小型漂浮式天线姿态的自抗扰解耦控制  

The decoupling control of a small float antenna's attitude tracking based on ADRC

作　　者：姚志英[1] 曹海青[2] 王渝[3] 唐宜健[4] 

机构地区：[1]北京物资学院物流学院,北京101149 [2]首都经济贸易大学信息学院,北京100070 [3]北京理工大学自动化学院,北京100081 [4]中国船级社技术研究开发中心,北京100007

出　　处：《仪器仪表学报》2015年第7期1529-1537,共9页Chinese Journal of Scientific Instrument

基　　金：北京物资学院高级别科研项目培育基金(GJB20141006)项目资助

摘　　要：研究了小型漂浮式天线姿态跟踪的自抗扰解耦控制。分析了4级风以下的海洋环境对天线姿态的影响,设计了三轴伺服执行机构校正天线指向目标卫星的姿态偏差,研究证实三轴伺服系统是一种复杂的耦合性较强的非线性系统;设计了由横滚伺服自抗扰控制器、俯仰伺服自抗扰控制器和方位自抗扰控制器组成的天线姿态自抗扰解耦控制器用于天线姿态控制;通过MATLAB仿真研究验证了自抗扰解耦控制器的性能优于PID控制器,可以较好地估计和补偿天线的内部和外部扰动,实现天线姿态的解耦控制;通过半实物仿真研究证实了自抗扰解耦控制器可以实现天线与卫星间的高质量通信。The decoupling ADRC of the attitude tracking of the small float satellite antenna is studied. After analyzing the influence on the antenna attitude in the marine environment where the wind level is smaller than 4, the three axis servo actuator, which is a nonlinear complex control system with high coupling, is designed to adjust the attitude bias of the antenna directing to the satellite. The decoupling ADRC is designed to control the three axis servo actuator which includes the roll ADRC, the elevation ADRC and the azimuth ADRC. Simulation result validates that the performance of the designed decoupling ADRC is better than PID controller, and the designed ADRC can well reject the sea disturbance by estimating and compensating the internal and external disturbance, which ensures the communication between the antenna and satellite with high quality.

关 键 词：姿态跟踪 自抗扰控制器 解耦控制 海洋扰动 三轴伺服机构 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置] TH868.1[自动化与计算机技术—控制科学与工程]