林海军,杨兆鹏,王贺.基于自抗扰控制器的稳定平台控制策略研究[J].电测与仪表,2018,55(5):75-80. Lin Haijun,Yang Zhaopeng,Wang He.The Control Strategy Research of an Active Disturbance Rejection Controller (ADRC) on Stabilized System[J].Electrical Measurement & Instrumentation,2018,55(5):75-80.
基于自抗扰控制器的稳定平台控制策略研究
The Control Strategy Research of an Active Disturbance Rejection Controller (ADRC) on Stabilized System
Sailing in the ocean, ships suffered from the surge and the other disturbances, which would affect the stability of the carrier, this article studied the control strategy in order to improve the control accuracy and the ability of disturbance rejection .Control system of the three-loop cascade stabilized platform is designed to control the second order controlled object and realizes the prediction and compensation of platform position through the second-order ADRC controller of the position loop. The stabilized platform control system is regarded as "integrator series" standard system, the system estimates and compensates the "total disturbance ", which affects the position of platform, suppresses the influence of disturbance. The experimental data indicates that the delay time in the strategy of ADRC controllers which is used to designed the position loop is 60ms,when following the 1Hz location instruction, for the disturbance of 2~20Hz,and 5°amplitude ,the highest peak of response curve is 0.7°.Compared the same tricyclic cascade controller that the position loop adopts PID ,the delay time reduces 40 ms,and ability of disturbance rejection increased by 0.8 °.
