Study on ADRC based boresight stabilized technology of photoelectric platform

Fang Yuchao; Li Mengxue; Che Ying

doi:10.3788/IRLA201847.0317005

Volume 47 Issue 3

Apr. 2018

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Fang Yuchao, Li Mengxue, Che Ying. Study on ADRC based boresight stabilized technology of photoelectric platform[J]. Infrared and Laser Engineering, 2018, 47(3): 317005-0317005(9). doi: 10.3788/IRLA201847.0317005

Citation:

Fang Yuchao, Li Mengxue, Che Ying. Study on ADRC based boresight stabilized technology of photoelectric platform[J]. Infrared and Laser Engineering, 2018, 47(3): 317005-0317005(9). doi: 10.3788/IRLA201847.0317005

Study on ADRC based boresight stabilized technology of photoelectric platform

doi: 10.3788/IRLA201847.0317005

1.
College of Photoelectric Engineering,Changchun University of Science and Technology,Changchun 130022 China;
2.
College of Automobile Application,Changchun Automobile Industry Insititute,Changchun 130013,China

Received Date: 2017-10-05
Rev Recd Date: 2017-11-03
Publish Date: 2018-03-25

Abstract

According to the factors of velocity disturbance of the carrier and measurement noise that affected control accuracy of the photoelectric platform, two control strategies of active disturbance rejection control(ADRC) and filtering control were designed. Firstly, the law of disturbance in the mathematical model of velocity stabilized loop of servo control system for the photoelectric platform was analyzed, the disturbances equivalent was made and the notion of general disturbances was proposed, and then the ADRC controller based on reduced-order extended state observer(ESO) was designed. Furthermore, Kalman filter was used to process the measurement noise in the system, thus the error of estimation of the ESO was reduced. Finally, was conducted thoroughly the contrast tests between the traditional PI control system with the Kalman-ADRC control system designed in this paper. The experimental results demonstrate that, with the same designed bandwidth, the stabilization time of step response of the Kalman-ADRC control system is reduced by 32.53% and the overshoot amplitude is reduced by 72.73% compared with the PI control system; when using swing table to introduce a sinusoidal disturbance with an amplitude of 1 and a frequency of less than 2.5 Hz, the disturbance isolation degree of the Kalman-ADRC control system gains an increase of 54.67%compared with the PI control system; when the parameters of the system model varied within the range of 15%, the Kalman-ADRC control system still has an excellent performance in disturbance isolation degree, presenting strong robustness. It is thus concluded that the Kalman-ADRC control system can meet the boresight stabilized performance requirements of the photoelectric platform, and has great practical value in improving the accuracy of boresight stabilization.
- photoelectric platform,
- reduced-order ESO,
- Kalman filtering,
- disturbance isolation

References

[1]	Cong Shuang, Sun Liguang, Deng Ke, et al. Active disturbance rejection and filter control of gyro-stabilized platform[J]. Opt Precision Eng, 2016, 24(1):169-177. (in Chinese)丛爽, 孙立光, 邓科, 等. 陀螺稳定平台扰动的自抗扰及其滤波控制[J]. 光学精密工程, 2016, 24(1):169-177.
[2]	Zuo Yujia, Bai Guanbing, Liu Jinghong, et al. Two-UAV intersection localization based on the airborne optoelectronic platform[J]. Acta Photonica Sinica, 2017, 46(9):146-156. (in Chinese)左羽佳, 白冠冰, 刘晶红, 等. 基于机载光电平台的双机交会定位方法[J].光子学报,2017, 46(9):146-156.
[3]	Li Xiangxu, Zhang Zengke, Jiang Min. Design and simulation of a fuzzy-PID composite controller for dual DOF stabilized platform[J]. Electronics Optics Control,2010, 17(1):69-72. (in Chinese)李向旭, 张曾科, 姜敏. 两轴稳定平台的模糊-PID复合控制器设计与仿真[J]. 电光与控制, 2010, 17(1):69-72.
[4]	Pei Xuehong. Improved PID control based on RBF neural network[D]. Harbin:Harbin University of Science and Technology, 2010. (in Chinese)裴雪红. 基于改进RBF神经网络的PID控制[D]. 哈尔滨:哈尔滨理工大学, 2010.
[5]	Liu Di, Tang Yonghong, Wang Jing, et al. PID control algorithm based on improved BP neural network[J]. Ordnance Industry Automation, 2010, 29(3):28-32. (in Chinese)刘迪, 唐永红, 王晶, 等. 基于改进型BP神经网络的PID控制算法[J]. 兵工自动化, 2010, 29(3):28-32.
[6]	Li Jiaquan, Ding Ce, Kong Dejie, et al. Velocity based disturbance observer and its application to photoelectric stabilized platform[J]. Opt Precision Eng, 2011, 19(5):998-1004. (in Chinese)李嘉全, 丁策, 孔德杰, 等. 基于速度信号的扰动观测器及在光电稳定平台的应用[J]. 光学精密工程, 2011, 19(5):998-1004.
[7]	Li Ying, Ge Wenqi, Wang Shaobin, et al. Adaptive inverse control of stable platform[J]. Opt Precision Eng, 2009, 17(11):2744-2749. (in Chinese)李英, 葛文奇, 王绍彬, 等. 稳定平台的自适应逆控制[J]. 光学精密工程, 2009, 17(11):2744-2749.
[8]	Yang Pu, Li Qi. Nonlinear friction grey sliding mode control for gyro stabilized platform[J]. Systems Engineering and Electronics, 2008, 30(7):1328-1332. (in Chinese)杨蒲, 李奇. 陀螺稳定平台非线性摩擦的灰色滑模控制[J]. 系统工程与电子技术, 2008, 30(7):1328-1332.
[9]	Han Jingqing. Active Disturbance Rejection Control Technology-the Technology for Estimating and Compensating the Uncertainties[M]. Beijing:National Defense Industry Press, 2008:183-287. (in Chinese)韩京清. 自抗扰控制技术估计补偿不确定因素的控制技术[M]. 北京:国防工业出版社, 2008:183-287.
[10]	Wei Wei. The research of optical axis stabilization of the airborne photoelectric platform[D]. Changchun:University of Chinese Academy of Sciences (Changchun Institute of Optics, Fine Mechanics and Physics), 2015. (in Chinese)魏伟. 高精度机载光电平台视轴稳定技术研究[D]. 长春:中国科学院大学(长春光学精密机械与物理研究所), 2015.
[11]	Li Xiantao, Zhang Bao, Shen Honghai. Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC[J]. Opt Precision Eng, 2014, 22(8):2223-2231. (in Chinese)李贤涛, 张葆, 沈宏海. 基于自抗扰控制技术提高航空光电稳定平台的扰动隔离度[J]. 光学精密工程, 2014, 22(8):2223-2231.
[12]	Gao Z Q. A paradigm shift in feedback control system design[C]//Proceedings of the American Control Conference, 2009:2451-2457.
[13]	Shao Xingling, Wang Honglun. Performance analysis on linear extended state observer and its extension case with higher extended order[J]. Control and Decision, 2015, 30(5):815-822. (in Chinese)邵星灵, 王宏伦. 线性扩张状态观测器及其高阶行驶的性能分析[J]. 控制与决策, 2015, 30(5):815-822.

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通讯作者: 陈斌, bchen63@163.com

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沈阳化工大学材料科学与工程学院沈阳 110142

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Study on ADRC based boresight stabilized technology of photoelectric platform

1. College of Photoelectric Engineering,Changchun University of Science and Technology,Changchun 130022 China;

2. College of Automobile Application,Changchun Automobile Industry Insititute,Changchun 130013,China

Received Date: 2017-10-05

Rev Recd Date: 2017-11-03

Publish Date: 2018-03-25

Key words:

Abstract: According to the factors of velocity disturbance of the carrier and measurement noise that affected control accuracy of the photoelectric platform, two control strategies of active disturbance rejection control(ADRC) and filtering control were designed. Firstly, the law of disturbance in the mathematical model of velocity stabilized loop of servo control system for the photoelectric platform was analyzed, the disturbances equivalent was made and the notion of general disturbances was proposed, and then the ADRC controller based on reduced-order extended state observer(ESO) was designed. Furthermore, Kalman filter was used to process the measurement noise in the system, thus the error of estimation of the ESO was reduced. Finally, was conducted thoroughly the contrast tests between the traditional PI control system with the Kalman-ADRC control system designed in this paper. The experimental results demonstrate that, with the same designed bandwidth, the stabilization time of step response of the Kalman-ADRC control system is reduced by 32.53% and the overshoot amplitude is reduced by 72.73% compared with the PI control system; when using swing table to introduce a sinusoidal disturbance with an amplitude of 1 and a frequency of less than 2.5 Hz, the disturbance isolation degree of the Kalman-ADRC control system gains an increase of 54.67%compared with the PI control system; when the parameters of the system model varied within the range of 15%, the Kalman-ADRC control system still has an excellent performance in disturbance isolation degree, presenting strong robustness. It is thus concluded that the Kalman-ADRC control system can meet the boresight stabilized performance requirements of the photoelectric platform, and has great practical value in improving the accuracy of boresight stabilization.

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Reference (13)

[1]	Cong Shuang, Sun Liguang, Deng Ke, et al. Active disturbance rejection and filter control of gyro-stabilized platform[J]. Opt Precision Eng, 2016, 24(1):169-177. (in Chinese)丛爽, 孙立光, 邓科, 等. 陀螺稳定平台扰动的自抗扰及其滤波控制[J]. 光学精密工程, 2016, 24(1):169-177.
[2]	Zuo Yujia, Bai Guanbing, Liu Jinghong, et al. Two-UAV intersection localization based on the airborne optoelectronic platform[J]. Acta Photonica Sinica, 2017, 46(9):146-156. (in Chinese)左羽佳, 白冠冰, 刘晶红, 等. 基于机载光电平台的双机交会定位方法[J].光子学报,2017, 46(9):146-156.
[3]	Li Xiangxu, Zhang Zengke, Jiang Min. Design and simulation of a fuzzy-PID composite controller for dual DOF stabilized platform[J]. Electronics Optics Control,2010, 17(1):69-72. (in Chinese)李向旭, 张曾科, 姜敏. 两轴稳定平台的模糊-PID复合控制器设计与仿真[J]. 电光与控制, 2010, 17(1):69-72.
[4]	Pei Xuehong. Improved PID control based on RBF neural network[D]. Harbin:Harbin University of Science and Technology, 2010. (in Chinese)裴雪红. 基于改进RBF神经网络的PID控制[D]. 哈尔滨:哈尔滨理工大学, 2010.
[5]	Liu Di, Tang Yonghong, Wang Jing, et al. PID control algorithm based on improved BP neural network[J]. Ordnance Industry Automation, 2010, 29(3):28-32. (in Chinese)刘迪, 唐永红, 王晶, 等. 基于改进型BP神经网络的PID控制算法[J]. 兵工自动化, 2010, 29(3):28-32.
[6]	Li Jiaquan, Ding Ce, Kong Dejie, et al. Velocity based disturbance observer and its application to photoelectric stabilized platform[J]. Opt Precision Eng, 2011, 19(5):998-1004. (in Chinese)李嘉全, 丁策, 孔德杰, 等. 基于速度信号的扰动观测器及在光电稳定平台的应用[J]. 光学精密工程, 2011, 19(5):998-1004.
[7]	Li Ying, Ge Wenqi, Wang Shaobin, et al. Adaptive inverse control of stable platform[J]. Opt Precision Eng, 2009, 17(11):2744-2749. (in Chinese)李英, 葛文奇, 王绍彬, 等. 稳定平台的自适应逆控制[J]. 光学精密工程, 2009, 17(11):2744-2749.
[8]	Yang Pu, Li Qi. Nonlinear friction grey sliding mode control for gyro stabilized platform[J]. Systems Engineering and Electronics, 2008, 30(7):1328-1332. (in Chinese)杨蒲, 李奇. 陀螺稳定平台非线性摩擦的灰色滑模控制[J]. 系统工程与电子技术, 2008, 30(7):1328-1332.
[9]	Han Jingqing. Active Disturbance Rejection Control Technology-the Technology for Estimating and Compensating the Uncertainties[M]. Beijing:National Defense Industry Press, 2008:183-287. (in Chinese)韩京清. 自抗扰控制技术估计补偿不确定因素的控制技术[M]. 北京:国防工业出版社, 2008:183-287.
[10]	Wei Wei. The research of optical axis stabilization of the airborne photoelectric platform[D]. Changchun:University of Chinese Academy of Sciences (Changchun Institute of Optics, Fine Mechanics and Physics), 2015. (in Chinese)魏伟. 高精度机载光电平台视轴稳定技术研究[D]. 长春:中国科学院大学(长春光学精密机械与物理研究所), 2015.
[11]	Li Xiantao, Zhang Bao, Shen Honghai. Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC[J]. Opt Precision Eng, 2014, 22(8):2223-2231. (in Chinese)李贤涛, 张葆, 沈宏海. 基于自抗扰控制技术提高航空光电稳定平台的扰动隔离度[J]. 光学精密工程, 2014, 22(8):2223-2231.
[12]	Gao Z Q. A paradigm shift in feedback control system design[C]//Proceedings of the American Control Conference, 2009:2451-2457.
[13]	Shao Xingling, Wang Honglun. Performance analysis on linear extended state observer and its extension case with higher extended order[J]. Control and Decision, 2015, 30(5):815-822. (in Chinese)邵星灵, 王宏伦. 线性扩张状态观测器及其高阶行驶的性能分析[J]. 控制与决策, 2015, 30(5):815-822.

Study on ADRC based boresight stabilized technology of photoelectric platform

doi: 10.3788/IRLA201847.0317005

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References

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