Design And Optimization Of ADRC Controller For Photoelectric Theodolite Servo System

This article first introduces the overall structure,development status,and development trend of the photoelectric theodolite,and explains the specific application and related requirements in the shooting range,and then further introduces the working principle and structure of the servo control system in the photoelectric theodolite.The composition description,based on the current requirements for servo control technology,adopts ADRC(Active Disturbance Rejection Control,active disturbance rejection control)control strategy applied to the photoelectric theodolite servo system,and specifically introduces the traditional PID control According to the actual work requirements of theodolite,a servo controller with "DSP+FPGA" as the core processing architecture is designed according to the comparison and advantages and disadvantages of the ADRC controller.Secondly,the overall mathematical model of the ADRC controller is given,and Simulink simulation is carried out based on this,which verifies the excellent robustness of ADRC control,and designs the double closed loop parameters in the servo control system.Various working modes of theodolite are introduced and process design,combined with actual work requirements,the position loop design of the photoelectric theodolite in each working mode is carried out,and the results are analyzed and researched.On the premise of having simulation results verification and theoretical support,a physical test was carried out on a certain model of photoelectric theodolite.The test results intuitively show that the ADRC controller has a better tracking accuracy than the traditional PID controller.Finally,the servo control system of the photoelectric theodolite is studied and analyzed rigorously,and the specific research methods and related technologies are summarized.In the article,the software and hardware parts of the servo control system are respectively given design instructions and specific The hardware composition of the servo system and the related circuit layout of the servo system,and the actual meaning of each structure are analyzed.In the software part,the software code development environment in the actual photoelectric theodolite is introduced,and the specific operation when programming the servo controller is designed.The process is explained for the software programming part of the servo subsystem,and the process design structure of the double closed-loop control algorithm in the core controller is designed.