基于改进浣熊优化算法的光电稳定平台改进自抗扰控制  

Improved ADRC based on improved COA for optoelectronic stabilization platform control

作　　者：冯建鑫[1] 朱振凯 龚柏春 胥彪[1] FENG Jianxin;ZHU Zhenkai;GONG Baichun;XU Biao(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航天学院,江苏南京210016

出　　处：《红外与激光工程》2025年第3期238-247,共10页Infrared and Laser Engineering

基　　金：国家自然科学基金项目(12272168)。

摘　　要：针对在不确定性扰动下光电稳定平台高精度控制问题,使用改进自抗扰控制器对系统进行控制。对扩张状态观测器中fal函数进行改进得到MIAfal函数。首先,将稳定平台速度输出变化和速度输出误差信号加入fal函数,根据扰动和误差大小调整增益,不增加输出抖振的同时增强了系统抗扰能力;另外,针对不同系统对非线性函数特性要求各不相同,难以用单一特定函数满足系统需求的问题,使用多项式拟合fal函数,保证函数光滑性的同时,调整多项式系数即可满足不同观测器的非线性需求,提升稳定平台抗扰性能。针对改进后fal函数参数较多难以调试的问题,引入并改进浣熊优化算法,分别利用佳点集和Logistic映射优化种群初始化分布和全局寻优。测试函数表明改进后的优化算法收敛速度更快,寻优精度更高。仿真结果表明,在正弦信号输入下,MIAfal函数相较于fal函数对扰动带来的误差和抖振均有所降低。实验结果表明,在不同频率和幅值的正弦扰动下,MIAfal函数相较于fal函数对扰动带来的误差影响可以减少29.6%41.2%。Objective The use of ADRC to control optoelectronic stabilization platforms has been widely used due to its strong resistance to external disturbances,good robustness,and no need for accurate disturbance modeling.Nonlinear ADRC has better anti-disturbance and control effects due to its nonlinear characteristics.However,the nonlinear function in nonlinear ADRC currently has room for improvement due to insufficient use of measurable information,a single function form that cannot be changed,and possible failure of nonlinear characteristics.To this end,this paper designs a nonlinear function with multiple inputs and variable forms,and uses an optimization algorithm to optimize the parameters.Methods This paper proposes a fal function with multiple inputs and variable forms.The system input change signal and the system output error signal are added to the nonlinear function(Eq.5),and the function form is fitted using a polynomial(Eq.6).The convergence of the extended state observer is proved by using the sufficient conditions for asymptotic stability in the sense of Lyapunov.Due to the large number of adjustable parameters,the improved raccoon algorithm is used to optimize the control parameters,the population initialization distribution is optimized using the good point set(Eq.22),the global optimization is optimized using the logistic mapping(Eq.24),and finally the controller parameters are adjusted using the improved raccoon algorithm.Results and Discussions The improved nonlinear function enhances the anti-disturbance capability of the system by increasing input variables and adjustable function forms.The simulation comparison of the improved algorithm shows that the MIAfal function reduces the errors caused by disturbances compared with the fal function(Fig.7).The test function and simulation comparison of the raccoon algorithm before and after the improvement are carried out.The test function shows that the improved raccoon algorithm has obvious advantages in optimization speed and accuracy(Fig.6).The simulation

关 键 词：光电稳定平台 自抗扰控制器 fal函数 参数整定 群智能优化算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]