基于自抗扰的机载激光武器跟踪控制系统设计

摘要

通过对机载激光武器跟踪控制精度的需求分析,以典型激光通信电机模型为控制对象,选取了能够满足机载激光武器控制精度的复合轴控制结构和自抗扰控制算法,并结合工程实现,对控制参数整定进行了简化和改进,省去了跟踪微分器,将非线性的控制律和扩张观测器改为线性结构.实验结果表明,该设计方法能够满足粗、精瞄准阶段跟踪系统的角跟踪精度要求,且具有较强的灵活性和鲁棒性.%Analysis was made to the tracking accuracy requirements of airborne laser weapon.Taking a typical laser communication motor model as the object of control,a high-accuracy controller was designed by using compound-axis tracking control technology and active disturbance rejection control theory,which can satisfy accuracy requirement of airborne laser weapon.Then,combined with engineering practice,the controller was simplified and improved by omitting the tracking-differentiator and changing the nonlinear control law and extended state observer into linear structure.Simulation results show that the designed controller can satisfy the angle tracking accuracy of coarse and fine tracking phases,and exhibits good flexibility and strong robustness against external disturbance and parameter uncertainty.