为了提高车载光电稳定平台的抗干扰特性, 在传统PID算法的基础上, 应用自抗扰控制(ADRC)的核心部分扩张状态观测器(ESO)来实现对扰动的估计和补偿。通过仿真和试验验证ESO对阶跃干扰和正弦干扰抑制效果, 表明PID+ESO算法对扰动的补偿效果相对于PID算法提高了40%。该方法简单、有效, 易于实现, 具有较强的工程应用价值。

In order to improve the anti-jamming characteristics of the vehicle photoelectric stabilization platform, based on the traditional PID algorithm, the extended state observer (ESO), the core part of the active disturbance rejection control (ADRC) is applied to realize the estimation and compensation of the disturbance. With comparison of rejection effect for step and sinusoidal disturbance, simulation and experimental results show that the compensation effect of PID+ESO algorithm on disturbance is 40% higher than that of PID algorithm. The method adopted in this paper is simple, effective and easy to implement, and has strong engineering application value.