Research On Fractional Order Active Disturbance Rejection Control Strategy For Airborne Gyro Stabilized Platform

As the cornerstone of the servo control system,the gyro stabilized platform is widely used in high-tech fields such as ships,tanks,launch vehicles,and aircraft.With the continuous improvement of the response speed,tracking accuracy and anti-disturbance performance requirements of the national defense and civil use of the stable platform system,the traditional PID control algorithm can not meet the demand of control performance,so it is necessary to study the advanced control algorithm of the gyro stabilized platform.In this paper,the two-axis four-frame gyro stabilized platform is used as the research object,and the control method is studied with the goal of improving the dynamic response characteristics and anti-disturbance ability of the platform.The main contents are as follows:First,introduce the composition and working mode of the stable platform;focus on the analysis of the model of the stable platform,and carry out mathematical analysis and modeling of the key components to obtain a stable platform model suitable for the study of this article.The perturbation factors affecting the stability of the system are analyzed,which provides a model and perturbation basis for the following simulations.Secondly,first discusses the parameter tuning methods that meet the conditions of amplitude,phase,robustness and vector model and the discretization method proposed by Professor Chen,and then designs the FOPD controller when the system meets these methods,and then Used in stable platforms.The simulation shows that the controller has fast response speed and wide adjustment range,but has a certain overshoot.At the same time,the influence of each parameter of the controller is analyzed.Then,on the basis of the LADRC controller,the state matrix information of the LESO observer is improved,and the model information of the controlled object is added to the state matrix to obtain an improved LADRC controller.Use the improved LADRC to estimate the model information of the airborne gyro stabilization platform,and design the platform controller for simulation experiments.Under the same parameters,it is concluded that the improved LADRC controller has a faster performance of 0.3s and stronger robustness;And analyzed the influence of its parameters on the performance of the whole system.Finally,after analyzing the FOPD controller and the improved LADRC controller,a new Fractional Active Disturbance Rejection Controller(FOADRC)is proposed.Through simulation with PID,FOPD,and LADRC three controllers,the comparison experiment results show that the step response adjustment time is increased by 3-4 times,and the torque interference and carrier speed interference are increased by 8-9 times,which is a great improvement.The control performance such as the response speed and anti-disturbance of the stable platform is verified,and the effectiveness of the controller is verified.