光学 精密工程, 2014, 22 (8): 2223, 网络出版: 2014-09-15
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
Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC
航空光电稳定平台 自抗扰控制器 扩张状态观测器 扰动补偿 扰动隔离度 电流环 aerial photoelectrical stabilized platform active disturbance rejection controller extended state observer disturbance compensation isolation degree of disturbance current loop
摘要
提出一种基于电流环的自抗扰控制新方法以进一步提高航空光电稳定平台的抗干扰能力。首先,利用电流环将硬件电路中复杂的电机模型简化为一阶模型,从而减小了由于参数过大噪声对扰动观测值的影响;然后,采用带宽单参数化的设计方法为简化后的一阶系统设计了扩张状态观测器及带扰动补偿的控制规律;最后,在飞行模拟转台中测试了自抗扰控制器对2.5 Hz以内任意频率扰动的抑制能力,并与目前航空光电稳定平台中常用的平方滞后超前校正方法进行了对比。实验结果表明:与传统的平方滞后超前控制器相比,采用自抗扰控制器后系统的扰动隔离度至少提高了6.56 dB;而且随着扰动频率大于0.5 Hz,自抗扰控制器的扰动抑制能力更为明显,扰动隔离度最多可提高12.03 dB。同时,自抗扰控制器具有很强的鲁棒性,允许被控对象参数在15%的范围内任意变化,可满足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。
Abstract
A new Active Disturbance-rejection Controller(ADRC) based on a current loop was proposed to improve the isolation degree of disturbance for an aerial photoelectrical stabilized platform. First, the structure diagram of a dc torque motor was simplified to a first-order model by the current loop to avoid the influence of noise from the parameters on disturbance observation values. And then, based on bandwidth parameterization, an extended state observer and the control law with disturbance compensation were designed. Finally, an experiment was performed to test the disturbance rejection performance of the ADRC at the speed disturbance from 0.1 Hz to 2.5 Hz and to compare with the traditional square lag-lead compensation method. Experiment results show that the ADRC can reduce the disturbance error by 6.56 dB at least. The isolation degree of disturbance is improved obviously when the perturbation frequency is more than 0.5 Hz, and the best isolation degree of disturbance is increased by 12.03 dB. Moreover, the ADRC have strong robustness, allowing the range of system parameters to change in 15%. In conclusion, the ADRC based on current loop satisfies the performance requirements of aerial photoelectrical stabilized platforms and has higher practical values.
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. LI Xian-tao, ZHANG Bao, SHEN Hong-hai. Improvement of isolation degree of aerial photoelectrical stabilized platform based on ADRC[J]. Optics and Precision Engineering, 2014, 22(8): 2223.