Design of a Two order Active Disturbance  Rejection Controller of a Stable Platform

ZHU Hai rong; LI Qi

doi:10.15938/j.jhust.2020.04.017

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Design of a Two order Active Disturbance Rejection Controller of a Stable Platform

更新时间：2026-08-31

- Design of a Two order Active Disturbance Rejection Controller of a Stable Platform
- Vol. 25, Issue 4, Pages: 122-128(2020)
- 作者机构：
  
  1. 南通大学电气工程学院,江苏,南通,226019
  2. 江苏工程职业技术学院机电学院, 江苏南通 226014
- 作者简介：
- 基金信息：
- DOI：10.15938/j.jhust.2020.04.017
  CLC： TP273
- Published：2020
- 稿件说明：
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ZHU Hai rong, LI Qi. Design of a Two order Active Disturbance Rejection Controller of a Stable Platform[J]. 2020, 25(4): 122-128.
DOI：

ZHU Hai rong, LI Qi. Design of a Two order Active Disturbance Rejection Controller of a Stable Platform[J]. 2020, 25(4): 122-128. DOI： 10.15938/j.jhust.2020.04.017.

摘要

为了降低摩擦、电磁反电势、载体运动耦合、模型失配等因素对稳定平台的影响，使探测器轴线在惯性空间保持稳定，采用直流力矩电机直接驱动的安装方式，设计了稳定平台自抗扰控制器。自抗扰控制器(ADRC)由跟踪微分器(TD)、扩张状态观测器(ESO)和非线性状态误差反馈控制律(NLSEF)三部分组成，利用TD对参考输出进行轨迹规划，利用ESO对系统输出进行状态和扰动估计，利用NLSEF对系统广义误差进行控制。为了便于工程实现，在ESO设计时采用了线性函数，既简化了ESO的结构，又保留了自抗扰控制的优良性能。实验结果表明，采用自抗扰控制技术以后，稳定平台的动态性能、稳态性能和抗干扰能力均得到了改善，取得了更好的控制效果。

Abstract

Abstract:In order to reduce the interference of friction

electromagnetic back EMF

carrier motion coupling

model mismatch of the stable platform to keep stable of the line of sight in the inertial space

an active disturbance rejection controller (ADRC) is designed by direct drive installation of DC torque motor. The ADRC is composed of three parts: tracking differentiator (TD)

extended state observer (ESO) and nonlinear state error feedback law (NLSEFL). TD is used to track the reference output

ESO is used to estimate the state and disturbance of the system output

and NLSEF is used to control the generalized error of the system. In order to facilitate engineering implementation

ESO is designed by linear function which can simplify its structure and retain the excellent performance of ADRC. Results of the experiment show that the stable platform with ADRC technology has better dynamic performance

steady state performance and anti interference capability.

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