基于自抗扰控制的光电平台视轴稳定技术研究

针对影响光电平台控制精度的载体速度扰动以及测量噪声等因素，设计了扰动自抗扰以及滤波控制的两部分控制策略。首先，通过分析光电平台伺服系统速度稳定环的数学模型中扰动作用原理，等效各个扰动作用并提出扰动总和思想，设计了基于降阶扩张状态观测器的自抗扰控制器。其次，利用卡尔曼滤波器对系统中测量噪声进行了滤波处理，降低了扩张状态观测器的估计误差。最后，详细地进行了传统PI控制系统与文中设计的卡尔曼自抗扰控制系统的对比实验。实验结果表明，在设计带宽相同的情况下，卡尔曼自抗扰控制系统相比PI控制系统的阶跃响应稳定时间减小32.53%，超调幅值减小72.73%；当使用摇摆台引入幅值为1频率、在2.5 Hz以内的正弦扰动时，卡尔曼自抗扰控制系统较PI控制系统的扰动隔离度提升了54.67%以上；在系统模型参数改变15%范围内，卡尔曼自抗扰控制系统仍具有优异的扰动隔离性能，表现出较强鲁棒性，满足光电平台视轴稳定的性能要求，对提升视轴稳定精度有较高实用价值。

Study on ADRC based boresight stabilized technology of photoelectric platform

According to the factors of velocity disturbance of the carrier and measurement noise that affected control accuracy of the photoelectric platform, two control strategies of active disturbance rejection control(ADRC) and filtering control were designed. Firstly, the law of disturbance in the mathematical model of velocity stabilized loop of servo control system for the photoelectric platform was analyzed, the disturbances equivalent was made and the notion of general disturbances was proposed, and then the ADRC controller based on reduced-order extended state observer(ESO) was designed. Furthermore, Kalman filter was used to process the measurement noise in the system, thus the error of estimation of the ESO was reduced. Finally, was conducted thoroughly the contrast tests between the traditional PI control system with the Kalman-ADRC control system designed in this paper. The experimental results demonstrate that, with the same designed bandwidth, the stabilization time of step response of the Kalman-ADRC control system is reduced by 32.53% and the overshoot amplitude is reduced by 72.73% compared with the PI control system; when using swing table to introduce a sinusoidal disturbance with an amplitude of 1 and a frequency of less than 2.5 Hz, the disturbance isolation degree of the Kalman-ADRC control system gains an increase of 54.67%compared with the PI control system; when the parameters of the system model varied within the range of 15%, the Kalman-ADRC control system still has an excellent performance in disturbance isolation degree, presenting strong robustness. It is thus concluded that the Kalman-ADRC control system can meet the boresight stabilized performance requirements of the photoelectric platform, and has great practical value in improving the accuracy of boresight stabilization.