精确模型辨识的光电平台自抗扰控制器

发布时间：2018-01-15 10:37

本文关键词：精确模型辨识的光电平台自抗扰控制器　出处：《红外与激光工程》2017年09期 　论文类型：期刊论文

【摘要】：针对实际工程中的复杂光电平台对控制精度要求越来越高的需求,提出一种依据系统精确模型辨识方法的自抗扰控制器设计方法。考虑机械谐振和摩擦因素,建立光电载荷控制系统精确数学模型,并根据系统输入输出特性辨识系统的数学模型参数,在所辨识模型的基础上设计自抗扰控制器。以某型光电跟踪平台为例,设计了4阶跟踪微分器,5阶扩张状态观测器和非线性状态偏差反馈控制律组合的自抗扰控制器。在Matlab/simulink中建立系统仿真平台,对PID控制器和自抗扰控制器进行仿真对比,结果表明,采用自抗扰控制器的系统超调由1.8%减小到0.9%,系统最大跟踪误差由0.03(°)/s减小到0.013(°)/s,超调更小,响应时间更快,抗扰动能力更强。
[Abstract]:In view of the increasing demand for the control precision of the complex optoelectronic platform in practical engineering, a design method of the ADRC based on the accurate model identification method of the system is proposed. The mechanical resonance and friction factors are taken into account. The accurate mathematical model of optoelectronic load control system is established, and the mathematical model parameters of the system are identified according to the input and output characteristics of the system. Based on the identified model, an active disturbance rejection controller is designed. Taking a photoelectric tracking platform as an example, a 4-order tracking differentiator is designed. An active disturbance rejection controller based on the combination of the 5th order extended state observer and the nonlinear state deviation feedback control law is proposed. The system simulation platform is established in Matlab/simulink. The simulation results of PID controller and ADRC show that the overshoot of the system using ADRC is reduced from 1.8% to 0.9%. The maximum tracking error of the system is reduced from 0.03 (掳/ s) to 0.013 (掳/ s). The overshoot is smaller, the response time is faster and the anti-disturbance ability is stronger.
【作者单位】：天津津航技术物理研究所;
【基金】：国家高分专项某项目
【分类号】：TP273;V249.1
【正文快照】： 0引言航空高端光电载荷分辨率越来越高,已达μrad量级[1-2],传统线性PID控制已难于满足控制精度愈来愈高的需求,因此需采用非线性控制技术。自抗扰控制器(ADRC)是由中国科学院韩京清研究员最早提出的新型控制策略[3]。其优点是不需要精确地掌握被控系统的数学模型,同时又有较

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