|本期目录/Table of Contents|

[1]魏永清,许江宁,马 恒.自抗扰控制器在陀螺稳定平台控制系统中的应用[J].电机与控制学报,2017,21(01):39-44.[doi:TM312]
 WEI Yong-qing,XUJiang-ning,MAHeng.Application of actiive disturbance rejection controller in gyro-stabilized platform control system [J].,2017,21(01):39-44.[doi:TM312]
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自抗扰控制器在陀螺稳定平台控制系统中的应用(PDF)
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《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
21
期数:
2017年01
页码:
39-44
栏目:
出版日期:
2017-01-01

文章信息/Info

Title:
Application of actiive disturbance rejection controller in gyro-stabilized platform control system
作者:
?魏永清许江宁 马 恒
(海军工程大学电气工程学院,湖北武汉430033)
Author(s):
WEI Yong-qing XUJiang-ning MAHeng
(Department of Electrical Engineering Naval University of Engineering Wuhan 430033,China)
关键词:
稳定平台PID 自抗扰技术 稳定精度
Keywords:
stabilization platform&PID&ADRC&stabilization precision
分类号:
10.15938/j.emc.2017.01.006
DOI:
TM312
文献标志码:
A
摘要:
重力仪陀螺稳定平台是一类难以获得精确模型的复杂非线性时变系统。以两框架直流 祠服陀螺稳定平台为被控对象,在分析平台力矩传递原理的基础上,建立基于位置、转速和电流的三环控制系统传递函数模型;并结合自抗扰技术 ADRC ) 的特点,把系统的内外扰动看作总扰动,采用二阶 ADRC控制器取代传统的位置、转速双闭环 PID控制器,设计基于自抗扰控制器的稳定平台祠服控制系统。仿真和实验结果表明:基于自抗扰控制器的稳定平台控制系统不仅稳定精度高,而且具 有较好的抗干扰性能,特别是系统模型参数变化等引起的不确定性干扰,有效提高了祠服系统 的鲁棒性,满足了高精度重力仪稳定平台的性能要求。
Abstract:
Gravimeter stabilization platform is a complicated non-linear system difficult to get the accurate model. Taking the DCservo gyro stabilized platform with two frameworks as the controlled object,based on the analysis of platform torque transmission principle,the control system transfer function model of three-loops witli location,speed and current was built.Combined with the features of active disturbance rejection controller (ADRC),taking the internal and external disturbance as total distrubance,applying the second order ADRC to substitute the traditional location and speed PID controllers,the ADRC stabi- lized platforim sero control system was presented. The simulation and experimental results showthat the control system not only has the high accuracy,but can compensate the unsuspected interference,espe-cially the interference caused by system model parameters uncertainty,which improves the servo system robustness improved and guarantee the control performances of the high precision stabilized platform.

参考文献/References:

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相似文献/References:

[1]陈松林,单梅林,王丽斌. 基于干扰观测器的飞行仿真转台完全跟踪控制[J].电机与控制学报,2015,19(01):113.[doi:10. 15938/j. emc.2015.01.017]
 CHEN Sony-lin,SHAN Mei-linWANG Li-bin. Disturbance observer-based robust perfect trackingcontrol for flight simulator[J].,2015,19(01):113.[doi:10. 15938/j. emc.2015.01.017]

备注/Memo

备注/Memo:
收稿日期: 2015 -07 -04
基金项目:国家自然科学基金(51307180);国家重大科学仪器设备开发专项(2011YQ12004502)
作者简介:魏永清(1979—#,女,博士,讲师,研究方向为电机及控制技术;
许江宁(1964—),男,教授,博士生导师,研究方向为导航制导与控制;
马恒(1978—),男,博士,讲师,研究方向为导航制导与控制。
更新日期/Last Update: 2017-03-28