电测与仪表2018，Vol.55Issue(5)：75-80,6.
基于自抗扰控制器的稳定平台控制策略研究
Control strategy research of stabilized platform based on active disturbance rejection controller (ADRC)
摘要
Abstract
Sailing in the ocean,ships suffered from the surge and the other disturbances,which would affect the stability of the carrier,this paper 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 the standard system of integrator series,and the system estimates and actively compensates the total disturbance,which affects the position of platform,so as to suppress the influence of disturbance.The experimental data indicates that the delay time in the strategy of ADRC controllers which is used to design the position loop is 60 ms,when following the 1Hz location instruction,for the disturbance of 2 Hz ～20 Hz,and 5°amplitude,the highest peak of response curve is 0.7°.Compared with the stabilized platform of the same tricyclic cascade controller that the position loop adopts PID,the delay time reduces 40 ms,and ability of disturbance rejection increases by 0.8 °关键词
稳定平台/自抗扰控制器/抑制扰动Key words
stabilized platform/active disturbance rejection controller (ADRC)/disturbance rejection分类
信息技术与安全科学引用本文复制引用
林海军,杨兆鹏,王贺,李莉..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):75-80,6.基金项目
哈尔滨市科技成果转化资助项目(ZX2014ZC009013) （ZX2014ZC009013）
