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针对实际工程中的复杂光电平台对控制精度要求越来越高的需求,提出一种依据系统精确模型辨识方法的自抗扰控制器设计方法。考虑机械谐振和摩擦因素,建立光电载荷控制系统精确数学模型,并根据系统输入输出特性辨识系统的数学模型参数,在所辨识模型的基础上设计自抗扰控制器。以某型光电跟踪平台为例,设计了4阶跟踪微分器,5阶扩张状态观测器和非线性状态偏差反馈控制律组合的自抗扰控制器。在Matlab/simulink中建立系统仿真平台,对PID控制器和自抗扰控制器进行仿真对比,结果表明,采用自抗扰控制器的系统超调由1.8%减小到0.9%,系统最大跟踪误差由0.03(°)/s减小到0.013(°)/s,超调更小,响应时间更快,抗扰动能力更强。
Aiming at the requirement of the control accuracy of the complex optoelectronic platform in practical engineering, an automatic disturbance rejection controller design method based on the system accurate model identification method is proposed. Considering the mechanical resonance and friction factors, an accurate mathematical model of the photoelectric load control system is established, and the mathematical model parameters of the system are identified according to the input and output characteristics of the system. The automatic disturbance rejection controller is designed on the basis of the identified model. Taking a photoelectric tracking platform as an example, an automatic disturbance rejection controller combining 4 order tracking differentiator, 5 order extended state observer and nonlinear state deviation feedback control law is designed. The simulation platform is established in Matlab / simulink. The simulation results of PID controller and ADRC controller show that the system overshoot reduced from 1.8% to 0.9% with ADRC controller, and the maximum tracking error Reduced from 0.03 (°) / s to 0.013 (°) / s with smaller overshoot, faster response time and stronger immunity to disturbance.