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

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

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.