| The photoelectric stabilization platform is a device that uses photoelectric sensors to search,locate and track targets.By isolated the disturbance of the carrier,the stability of the visual axis of the optical device is ensured that the tracking and positioning of the target is completed.Generally,the steady sighting platform is are mounted on drones,ships,vehicles and other equipment.However,the battlefield environment is complex and changeable.Due to the various disturbance working environment,this paper studies the control strategy of disturbance suppression to improve the stability of the system resulting in a decrease in the stability of the boresight.Crucially,in order to improve the stability of the line of sight of the photoelectric stabilization platform,which the research on ADRC control strategy of photoelectric stabilization aiming platform of this paper is carried out by the following aspects:(1)Firstly,It is explored that the photoelectric stabilization platform is composed of three parts:servo control system,mechanical structure and optical load,which three modes of the photoelectric sight stabilization platform and the working modes of each component of the servo system are clarified and analyzed.Accordingly,the mathematical model of the system is determined by the method of model identification,which includes determining the zero and pole information of the transfer function is established by the input and output.Futherly,The paper also explores the influence of model uncertainty interference,measurement noise and torque interference on the stability accuracy of the stable aiming platform.At least but not last,In order to meet the requirements of high boresight stability aiming platform that a strong robust active disturbance rejection control strategy is used to suppress disturbance.(2)Aiming at the problem that the stability accuracy of the optic axis of photoelectric stabilized aiming platform is reduced due to nonlinear friction torque disturbance,an active disturbance rejection control method is proposed for the photoelectric stabilized aiming platform,and an active disturbance rejection control system is designed for photoelectric stabilized aiming platform,and the parameters of each part of the controller are adjusted by the principle of separation.The simulation comparison between PID and ADRC shows that ADRC has strong anti-interference ability and strong robustness,and is suitable for high precision control of an optoelectronic stabilized aiming platform.(3)For the above-mentioned ADRC there is the problem of measurement noise being amplified and low stabilization accuracy,a cascading ADRC control method is proposed.The effects of highfrequency noise on the order and gain of the dilated state observer are analyzed,and the parameter rectification methods of the dilated state observer based on different frequencies are proposed.Then,the convergence of the expansive state observer is demonstrated.The simulations of cascading ADRC,PID and ADRC are compared,and the results show the superiority of the cascading ADRC based photoelectric stabilization platform in suppressing high-frequency noise,dynamic response,and stabilization accuracy.(4)In order to verify the effectiveness of the controller designed in this paper in the physical platform,a DSP-based servo control system was designed and applied in the photoelectric stabilization platform.In the servo control subsystem,PID,self-anti-disturbance and series-level selfanti-disturbance control are implemented and applied to the physical platform of the photoelectric stabilization system,and dynamic performance comparison experiments and friction torque interference experiments are conducted.The experimental results show that when the series-level self-turbulence is used in the optoelectronic stabilized platform,it not only improves the cascading ADRC error of the optoelectronic stabilized platform,improves the dynamic performance of the system,but also suppresses the nonlinear frictional moment. |
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