ADRC Of The Inertial Platform Stabilizing Circuits Based On DSP

The inertial navigation system (INS) has a closed relationship with the development of navigation, aviation and spaceflight. And the stabilizing circuits are one of the most important parts in INS, which eliminate the disturbance and make the platform to follow the local level coordinate. The stabilization of the platform has a straight influence to the precision of the inertial navigation system, which leads to increasingly request for higher performance of stabilizing circuits. In a word, the stabilizing circuits for inertial platform require characteristics ofhigh response speed, strong anti-jamming and high accuracy.These years, as the quickly development and application of the active disturbance rejection controller (ADRC), which are based on the nonlinear control mechanism. The control scheme of the nonlinear ADRC is to treat unmodelled dynamic characteristics and unknown external disturbances of the plant as unknown disturbances, to use input and output data to estimate and compensate, and then to realize the dynamic feedback linearizaion of those dynamic systems with excellent adaptability and robustness. So the paper provided and designed the ADRC using DSP for the inertial platform stabilizing circuits. Its main content is as follows:1. Introduced the theory and components of stabilizing circuit, expatiated the functions in the inertial platform stabilizing circuits. Through the analysis of operation principle and physical structure, designed a mathematical model of un-mended system, and simplified the system based on it, obtained a standard control object, thus provided a foundation for designing ADRC subsequently.2. Studied the ADRC theory and design method. Silulation results show that the inertial platform stabilizing circuits can be designed with high response speed, strong anti-jamming and high accuracy. Compared with the classical PID control, double-loop control method using speed reverse feedback and other ADRC, the ADRC desighed here performances much better.3. Realized the design of digital controller. The DSP realization problems of the ADRC for the inertial platform stabilizing circuits are discussed, and the design scheme for the hardware frame of the DSP control system is introduced simply, and the software design proposal for the system realization which includes qualification, phase sensitive demodulation, digital filter, the algorithm for the ADRC and the creation for the PWM wave are realized. Those schemes are found to be feasible by simulation, and get to the perfect control effectiveness. The disturbances rejection and the code optimization are considered in the design of the software, and the ADRC for the inertial platform stabilizing circuits based on DSP is completed by the software realization.