Design Of Stability Servo Control Based On Self-Disturb-Objection

This thesis is focus on the studying of two-axle four-frame stability control technology. This technique is mainly used for the stability control of airborne photoelectric system, its intent is to improve stability precision of aiming line. This thesis firstly introduces the development of aiming stability technique, research situation in China and abroad and the development trend of related fields, and then describes common aiming-line stability methods, classification and working principle. This thesis further analyzes the theory of two-axle four-frame stability control technology, studies the factors impacting aiming line stability precision. Based on the classic double close-loop control circuits, a practical disturbance observer control structure is proposed using Auto-Disturbance Rejection Control technique (ADRC). This control method performs differential calculation of original gyroscope angular velocity of the system, uses the result as torque measurement to compare with motor’s transient current, the comparative result together with current control commands constitute the current loop inputs, realizes observe compensation of disturbances. This thesis analyzes the theory and models the system, a hardware circuit is also designed. In the end, the experimental verification and results analysis are performed.The control technology and its hardware circuit proposed in this thesis are verified on many photoelectrical aiming stability products. The results show that, it can effectively eliminate friction and other non-linear perturbations, improve the low gain and isolation of control loop, improve stability precision of the system, have better control performance and application prospect.