航空光电稳定平台的二级自抗扰控制器

为了进一步提高两轴四框架航空光电稳定平台的抗 干扰能力,提出了一种二级自抗扰控制器(ADRC)的新方法。首先,在外框架中加入高精度陀 螺仪,使其具备扰动抑制能力；然后分别在内外框架中,采用带宽单参数化的设计方法设计 ESO及带扰动补偿的二级自抗扰控制规律；最后,在飞行模拟转台中测试(ADRC)对2.5Hz以内任意频率扰动的抑制能力。实验结果表明,对比于传统的平方滞后 超前控制器,采用二级ADRC,系统的扰动隔离度至少提高9.65dB, 且随着扰动频率大于0.5Hz,扰动隔离度的提高更为明显,最优情况 已达到16.08dB；同时,二级ADRC具有很强的鲁 棒性,允许被控对象参数在17%的范围内浮动,满足了高精度航空光 电稳定平台的性能要求,对提高航空光电稳定平台控制系统的抗扰动性能具有较高的实用价 值。

The two stage ADRC of aerial photoelectrical stabilized platform

In order to improve isolation degree o f disturbance for than traditional controller,the two-stage active disturbance rejection controller (ADRC) based on current loop in the platform with two axes and four frames is proposed.First ,the high-accuracy gyro is used in outer frame.And then,based on bandwidth parameterization,the ext ended state observer (ESO) and the two-stage ADRC are designed.Finally the experiment is performed to test the disturbance rejection performance of the ADRC based on current loop when the speed disturbance is from 0.1Hz to 2.5Hz compared with the traditional square lag-lead compensation method.Experiment results sh ow that the two-stage ADRC can reduce the disturbance error by 9.65dB at least.And the isolation degree of dis turbance is improved obviously when the perturbation frequency is more than 0.5Hz,and the best isolation degree of disturbance is increased by 16.08dB.And the ADRC has strong robustness,allowin g the range of system parameters to change in 17%.In conclusion,the ADRC based on current loop satisfies the performance requirements of aerial phot oelectrical stabilized platform and has higher practical value.