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.