自抗扰控制器在平台惯导系统动基座下初始对准应用  

Application of active disturbance rejection controller in initial alignment of INS on moving base

作　　者：赵汪洋[1] 庄良杰[1] 杨功流[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《控制与决策》2007年第2期179-183,共5页Control and Decision

基　　金：船舶工业国防科技预研基金项目(02J4.18)

摘　　要：根据自抗扰控制器在时变系统、多变量系统中的使用方法的特点,将自抗扰控制技术应用于平台式惯性导航系统的初始对准,设计了一种在动基座下的快速对准方案.建立了系统的误差模型,深入研究了该对准方案的精度和速度,并与传统的卡尔曼滤波器进行仿真比较.仿真结果表明,自抗扰控制器克服了卡尔曼滤波技术使用条件的限制,在对于不确定性扰动影响的快速对准中取得了较好的效果,鲁棒性和抗干扰性都有较大提高.According to the characteristic of active disturbance rejection controller＇s（ADRC） applications in time-varying systems and multi-variable system,an initial alignment of INS is applied by using active disturbance rejection control technique,and a new initial alignment scheme of INS is proposed which focused on the INS moving base.The error model of system is set up,the precision and velocity of the aligning scheme is further researched.Comparing the ADRC with the traditional Kalman filter,the simulation results show that the method not only overcomes the restriction to Kalman filter,but also gets better results for moving base disturbed by uncertain perturbations.And the system has high robustness and high anti-jamming.

关 键 词：自抗扰控制器 惯导系统 卡尔曼滤波 初始对准 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]