| 引用本文: | 李锦英,付承毓,唐涛,李志俊,于伟.运动平台上光电跟踪系统的自抗扰控制器设计[J].控制理论与应用,2012,29(7):955~958.[点击复制] |
| LI Jin-ying,FU Cheng-yu,TANG Tao,LI Zhi-jun,YU Wei.Design of active disturbance-rejection controller for photoelectric tracking system on moving bed[J].Control Theory and Technology,2012,29(7):955~958.[点击复制] |
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| 运动平台上光电跟踪系统的自抗扰控制器设计 |
| Design of active disturbance-rejection controller for photoelectric tracking system on moving bed |
| 摘要点击 2687 全文点击 1534 投稿时间：2011-05-03 修订日期：2011-12-16 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.7.CCTA110475 |
| 2012,29(7):955-958 |
| 中文关键词 运动平台 光电跟踪系统 自抗扰控制 鲁棒性 扰动 |
| 英文关键词 moving bed photoelectric tracking system active disturbance-rejection control robustness disturbance |
| 基金项目 中国科学院重点实验室预研基金资助项目(A09K002). |
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| 中文摘要 |
| 针对运动平台上光电跟踪系统既要有很强的抗扰动性能, 又要能快速跟踪运动目标的特点, 设计了稳定平台的自抗扰控制器. 通过对闭环带宽的分析, 改进了自抗扰控制器的结构, 使闭环系统有较高的带宽. 设计了扩张状态观测器对平台的扰动进行观测、补偿, 并分析了系统鲁棒稳定性对扩张状态观测器的限制条件. 实验结果显示, 与采用PI控制相比, 自抗扰控制器的稳定跟踪能力和扰动抑制能力都有一定的提高. 其中, 对阶跃信号的稳态跟踪
误差不到PI的一半, 而在2 Hz附近扰动抑制比有6 dB的提高. |
| 英文摘要 |
| To meet the requirements of strong disturbance-rejection and fast response in tracking moving targets for photoelectric tracking system on the moving bed, we design an active disturbance-rejection controller (ADRC). After investigating the closed-loop bandwidth, we rebuild the structure of ADRC to ensure a wider bandwidth. An extended state observer (ESO) is designed to observe disturbances and compensate them. Restrictions on robust stability of ESO are analyzed. Compared with the PI controller, ADRC show better tracking and disturbance-rejection capabilities in experimental results. Particularly, the steady-state tracking error for step-input signal is less than half of that of PI, and the disturbance-rejection ratio is improved by 6 db around 2 Hz. |
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