CAJ | 학술논문

为了进一步提高光电稳定侦查平台的抗干扰能力，文中提出一种基于扰动频率自适应的自抗扰控制新方法。首先，基于带宽单参数化的设计方法，设计了扰动频率自适应的扩张状态观测器，从而解决了传统扩张状态观测器对二阶及二阶以上系统扰动观测存在明显相位滞后的影响；然后，设计了带扰动补偿的控制规律；最后，在模拟飞行器中以2.5 Hz以内任意频率扰动的作用下，测试其抗扰动的性能。实验结果表明：对比于传统的平方滞后超前控制器，采用于扰动频率自适应的自抗扰控制器，系统的扰动隔离度至少提高6.72 dB，且随着扰动频率大于0.5 Hz，扰动隔离度的提高更为明显，最优情况已达到12.94 dB；同时，该控制器具有很强的鲁棒性，允许被控对象参数在10%的范围内浮动，满足高精度光电稳定平台的性能要求，具有较高的实用价值。
위료진일보제고광전은정정사평태적항간우능력，문중제출일충기우우동빈솔자괄응적자항우공제신방법。수선，기우대관단삼수화적설계방법，설계료우동빈솔자괄응적확장상태관측기，종이해결료전통확장상태관측기대이계급이계이상계통우동관측존재명현상위체후적영향；연후，설계료대우동보상적공제규률；최후，재모의비행기중이2.5 Hz이내임의빈솔우동적작용하，측시기항우동적성능。실험결과표명：대비우전통적평방체후초전공제기，채용우우동빈솔자괄응적자항우공제기，계통적우동격리도지소제고6.72 dB，차수착우동빈솔대우0.5 Hz，우동격리도적제고경위명현，최우정황이체도12.94 dB；동시，해공제기구유흔강적로봉성，윤허피공대상삼수재10%적범위내부동，만족고정도광전은정평태적성능요구，구유교고적실용개치。
In order to improve isolation degree of disturbance, a new active disturbance -rejection controller based on disturbance frequency adaptive was proposed. Firstly, the ESO based on disturbance frequency adaptive was designed in order to avoid phase lag when ESO observed the disturbance in the second-order and more second-order system. And then, the controller was designed. Finally, an experiment was performed to test the disturbance rejection performance of the ADRC based on disturbance frequency adaptive when the speed disturbance was from 0.1 Hz to 2.5 Hz as compared with the traditional square lag-lead compensation method. The results show that ADRC can reduce the disturbance error 6.72 dB at least. And the isolation degree of disturbance was improved obviously when the perturbation frequency was more than 0.5 Hz, the best isolation degree of disturbance was increased 12.94 dB. And the ADRC had strong robustness, allowing system parameters to range from - 10% to 10%. In conclusion, the ADRC based on disturbance frequency adaptive satisfies the performance requirements of aerial photoelectrical stabilized platform and has higher practical value.