光电测量设备线性自抗扰跟踪控制研究
Research on Linear Autodisturbance Rejection Tracking Control of Optoelectronic Measurement Equipment
赵巨波 1彭程 2蔡立华2
作者信息
- 1. 92941部队,辽宁葫芦岛 125000
- 2. 中国科学院长春光学精密机械与物理研究所,吉林长春 130000
- 折叠
摘要
为了实现光电测量设备的精确跟踪控制,考虑模型参数不确定性、外界扰动等因素,从实际靶场应用角度出发,提出了双闭环PD与线性自抗扰(LADRC)相结合的跟踪控制方法.首先建立光电跟踪控制系统数学模型,设计外环PD位置控制器与内环LADRC速度控制器,搭建线性扩张状态观测器实现对系统总扰动的实时估计.通过仿真对比实验验证了PD-LADRC控制策略的有效性.结果表明:在正弦引导跟踪下基于PD-LADRC算法设备稳态误差≤0.469′,随机误差均方根值≤18.9″,具有准确的跟踪控制精度和良好的抗扰动能力.
Abstract
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.
关键词
光电测量设备/光电跟踪控制系统/线性自抗扰/不确定性/线性扩张状态观测器Key words
photoelectric measurement equipment/photoelectric tracking control system/linear active disturbance rejection control/uncertainty/linear extended state observer引用本文复制引用
出版年
2024
NETL
NSTL
万方数据