Research on Linear Autodisturbance Rejection Tracking Control of Optoelectronic Measurement Equipment
To achieve precise tracking control for photoelectric measurement equipment,considering factors such as model parameter uncertainty and external disturbances,a tracking control method combining dual-closed-loop PD(Proportional-Derivative)and Linear Active Disturbance Rejection Control(LADRC)is proposed from the perspective of practical range applications.Firstly,a mathematical model of the photoelectric tracking control system is established,and an outer-loop PD position controller and an inner-loop LADRC speed controller are designed.A linear extended state observer is constructed to realize real-time estimation of the system's total disturbances.The effectiveness of the PD-LADRC control strategy is verified through simulation and comparative experiments.The results show that under sinusoidal guidance tracking,the steady-state error of the equipment based on the PD-LADRC algorithm is≤0.469′,and the root mean square value of random error is≤18.9″,demonstrating accurate tracking control precision and good disturbance rejection capability.
photoelectric measurement equipmentphotoelectric tracking control systemlinear active disturbance rejection controluncertaintylinear extended state observer
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