光电跟踪自抗扰控制技术研究

为了实现对快速运动目标高精度跟踪, 对光电跟踪系统中的自抗扰控制技术进行了研究。根据速度闭环传递函数, 利用三阶非线性扩张观测器估计系统状态变量, 实现对不确定性因素的补偿, 通过改变位置环被控对象传递函数提高系统的跟踪精度。对系统进行仿真与实验研究, 分析自抗扰控制对光电跟踪系统动态和稳态性能的影响, 与PI控制相对比, 结果表明: 对于高速运动目标, 利用自抗扰控制技术可以将系统的跟踪精度提高7倍左右; 对于低速运动目标, 由于摩擦和系统噪声的影响, 系统的跟踪精度仅提高了4倍左右。若在控制回路中引入相位超前环节, 可以将系统的超调量降低40%, 进一步改善了系统的动态性能, 该技术的实现对于高精度跟踪控制的研究具有重要的应用价值。

Abstract

In order to solve the problem of tracking fast moving targets, the control technique based on active disturbance-rejection controller (ADRC) of photoelectric tracking was studied. A third-order nonlinear expansion observer was designed based on the speed closed-loop transfer function to achieve a compensation of uncertainties, and the tracking error was improved by transforming the position transfer function. The performance of ADRC was demonstrated by numerical simulation and experiments. Compared with PI controller, the ADRC method shows better performance in the steady-state tracking error, the results indicate that the tracking error is improved by 7 times while the system tracks fast moving targets. Because of friction and noise, the tracking error is only improved by 4 times while the system tracks low moving targets; If phase compensation is introduced in control loops, the overshoot will decline by 40%, which shows higher practical value for the study of high-precision tracking control system.

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