基于DOB光电稳定平台自适应鲁棒控制  

Adaptive Robust Control of Photoelectric Stabilized Platform Based on Disturbance Observer

作　　者：袁雷超 王合龙[2] 张新勇[2] YUAN Leichao;WANG Helong;ZHANG Xinyong(Science and Technology on Electro-Optical Control Laboratory,Luoyang 471000,China;Luoyang Institute of Electro-Optical Equipment,AVIC,Luoyang 471000,China)

机构地区：[1]光电控制技术重点实验室,河南洛阳471000 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000

出　　处：《电光与控制》2022年第4期21-25,51,共6页Electronics Optics & Control

基　　金：国防科工某高分专项(52-L10D01-0613-20/22)。

摘　　要：针对光电稳定平台的建模不确定性和未建模不确定性问题,提出一种基于扰动估计的自适应鲁棒控制算法。该算法将自适应鲁棒控制(ARC)和干扰观测器(DOB)相结合,并将干扰观测器得到的扰动估计值融合进自适应鲁棒控制算法设计中,利用自适应鲁棒控制的参数自适应律对其进行自适应补偿,进一步提高光电稳定平台的稳态精度。仿真结果表明,所提算法与直接采用传统DOB前馈补偿相比具有超调量小、调节时间短的优点,并且有效地提高了光电稳定平台的扰动抑制能力。Aiming at the modeling and unmodeling uncertainty of the photoelectric stabilized platform,an Adaptive Robust Control(ARC) algorithm based on disturbance estimation is proposed.The algorithm combines ARC with the Disturbance Observer(DOB),and integrates the disturbance estimation results obtained by DOB into the design of ARC algorithm.The adaptive control law of ARC is used for adaptive compensation,so as to further improve the stabilized accuracy of the photoelectric stabilized platform.The simulation results show that: Compared with the traditional DOB feedforward compensation,the proposed algorithm has the advantages of smaller overshoot and shorter adjustment time,which effectively improves the disturbance suppression ability of the photoelectric stabilized platform.

关 键 词：光电稳定平台 干扰观测器 自适应鲁棒控制 李雅普诺夫函数 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]