机载光电稳瞄平台的线性自抗扰控制

为了提高机载光电稳瞄平台的抗扰动能力和动态响应特性，在平台上进行了基于线性自抗扰控制的改进控制方法研究。改进的线性自抗扰控制器采用模型辅助的降阶线性扩张状态观测器以及采用系统输出量和输出量微分来产生控制量，不仅可以减小观测器的相位滞后和观测负担，提高观测器对扰动的估计能力，还可以减小观测器滞后和估计误差对控制律的影响。仿真实验结果表明:改进的线性自抗扰控制器在低中频段具有更好的频域特性，阶跃响应实验中表现出更好的动态响应特性，在系统输入为零的条件下，给系统施加幅值为、频率为2.5 Hz的正弦波力矩扰动和正弦波角速度扰动，基于线性自抗扰控制器的系统输出残差峰值分别为0.175（）/s与0.566（）/s，基于改进的线性自抗扰控制器的系统输出残差峰值分别为0.155（）/s与0.030（）/s，实验结果验证了改进方法的有效性。

Linear active disturbance rejection control of airborne photoelectric stabilized platform

In order to improve disturbance rejection capability and dynamic response characteristics of airborne photoelectric stability platform, the improved control method study was conducted on platform based on Linear Active Disturbance Rejection Control (LADRC). The Model-assisted Reduced-order Linear Extended State Observer (MRLESO) was used by the improved Linear Active Disturbance Rejection Controller (ILADRC), and used output of system and differential of output were used to generate the control quantity,which not only reduced phase lag and burden of observer, improved ability of estimation of observer, but also reduced the negative effects of observer with lag and estimation error of control law. The simulation experimental results show that the ILADRC had better frequency domain characteristics in the low-middle frequency band, ILADRC had better dynamic response characteristics in step response experiment, under the conditions of system had no input, sine wave moment disturbance and sine wave angular velocity disturbance with amplitude are and frequency of 2.5 Hz were applied to the system, the residual peak value of system output based LADRC were 0.175()/s and 0.566()/s. The residual peak value of system output based ILADRC were 0.175 ()/s and 0.566 ()/s. The simulation results demonstrate the validity of improved control method.