基于自抗扰控制器的稳定平台控制策略研究

摘要

Sailing in the ocean,ships suffered from the surge and the other disturbances,which would affect the stability of the carrier,this paper studied the control strategy in order to improve the control accuracy and the ability of disturbance rejection.Control system of the three-loop cascade stabilized platform is designed to control the second order controlled object and realizes the prediction and compensation of platform position through the second-order ADRC controller of the position loop.The stabilized platform control system is regarded as the standard system of integrator series,and the system estimates and actively compensates the total disturbance,which affects the position of platform,so as to suppress the influence of disturbance.The experimental data indicates that the delay time in the strategy of ADRC controllers which is used to design the position loop is 60 ms,when following the 1Hz location instruction,for the disturbance of 2 Hz ～20 Hz,and 5°amplitude,the highest peak of response curve is 0.7°.Compared with the stabilized platform of the same tricyclic cascade controller that the position loop adopts PID,the delay time reduces 40 ms,and ability of disturbance rejection increases by 0.8 °%舰船在海上航行的晃动会对载体的稳定性产生影响,为了提高舰船上稳定平台控制系统的控制稳定精度和扰动抑制能力,文中对控制策略进行研究.设计了三环串级稳定平台控制系统器,对二阶被控对象进行控制,通过位置环的二阶自抗扰控制器实现平台位置的预估和补偿.将整个稳定平台控制系统视为“积分器串联型”的标准系统,对影响平台位置稳定性的因素作为“总扰动”进行估计和主动补偿,抑制扰动对平台位置的影响.实验结果表明:位置环应用自抗扰控制器的控制策略在跟随频率为1 Hz的位置指令时的延迟时间为60ms,对于2 Hz～20 Hz、幅值为5°的扰动响应曲线的最高峰值为0.7°.比同样的三环串级控制而位置环采用PID控制的稳定平台的延迟时间缩短40 ms,扰动抑制能力提高了0.8°.