李贤涛, 张葆, 孙敬辉, 毛大鹏, 柏旭光, 沈宏海. 航空光电稳定平台扰动频率自适应的自抗扰控制[J]. 红外与激光工程, 2014, 43(5): 1574-1581.
引用本文: 李贤涛, 张葆, 孙敬辉, 毛大鹏, 柏旭光, 沈宏海. 航空光电稳定平台扰动频率自适应的自抗扰控制[J]. 红外与激光工程, 2014, 43(5): 1574-1581.
Li Xiantao, Zhang Bao, Sun Jinghui, Mao Dapeng, Bai Xuguang, Shen Honghai. ADRC based on disturbance frequency adaptive of aerial photoelectrical stabilized platform[J]. Infrared and Laser Engineering, 2014, 43(5): 1574-1581.
Citation: Li Xiantao, Zhang Bao, Sun Jinghui, Mao Dapeng, Bai Xuguang, Shen Honghai. ADRC based on disturbance frequency adaptive of aerial photoelectrical stabilized platform[J]. Infrared and Laser Engineering, 2014, 43(5): 1574-1581.

航空光电稳定平台扰动频率自适应的自抗扰控制

ADRC based on disturbance frequency adaptive of aerial photoelectrical stabilized platform

  • 摘要: 为了进一步提高光电稳定侦查平台的抗干扰能力,文中提出一种基于扰动频率自适应的自抗扰控制新方法。首先,基于带宽单参数化的设计方法,设计了扰动频率自适应的扩张状态观测器,从而解决了传统扩张状态观测器对二阶及二阶以上系统扰动观测存在明显相位滞后的影响;然后,设计了带扰动补偿的控制规律;最后,在模拟飞行器中以2.5 Hz 以内任意频率扰动的作用下,测试其抗扰动的性能。实验结果表明:对比于传统的平方滞后超前控制器,采用于扰动频率自适应的自抗扰控制器,系统的扰动隔离度至少提高6.72 dB,且随着扰动频率大于0.5 Hz,扰动隔离度的提高更为明显,最优情况已达到12.94 dB;同时,该控制器具有很强的鲁棒性,允许被控对象参数在10%的范围内浮动,满足高精度光电稳定平台的性能要求,具有较高的实用价值。

     

    Abstract: In order to improve isolation degree of disturbance, a new active disturbance -rejection controller based on disturbance frequency adaptive was proposed. Firstly, the ESO based on disturbance frequency adaptive was designed in order to avoid phase lag when ESO observed the disturbance in the second-order and more second-order system. And then, the controller was designed. Finally, an experiment was performed to test the disturbance rejection performance of the ADRC based on disturbance frequency adaptive when the speed disturbance was from 0.1 Hz to 2.5 Hz as compared with the traditional square lag-lead compensation method. The results show that ADRC can reduce the disturbance error 6.72 dB at least. And the isolation degree of disturbance was improved obviously when the perturbation frequency was more than 0.5 Hz, the best isolation degree of disturbance was increased 12.94 dB. And the ADRC had strong robustness, allowing system parameters to range from-10% to 10%. In conclusion, the ADRC based on disturbance frequency adaptive satisfies the performance requirements of aerial photoelectrical stabilized platform and has higher practical value.

     

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