Shipborne camera shooting stabilized platform control method with active disturbance rejection control technology adopted

Abstract

A shipborne camera shooting stabilized platform control method with an active disturbance rejection control technology adopted includes the following steps that (1) a discrete time state-space model of a shipborne camera shooting stabilized platform control system is built; (2) a tracking differentiator is designed, and the rotation angle of a camera shooting stabilized platform can track the reference angle as soon as possible without overshoot; (3) an extended state observer is designed to estimate the rotation angle, the rotation angular speed, the rotation angular acceleration and the total disturbance of the camera shooting stabilized platform; (4) tracking errors of the angle, the angular speed and the angular acceleration are obtained according to the output of the tracking differentiator and the output of the extended state observer, and then a nonlinear control rule and a disturbance compensation strategy are designed according to the error information. By means of the shipborne camera shooting stabilized platform control method, the tracking accuracy and rapidity of the camera shooting stabilized platform are guaranteed, and the high disturbance rejection capacity is provided.

Description

technical field [0001] The invention is applied to the field of camera stabilization platform control, and relates to a real-time control method for a stable platform based on active disturbance rejection control technology suitable for ship-borne camera. Background technique [0002] The camera stabilization platform integrates multiple technologies such as motor motion control, data acquisition, signal processing, inertial navigation, and image processing. Applied to some ships, aircraft, vehicles and other moving carriers. [0003] When a ship sails on water, it will shake due to the influence of wind and waves. The camera on the ship is affected by the shaking of the ship and becomes unstable, resulting in the loss of the camera target. In order to overcome the influence of the ship's sway on the shipboard camera, the camera must be erected on a stable platform. Compensate for the shaking of the ship by controlling the azimuth, pitch and roll of the stabilized platfor...

AI Technical Summary

Problems solved by technology

[0005] In order to overcome the shortcomings of the existing ship-borne camera technology that cannot take into account both tracking accuracy and tracking speed, and poor anti-interference ability, the present invention provides a ship-borne camera stabilization platform control method based on active disturbance rejection control technology. While stabilizing the tracking accuracy and tracking speed of the platform, it also has a strong anti-interference ability

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