Design Of Linear Active Disturbance Rejection Control Algorithm For 2-DOF PTZ Of Omnidirectional Mobile Robot

In this paper,the hero robot of Robomaster is taken as the research object,the mechanical structure,the software and hardware design of the control system,and the linear active disturbance rejection control algorithm are studied.At the same time,taking the hero robot's 2-DOF PTZ servo system as the research focus,taking the PTZ's responsiveness,stability and anti-disturbance as the evaluation index,the dynamic characteristics and control algorithm of hero robot's 2-DOF PTZ are analyzed and verified by system identification,matlab simulation and physical prototype experiment.Firstly,the forward and inverse kinematics equations of 2-DOF PTZ are solved and the relationship between the target information and the angular displacement of each axis of PTZ is obtained.Based on the PTZ drive motor model,the PTZ system is identified.The transfer function between the control voltage and the angular velocity of the rotation axis of PTZ is obtained,providing a more accurate PTZ model for the subsequent design of PTZ servo system.Secondly,the standard linear active disturbance rejection control algorithm and the improved reduced order linear active disturbance rejection control algorithm are designed;the anti-disturbance characteristics and stability of the two control algorithms are analyzed;the simulation platform of PTZ servo system based on linear active disturbance rejection control is built in MATLAB,the parameter significance and setting method of linear active disturbance rejection control algorithm are summarized,the control quality of the two control algorithms is compared and analyzed.Finally,the continuous linear active disturbance rejection control algorithm's discretized based on zero order holding method to realize its digital control.For the 2-DOF PTZ prototype,the tracking and disturbance rejection experiments are designed.The experimental results show that the PTZ servo system based on reduced order linear active disturbance rejection control has better target tracking performance and disturbance rejection ability than the standard linear active disturbance rejection control.