Active Disturbance Rejection Control Through Model Modification for Photoelectric Stabilized Platform
The photoelectric stabilized platform(PSP)is easily affected by disturbances such as friction and carrier motion attitude change,which reduces the stability accuracy.To solve this problem,an active disturbance rejection control through model modification(MMADRC)method is proposed in this paper.According to the parameter information of the PSP model obtained from the system identification,a model extended state observer is designed to accurately estimate the each order state variables of the system.In the control law,the total disturbance is compensated,and the object controlled model is transformed into an ac-curate identification model.Based on the identification model,the error feedback controller is designed to realize the stable control of the PSP.The experimental results show that:the MMADRC method has better tracking performance in the low-speed tracking of sinusoidal signal,and the stability accuracy of the MMADRC method is significantly improved for the velocity disturbance caused by the carrier motion.Thus,the good performance of the proposed method in speed tracking and disturbance suppression of the PSP is verified.
NETL
NSTL
万方数据
维普
