Design of Turret Servo System Based on Optimized Model-Compensation Active Disturbance Rejection Controller

摘要

In order to improve the anti-disturbance performance of the self-propelled anti-aircraft gun (SPAAG) turret azimuth servo system, an optimized model-compensation active disturbance rejection control (ADRC) for servo system was proposed. By using the recursive least squares method input with the cross-axis current and the actual rotational speed, rotational inertia and impact load of the servo system is identified, which is compensated to the ADRC. The performance evaluation results show that this algorithm can generally decrease the pressure of extended state observer for estimating disturbance and enhance the robustness and control precision of systems.