稳定平台二阶自抗扰控制器设计  

Design of a Two-order Active Disturbance Rejection Controller of a Stable Platform

作　　者：朱海荣[1] 李奇 无 ZHU Hai-rong;LI Qi;无(Electrical Engineering School,Nantong University,Nantong 226019,China;School of Mechanical and Electrical Engineering,Jiangsu College of Engineering and Technology,Nantong 226014,China;School of Automation,Southeast University,Nanjing 210096,China)

机构地区：[1]南通大学电气工程学院,江苏南通226019 [2]江苏工程职业技术学院机电学院,江苏南通226014 [3]东南大学自动化学院,南京210096

出　　处：《哈尔滨理工大学学报》2020年第4期122-128,共7页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金(51307089);国际科技合作专项(2015DFA10490);南通市重点实验室项目(CP12015007);江苏省高校青蓝工程项目;南通市基础科学研究项目(JC2018028);江苏工程职业技术学院自然科学研究项目(GYKY/2018/2).

摘　　要：为了降低摩擦、电磁反电势、载体运动耦合、模型失配等因素对稳定平台的影响,使探测器轴线在惯性空间保持稳定,采用直流力矩电机直接驱动的安装方式,设计了稳定平台自抗扰控制器。自抗扰控制器(ADRC)由跟踪微分器(TD)、扩张状态观测器(ESO)和非线性状态误差反馈控制律(NLSEF)三部分组成,利用TD对参考输出进行轨迹规划,利用ESO对系统输出进行状态和扰动估计,利用NLSEF对系统广义误差进行控制。为了便于工程实现,在ESO设计时采用了线性函数,既简化了ESO的结构,又保留了自抗扰控制的优良性能。实验结果表明,采用自抗扰控制技术以后,稳定平台的动态性能、稳态性能和抗干扰能力均得到了改善,取得了更好的控制效果。In order to reduce the interference of friction,electromagnetic back EMF,carrier motion coupling,model mismatch of the stable platform to keep stable of the line of sight in the inertial space,an active disturbance rejection controller(ADRC)is designed by direct drive installation of DC torque motor.The ADRC is composed of three parts:tracking differentiator(TD),extended state observer(ESO)and nonlinear state error feedback law(NLSEFL).TD is used to track the reference output,ESO is used to estimate the state and disturbance of the system output,and NLSEF is used to control the generalized error of the system.In order to facilitate engineering implementation,ESO is designed by linear function which can simplify its structure and retain the excellent performance of ADRC.Results of the experiment show that the stable platform with ADRC technology has better dynamic performance,steady state performance and anti-interference capability.

关 键 词：稳定平台 非线性干扰 自抗扰控制 跟踪微分器 扩张状态观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]