Research On Active Disturbance Rejection Control Algorithm Of Airborne Gyro Stabilized Platform

Gyro Stabilized Platform as a typical servo control system,in the air-borne,missile-borne,ship-borne and aerospace and other high-tech fields have been widely used.With the continuous development of science and technology,Gyro Stabilization Platform for the stability of the increasingly high precision,the traditional PID control method has been unable to meet the control system needs.Therefore,this paper improves the control system modeling,friction analysis,Active Disturbance Rejection Control algorithm and so on,the disturbance rejection ability and the tracking characteristic of the ADRC controller are improved,So that the stability of the stability of the Gyro Stability Platform has been greatly improved.ADRC technology is a new control strategy,which has the advantage of not relying on the precise mathematical model of the controlled system,and the algorithm is simple,which has good robustness.ADRC can compensate for various disturbances in the controlled system in real time,which is not available in classical control technology.In this paper,the two-axis four-frame gyro-stabilized platform is taken as the controlled object,and the relevant theory and simulation research are carried out by ADRC method.Because the Gyro Stabilization Platform is in low speed working environment in most cases,and the frictional interference is especially serious in this environment,therefore,this paper does not consider the gyro noise and other interference factors on the premise of the impact of the control system.The friction disturbance and the system model error are reduced to the total disturbance of the system,and the total disturbance value is estimated in real time,and the control quantity is dynamically compensated to improve the control performance of the closed loop system.The simulation results show that the ADRC control system has the characteristics of fast response,strong anti-interference ability and high steady-state precision.The innovation of this paper is as follows: the nonlinear function fal(·) used in the traditional ADRC controller is improved to a smooth continuous function bas(·) in the entire real domain,and the modified ADRC is applied to the Gyro Stabilized Platform system.