自抗扰控制在捷联寻北仪速度稳定回路中应用

摘要

在捷联寻北仪工作过程中,摩擦非线性造成转台伺服系统低速不平稳性,导致陀螺输出漂移变大,影响寻北精度.为了提高伺服转台速度平稳性,设计了自抗扰控制器,实现转台的稳速控制,保证转台快速、平稳定位,以便减少陀螺漂移.仿真结果表明,与采用PID控制相比,速度稳定回路获得较好的动态性能,快速性、平稳性和抗干扰能力都得到提高；实验结果表明,动力调谐陀螺输出更加平稳,减小了陀螺输出的随机漂移,寻北误差从34.4″减小到27.7″,有效地提高了系统的寻北精度.%In the running of strap-down north seeker, the friction nonlinearity causes creeping phenomena in the servo system of the turntable in the lower velocity. So the drift of the gyroscope output become larger and the north-seeking precision is affected. In order to achieve the speed stabilization control to ensure fast and stable location of servo-turntable, then to decrease the drift of the gyroscope, an Active Disturbance Rejection Controller (ADRC) is designed and applied in the speed-loop of the servo-turntable. The simulation results compared with PID control show that a fine dynamic performance is obtained, and fast, stabilization and anti-jamming are improved. The results of experiment show that the output signal of Dynamically Tuned Gyroscope (DTG) is more stable, the random drift of DTG is decreased, the north-seeking error is reduced from 34.4" to 27.7", and the north-seeking precision is improved effectively.