机动平台光电跟踪系统的自抗扰控制研究

针对机动平台光电跟踪系统跟踪目标需具备较强动态抗扰能力的问题，提出了一种将包含了非线性跟踪微分器、扩张状态观测器、非线性状态误差反馈三个环节的结构完整的自抗扰控制器用于光电跟踪伺服系统的速度环的思路。针对某单轴稳定转台设计了二阶自抗扰控制器，并进行了仿真研究。结果表明，该控制器对外扰变化及系统模型不确定性具有良好的鲁棒性和适应性，且能有效抑制系统中存在的非线性因素的影响。

Research on Active Disturbance Rejection Control of Optoelectronic Tracking System Based on Mobile Platform

Optoelectronic tracking systems based on mobile platform should have stronger dynamic anti-disturbance ability for tracking target accurately.Full-structured active disturbance rejection controller(ADRC) which includes nonlinear tracking differentiation(NTD),extended state observer(ESO) and nonlinear state error feedback(NLSEF),is applied to the speed-loop of an optoelectronic tracking system.On basis of analyzing its principle of active disturbance rejection,a two-order ADRC for a single-axis stabilized turntable is designed.The results of simulation show that ADRC has fine robustness and adaptability versus external disturbance variation and model uncertainty.It can inhibit the effect of nonlinear factors existing in system.Using ADRC can improve the shortage of anti-disturbance ability in current control technique for speed-loop.It achieves a better speed response without overshooting.Compared with the traditional PI controller,the stable tracking and disturbance rejection abilities have obviously improved.