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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