针对半捷联两轴导引头稳定平台，研究了稳定平台的扰动抑制及稳定跟踪功能的实现。对平台进行了系统分析与建模，梳理了系统特性; 从控制需求、被控对象特点、控制技术现状等方面权衡，阐述了选取自抗扰控制技术的原因，概括了自抗扰控制技术的优势。按照跟踪微分器、扩张状态观测器、非线性状态误差反馈控制律、扰动估计补偿等四大模块，设计控制器并给出了参数整定情况。以传统PID控制为对比，仿真验证了本控制器的性能效果，通过阶跃响应验证抑制扰动效果，输入正弦信号验证稳定跟踪效果，利用蒙特卡罗方法验证被控对象模型参数在基准值上下20%摄动时的控制系统的鲁棒性。实验表明，本控制器抑制扰动效果明显优于传统PID控制，跟踪误差较PID小50%以上，鲁棒性提升约1倍。

Based on the two-axis semi-strapdown stabilized platform, how to realize the functions of disturbance rejecting and stable tracking was researched. Analysis was made to the stabilized platform and the model was established. The reason for selecting Auto-Disturbance Rejection Control (ADRC) method was analyzed by comprehensively considering the factors of control requirements, controlled object characteristics and control technical state, and the advantages of ADRC were given. The controller was designed with four modules as tracking differentiator, extended state observer, nonlinear state error feedback control law, and disturbance estimation and compensation. The result of parameter adjusting was also presented. Simulation verified the effectiveness of the controller designed by comparing it with traditional PID. Step response verified the effect of disturbance rejection. Through inputting sine signal, the effect of stable tracking was tested. The method of Monte Carlo verified the robustness of the control system when the model parameters of controlled object fluctuated around the reference value by 20%. Simulation results show that: 1) The effect of disturbance rejection is obviously better than that of the traditional PID;and 2) The tracking error of this controller is only 50% of the PID, while the robustness doubled.