基于NOB的线性自抗扰控制在惯性参考单元中的应用  

Application of linear active disturbance rejection control based on NOB in inertial reference unit

作　　者：李醒飞[1,2] 王凡 拓卫晓 周政 LI Xing-fei;WANG Fan;TUO Wei-xiao;ZHOU Zheng(State Key Laboratory of Precision Measurement Technology and Instruments,Tianjin University,Tianjin 300072,China;Taihu Laboratory of Deepsea Technological Science,Wuxi 214000,China)

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300072 [2]深海技术科学太湖实验室,江苏无锡214000

出　　处：《控制与决策》2024年第2期483-489,共7页Control and Decision

基　　金：国家自然科学基金项目(61733012,62203322);博士后科学基金项目(2022M712372);深海技术科学太湖实验室“揭榜挂帅”项目(2022JBGS03001)。

摘　　要：高增益的线性自抗扰控制(linear active disturbance rejection control,LADRC),应用于系统输出被噪声污染的场合时,性能会受到较大的影响和限制.针对经典滤波算法噪声抑制效果差,带宽损失严重的问题,提出利用噪声观测器(noise observer,NOB)降低LADRC噪声敏感,从而提高系统带宽的控制策略.首先,分析LADRC的频域特性和离散化效果,明确传感噪声对系统带宽的影响;然后,介绍基于NOB的LADRC实现,并进行系统内稳定性的分析;最后,针对惯性参考单元的位置环,将所提出方案与低通滤波器、预报式跟踪微分器进行对比分析.仿真结果表明,NOB能够在抑制噪声的同时,减小相位损失;硬件实验表明,引入NOB滤波的LADRC,驱动信号的RMSE降低至LADRC的20.47%,系统阶跃响应的上升时间减少56.67%,表明NOB对于降低LADRC的噪声敏感,提高系统带宽具有显著效果,具备相当的工程实践意义.The performance of high-gain linear active disturbance rejection control(LADRC)will be greatly affected and limited when the system output is polluted by noise.In terms of the problems of poor noise suppression and serious bandwidth loss in classical filtering algorithms,a control strategy is proposed to reduce the noise sensitivity of the LADRC by using the noise observer(NOB),and further increase the control bandwidth.Firstly,the frequency-domain characteristics and discretization effect of the LADRC are analyzed.The influence of sensing noise on the system bandwidth is analyzed as well.Then,the implementation of the LADRC based on the NOB is introduced,and the stability analysis of the system is carried out.Finally,the proposed method is verified in the position loop of the inertial reference unit,and compared with the low-pass filter and the predictive tracking differentiator.The simulation results indicate that the NOB can suppress the noise and simultaneously reduce the phase loss.Experimental results show that the LADRC based on NOB can reduce the RMSE of the driving signal to 20.47%and reduce the rise time of the system step response by 56.67%compared to the LADRC.The NOB is proved to be practical and efficient on reducing the noise sensitivity of the LADRC and improving the system bandwidth.

关 键 词：线性自抗扰控制 扩张状态观测器离散化 带宽扩展 噪声观测器 惯性参考单元 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]