扰动分离自抗扰控制在光电稳定平台上的应用

针对当前光电稳定平台伺服系统中扰动抑制能力不足的问题，提出一种扰动分离自抗扰控制（DSADRC）算法。扰动分离自抗扰控制充分利用工程实际中可获取到的部分已知的光电稳定平台模型信息及经典控制中的控制器信息，并将其加入到自抗扰控制的设计中。该算法通过减少光电稳定平台系统中的总扰动量，增加系统的扰动观测精度及扰动抑制能力。同时，通过算法设计实现了经典控制器的复用，减少了设计工作量。仿真实验结果表明:在控制器相同、扰动条件相同的情况下，扰动分离自抗扰控制阶跃响应调节时间减少58.8%，上升时间减少26.5%，且无超调量；在1V2Hz等效扰动下，系统稳态精度提高51.5%，系统性能提升效果明显。在实物验证实验中，对于不同频率的等效扰动，相比PID控制，扰动分离自抗扰控制稳态精度提升50%以上，有效地提高了光电稳定平台的稳态精度。

Application of a disturbance separation active disturbance rejection control in photoelectric stabilized platform

Aiming at the problem of insufficient disturbance suppression capability in the current photoelectric stabilized platform servo system, a disturbance separation active disturbance rejection control (DSADRC) algorithm was proposed. The active disturbance rejection control method based on disturbance separation took full use of part of the known photoelectric stabilized platform model information and controller information in classical control that could be obtained in engineering practice, and added it to the design of active disturbance rejection control. This algorithm increased the disturbance observation accuracy and disturbance suppression of the system ability by reducing the total disturbance in the photoelectric stabilized platform system. At the same time, through proposed algorithm design, the reuse of classic controllers was realized and the design workload was reduced. The simulation results show that under the same controller and the same disturbance conditions, the step response settling time of the DSADRC is reduced by 58.8%, the rise time is reduced by 26.5%, and there is no overshoot; under the 1V2Hz equivalent disturbance, the system steady accuracy is increased by 51.5%, and the system performance is improved obviously. In the physical verification experiment, for equivalent disturbances of different frequencies, compared with PID control, the steady accuracy of the DSADRC is improved by more than 50%, which effectively improves the steady accuracy of the photoelectric stabilized platform.