自抗扰控制器在陀螺稳定平台控制系统中的应用

发布时间：2018-06-11 21:31

本文选题：稳定平台 + PID　；参考：《电机与控制学报》2017年01期

【摘要】：重力仪陀螺稳定平台是一类难以获得精确模型的复杂非线性时变系统。以两框架直流伺服陀螺稳定平台为被控对象,在分析平台力矩传递原理的基础上,建立基于位置、转速和电流的三环控制系统传递函数模型;并结合自抗扰技术(ADRC)的特点,把系统的内外扰动看作总扰动,采用二阶ADRC控制器取代传统的位置、转速双闭环PID控制器,设计基于自抗扰控制器的稳定平台伺服控制系统。仿真和实验结果表明:基于自抗扰控制器的稳定平台控制系统不仅稳定精度高,而且具有较好的抗干扰性能,特别是系统模型参数变化等引起的不确定性干扰,有效提高了伺服系统的鲁棒性,满足了高精度重力仪稳定平台的性能要求。
[Abstract]:The gyroscope stabilized platform of gravimeter is a kind of complex nonlinear time-varying system which is difficult to obtain accurate model. Taking the two-frame DC servo gyroscope stabilized platform as the controlled object, the transfer function model of the three-loop control system based on position, speed and current is established on the basis of analyzing the torque transfer principle of the platform, and the characteristics of ADRC-based automatic disturbance rejection technology are combined. Taking the internal and external disturbance of the system as the total disturbance, the second order ADRC controller is used to replace the traditional position, and the rotational speed double closed loop pid controller is used to design the stable platform servo control system based on the auto disturbance rejection controller. The simulation and experimental results show that the stable platform control system based on ADRC not only has high stability accuracy, but also has good anti-interference performance, especially the uncertain disturbance caused by the variation of system model parameters. The robustness of servo system is improved effectively and the performance requirement of high precision gravimeter stabilized platform is satisfied.
【作者单位】：海军工程大学电气工程学院;
【基金】：国家自然科学基金(51307180) 国家重大科学仪器设备开发专项(2011YQ12004502)
【分类号】：TP273

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