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针对机动平台光电跟踪系统跟踪目标需具备较强动态抗扰能力的问题,提出了一种将包含了非线性跟踪微分器、扩张状态观测器、非线性状态误差反馈三个环节的结构完整的自抗扰控制器用于光电跟踪伺服系统的速度环的思路。针对某单轴稳定转台设计了二阶自抗扰控制器,并进行了仿真研究。结果表明,该控制器对外扰变化及系统模型不确定性具有良好的鲁棒性和适应性,且能有效抑制系统中存在的非线性因素的影响。
Aiming at the problem that the tracking target of the electro-optical tracking system of the mobile platform needs strong dynamic anti-interference ability, a new self-adaptive algorithm is proposed which includes the nonlinear tracking differentiator, the extended state observer and the nonlinear state error feedback Anti-interference controller for optical tracking servo system speed loop ideas. A second-order auto-disturbance rejection controller is designed for a single-axis stable turntable, and the simulation research is carried out. The results show that the controller has good robustness and adaptability to the disturbance disturbance and system model uncertainty, and can effectively suppress the influence of nonlinear factors in the system.