惯性稳定平台扩张状态观测器/PD复合控制

为提高惯性稳定平台控制系统的稳定精度,在常规PID控制的基础上提出了一种扩张状态观测器与PID相结合的复合控制算法。利用扩张状态观测器将惯性稳定平台的各种内部扰动和外部扰动都视为总和扰动并观测出来,然后通过PID控制器进行误差反馈控制,从而提高控制系统的扰动抑制能力与稳定精度。以Lu Gre摩擦模型加入控制模型进行仿真分析,并通过北航自研的惯性稳定平台进行实验验证。结果表明:扩张状态观测器/PD复合控制方法具有高的扰动抑制能力,可显著提高稳定平台稳定精度。相比常规PID方法,扩张状态观测器/PD复合控制使横滚框和俯仰框的稳定精度分别提高了33.23%和55.01%。

Extended state observer/PID compound control for inertially stabilized platform

In order to improve the stability of inertial stabilized platform (ISP) control system for airborne remote sensing,a composite control algorithm combining the extended state observer (ESO) and PID is proposed.By using the ESO,all the internal and external disturbances are taken as the summed disturbances and measured out,and then the error feedback control is implemented by PID controller to improve the disturbance rejection ability and the stability accuracy of the control system.Simulations and experiments are conducted to verify the proposed method.In simulations,the LuGre friction model is introduced to represent the main disturbance;and in experiments,a self-developed three-axis ISP is applied.Experimental results show that the ESO/PD composite controller has excellent disturbances rejection ability and can significantly improve the stabilization accuracy of ISP.The RMS errors of the roll and pitch system by the ESO/PD method are decreased by 33.23％ and 55.01％ respectively compared to those by conventional PID controller.