Research On Active Disturbance Rejection Control Of Digital Aim-stabilization System

On the basis of a long-time and deep research on PID and modern control theory, the Active Disturbance Rejection Controller (ADRC) was invented by Han Jingqing, a researcher of System Science School of China academy of sciences. The controller has many merits such as simple arithmetic, easy-realized, highly precise, highly anti-interference, and so on. If applied to the aim-stabilization system successfully, it will improve system performance obviously. And this article began the research based on the objective of applying ADRC to the aim-stabilization system.The aim-stabilization system's structure and working elements are studied first, and then three mathematic models of closed loop are built. The structure and discrete arithmetic of ADRC are given through analysis, and then the simulation models are built by using S-function in the Simulink environment of Matlab 6.5. The ADRC parameters are set after repeated debugging, and then interrelated figures are provided. And then the disturbance is added to the models to check the anti-interference ability of ADRC. Simulation results indicate that the static and dynamic performance of aim-stabilization system designed by using ADRC is better than that by PID.As for the system circuit design, the following is introduced: power supply circuits, signal processing circuits and power amplifier circuits and the problems in the circuits designing. The nuclear part of the control circuit is to use the TMS320F2812, a kind of DSP provided by TI. Its operating speed is quick enough, and has abundant software resource to use. The part about program design mainly introduces the structure and flow charts.The experiment results of system are showed at the end of the paper, including swing and vibration experiments. The experiment data proved the feasibility and advantage of ADRC applied to digital aim-stabilization system.