机载摄影稳定平台的自抗扰控制

针对航空摄影稳定平台中非线性、多干扰的控制问题,采用自抗扰控制方法对三框架稳定平台进行分散独立控制。利用拉格朗日定理建立了考虑外部干扰的三框架结构稳定平台的动力学方程。设计独立的扩张状态观测器对每个环架的未知模型动态与外部扰动进行动态估计和补偿,采取非线性状态反馈控制以提高系统的控制性能。通过仿真和实验证明采用该方法设计的控制器不仅能满足系统稳态精度的要求,而且有效抑制了负载变化和不确定性扰动对系统的影响,提高了系统的稳定性和适应性。

Active Disturbance Rejection Controller of the Aerial Photography Stabilized Platform

According to the characteristics of nonlinear and multiple jammers for the aerial photography stabilized platform, an active disturbance rejection detached robust control method is developed. The dynamic equations of the three-axis stabilized platform were deduced based on the Lagrange theorem. Multiple parallel extended state observers were designed for estimation of unknown dynamics and external disturbance of each freedom, and the estimated states were used for nonlinear feedback control and compensation to improve system performance. The simulation and test results demonstrate the ADRVC has good adaptability and robustness to external disturbance and unknown variation. The designed controller not only satisfies the steady accuracy demands, but also effectively resists to the change of the inter and external disturbance. The experimental results show that Active Disturbance Rejection Controller has stronger robustness and adaptability, and demonstrate the feasibility and effectiveness of proposed method.