航空光电稳定平台的自抗扰控制系统  

ADRC control system for airborne opto-electronic platform

作　　者：魏伟[1,2] 戴明[1] 李嘉全[1] 毛大鹏[1] 柏旭光[1] 孙敬辉[1] 

机构地区：[1]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [2]中国科学院大学,北京100039

出　　处：《光学精密工程》2015年第8期2296-2305,共10页Optics and Precision Engineering

基　　金：国家973重点基础研究发展规划资助项目(No.2009CB72400603B);国家863高技术研究发展计划资助项目(No.2008AA121803)

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5.88dB。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。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 systemparameters 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：航空光电稳定平台 二级自抗扰控制器 预报修正 扰动补偿 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V476.5[自动化与计算机技术—控制科学与工程]