Development Of Control System For Two Axis Photoelectric Stabilized Platform Based On Active Disturbance Rejection

During the working process,the airborne photoelectric stabilization platform will be affected by gyro measurement noise,aircraft angular velocity interference,platform torque interference and other factors,which will reduce the tracking accuracy and stability accuracy of photoelectric stabilized platform.At the same time,stability accuracy and tracking accuracy greatly also will reduce.To improve the stability accuracy and tracking accuracy of the optoelectronic stabilization platform,the two-axis airborne optoelectronic stabilization platform is used as theresearch object,ADRC algorithmand was adopted to develop the control system of the optoelectronic stabilization platform.Several mainly research work was carried out in this paper:(1)The composition and working principle of the two-axis photoelectric stabilization platform were analyzed.Based on the mechanism,the mathematical model of the photoelectric stabilization platform was established,which including the mathematical model of DC torque motor,power amplifier circuit and fiber optic gyro.(2)Active Disturbance Rejection Control(ADRC)algorithm is studied,and based on the controlled object,the linear ADRC controller is designed.The parameter tuning method of the controller is analyzed and the reasonable parameters are selected.A Simulink simulation model of stable platform control system is built to verify the steady-state performance and anti-disturbance ability of ADRC.The simulation results show that the ADRC system has better dynamic performance and anti-disturbance ability than the PID control system.(3)Combined with the technical requirements of the optoelectronic stability platform,the control system of the optoelectronic stability platform was designed by modular design method.In order to complet the engineering processing of the ADRC algorithm,the hardware circuit was built,the software programming and system debugging were performed.(4)The validity of the ADRC algorithm is verified on the actual stable platform,and the disturbance suppression test,velocity and acceleration test and tracking accuracy test carried out respectively on the stable platform.The experimental results show that the optoelectronic stabilization platform using the ADRC algorithm meets the requirements of technical indexes.