光电经纬仪自抗扰控制方法

为提升光电经纬仪在跟踪时的响应速度和抗干扰能力， 提出一种基于观测器的自抗扰控制(active disturbance rejection control，ADRC)方法。对所有已知或未知的影响直流电机工作的干扰输入进行在线估计，并通 过适当的反馈控制法来补偿这些干扰；通过选取合适的观测器和控制器带宽参数，来实现良好的抗扰控制效果。仿 真结果表明：基于观测器的自抗扰控制方法能有效地提高直流电机对外部干扰和内部未知参数变化的鲁棒性，具有 工程应用前景。

Auto-disturbance-rejection Control Method for Photoelectric Theodolite

An observer-based active disturbance rejection control (ADRC) method is proposed to improve the response speed and anti-interference ability of photoelectric theodolite in tracking. All the known or unknown disturbances affecting the operation of the DC motor are estimated online, and these disturbances are compensated by appropriate feedback control methods. By selecting the appropriate observer and controller bandwidth parameters, a good anti-disturbance control effect is achieved. The simulation results show that the observer-based active disturbance rejection control method can effectively improve the robustness of the DC motor against external disturbances and internal unknown parameter changes, and has engineering application prospects.