基于重复-自抗扰控制的航空光电稳定平台控制系统设计

doi:10.13229/j.cnki.jdxbgxb201506028

吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1924-1932.doi: 10.13229/j.cnki.jdxbgxb201506028

基于重复-自抗扰控制的航空光电稳定平台控制系统设计

魏伟^1，2，戴明¹，李嘉全¹，毛大鹏¹，王昊^1，2

1.中国科学院长春光学精密机械与物理研究所航空光学成像与测量重点实验室,长春 130033;
2.中国科学院大学长春光学精密机械与物理研究所研究生部,长春 130033

收稿日期:2014-03-13 出版日期:2015-11-01 发布日期:2015-11-01
通讯作者: 戴明(1965-),男,研究员,硕士.研究方向:动机座稳定技术.E-mail:daim@vip.163.com
作者简介:魏伟(1987-),男,博士.研究方向:航空光电稳定平台视轴稳定技术.E-mail:451123977@qq.com
基金资助:
“973”国家重点基础研究发展计划项目(2009CB72400603B); “863”国家高技术研究发展计划项目(2008AA121803)

Design of airborne opto-electric platform control system based on ADRC and repetitive control theory

WEI Wei^1,2, DAI Ming¹, LI Jia-quan¹, MAO Da-peng¹, WANG Hao^1,2

1.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033,China;
2.Postgraduate Department of Changchun Institute of Optics,Fine Mechanicsand Physics, University of Chinese Academy of Sciences, Changchun 130033,China

Received:2014-03-13 Online:2015-11-01 Published:2015-11-01

摘要/Abstract

摘要： 分析了航空光电稳定平台模型并利用电流环使平台模型简化为K/s。阐述了影响平台稳定性的扰动以及抑制扰动的方法。介绍了平方滞后超前控制原理及其优缺点。根据重复控制器以及自抗扰控制器的优点,将它们组合搭建控制系统,并在振动平台上进行速度稳定和目标跟踪试验。结果表明:与传统的控制器相比,用本文控制方法得出的扰动隔离度至少提高了6.28 dB;所设计的系统在符合工程需求的范围内,具有很强的实用性和鲁棒性,对实际工程控制器设计具有一定的参考价值。

关键词: 飞行器控制系统, 平方滞后超前控制, 重复控制, 自抗扰控制, 扰动隔离度

Abstract: The airborne opto-electric stable platform model was analyzed and simplified to K/s with current loop. The disturbance to the platform stability and the disturbance rejection method were illustrated. The traditional square lag-lead compensation method, its strengths and weaknesses were introduced. The repetitive controller and Active Disturbance Rejection Controller (ADRC) were described. A repetitive controller and a two stage ADRC were designed, which were integrated into a new controller system taking the advantages of both. Speed stability experiment and target tracking experiment were carried out on a vibration platform. Results show that compared with conventional controllers, the proposed controller improves the disturbance isolation by 6.28 dB at least. On all accounts, the proposed control system has strong robustness, observably improves the disturbance isolation of the opto-electric platform and can provide guide for engineering applications.

Key words: aircraft control system, square lag-lead control, repetitive control, auto/active disturbance rejection control(ADRC), isolation degree of disturbance

中图分类号:

TP273

魏伟，戴明，李嘉全，毛大鹏，王昊. 基于重复-自抗扰控制的航空光电稳定平台控制系统设计[J]. 吉林大学学报(工学版), 2015, 45(6): 1924-1932.

WEI Wei, DAI Ming, LI Jia-quan, MAO Da-peng, WANG Hao. Design of airborne opto-electric platform control system based on ADRC and repetitive control theory[J]. 吉林大学学报(工学版), 2015, 45(6): 1924-1932.

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基于重复-自抗扰控制的航空光电稳定平台控制系统设计

Design of airborne opto-electric platform control system based on ADRC and repetitive control theory

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