随着扰动频率大于0.5Hz,扰动隔离度的提高更为明显,最优情况已达到16.08dB;同时,二级ADRC具有很强的鲁棒性,允许被控对象参数在17%的范围内浮动,满足了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。
In order to improve isolation degree of disturbance for than traditional controller, the two-stage active disturbance rejection controller （ADRC） based on current loop in the platform with two axes and four frames is proposed. First, the high-accuracy gyro is used in outer frame. And then, based on band- width parameterization, the extended state observer （ESO） and the two-stage ADRC are designed. Final ly the experiment is performed to test the disturbance rejection performance of the ADRC based on current loop when the speed disturbance is from 0.1 Hz to 2.5 Hz compared with the traditional square laglead compensation method. Experiment results show that the two-stage ADRC can reduce the disturbance error by 9.65 dB at least. And 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 16.08 dB. And the ADRC has strong robustness, allowing the range of system parameters to change in 17%. In conclusion, the ADRC based on current loop satisfies ,the performance requirements of aerial photoelectrical stabilized platform and has higher practical value.
出处
《光电子．激光》
EI
CAS
CSCD
北大核心
2013年第12期2270-2277,共8页
Journal of Optoelectronics·Laser
基金
国家"973"重点基础研究发展规划(2009CB72400603B)
国家"863"高技术研究发展计划(2008AA121803)资助项目
关键词
航空光电稳定平台
自抗扰控制器(ADRC)
扩张状态观测器(ESO)
扰动补偿
扰动隔离
度
电流环
aerial photoelectrical stabilized platform
active disturbance rejection controller （ADRC）
cx tended state observer （ESO）
disturbance compensation
isolation degree of disturbance
current loop
