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| 光电跟踪系统自抗扰伺服控制器的设计 | |
| 引用本文： | 邱晓波,窦丽华,单东升,周伟科.光电跟踪系统自抗扰伺服控制器的设计[J].光学精密工程,2010,18(1):220-226. |
| 作者姓名： | 邱晓波 窦丽华 单东升 周伟科 |
| 作者单位： | 1. 北京理工大学,信息科学技术学院,北京,100081;装甲兵工程学院,控制工程系,北京,100072 2. 北京理工大学,信息科学技术学院,北京,100081 3. 装甲兵工程学院,控制工程系,北京,100072 |
| 基金项目： | 国家自然科学基金资助项目(No.60175010);;兵器科技预研项目(No.1040102.5) |
| 摘 要： | 考虑系统扰动对光电跟踪伺服系统精度的影响,提出了采用自抗扰的控制方案,并分析了实现自抗扰的工作原理。对某型光电跟踪系统进行了结构分析,将目标运动速度视为外部扰动,系统内部参数摄动视为内部扰动,采用扩张状态观测器从系统响应的输入、输出信号中估计出扰动,并进一步用跟踪微分器提取扰动的一阶导数来提高对扰动的估计精度,以最大程度地补偿扰动。实验结果表明,在载体扰动下,跟踪最大角速度为40mrad/s,最大角加速度为8mrad/s2,机动目标的误差0.1mrad,且响应速度快,超调10%。该方案结构简单,控制鲁棒性强;无需额外的传感器对目标运动进行测量、滤波和预测,即可有效提高系统高精度捕获、跟踪快速机动目标的能力。 |
| 关 键 词： | 光电跟踪 伺服系统 自抗扰控制 |
| 收稿时间： | 2009-05-25 |
| 修稿时间： | 2009-06-18 |
Design of active disturbance rejection controller for electro-optical tracking servo system |
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| QIU Xiao-bo,DOU Li-hua,SHAN Dong-sheng,ZHOU Wei-ke.Design of active disturbance rejection controller for electro-optical tracking servo system[J].Optics and Precision Engineering,2010,18(1):220-226. | |
| Authors: | QIU Xiao-bo DOU Li-hua SHAN Dong-sheng ZHOU Wei-ke |
| Affiliation: | 1.School of Information Science and Technology;Beijing Institute of Technology;Beijing 100081;China;2.Department of Control Engineering;Academy of Armored Force Engineering;Beijing 100072;China |
| Abstract: | An active disturbance rejection controller for an electro-optical tracking servo system is presented to track maneuvering targets fast and accurately and then its work principle is investigated.Based on the structure analysis of a tracking system,the target velocity is taken as the exterior unknown disturbance and the system parameter change is used as the interior unknown disturbance.A extend state observer and a tracking differentiator are used to estimate the disturbance accurately from the input and out... |
| Keywords: | electro-optical tracking servo system active disturbance rejection controller |
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