Control method of sight-stabilizing servo system based on ADRC and NLPID

Abstract

The invention discloses a control method of a sight-stabilizing servo system based on ADRC and NLPID. Under the premise of meeting the control precision requirement of the sight-stabilizing servo system, through the design of applying an active disturbance rejection control algorithm to a speed loop controller of the servo control system, steady-state error of the sight-stabilizing servo system isreduced; and through the design of applying an improved non-linear PID control algorithm to a current loop controller, torque fluctuation of a DC torque motor can be suppressed effectively. The control method has obvious effect for improvement of tracking precision of the sight-stabilizing servo system and enhancement of disturbance isolation property, and meanwhile, the controller of the servo system has high adaptability and robustness.

Description

technical field [0001] The invention belongs to the field of servo control, and relates to a control method of a stabilizing servo system based on ADRC and NLPID. Background technique [0002] Steady sight servo system has always been the key research object of scientific research institutions at home and abroad, and is widely used in various motion carriers in military and civilian fields. The function of the stabilized aiming servo system is to isolate external disturbances, prevent the target from being lost due to changes in the attitude of the sight caused by carrier bumps, and enable the stabilized aiming system to search and track targets accurately and stably. With the advancement of science and technology and the development of society, the performance requirements of the stabilized aiming servo system are getting higher and higher. It is required that the stabilized aiming servo system not only have high stability Interference capability, which makes it difficult ...

AI Technical Summary

Problems solved by technology

Some experts proposed to use the adaptive fuzzy PID control algorithm to design the controller of the steady-point servo system, but the determination of the fuzzy rules depends largely on experience, which is not suitable for complex working conditions; The controller is designed as a synovial membrane variable structure controller, although it can improve the dynamic quality of the system, but there is a problem of high-frequency oscillation; someone proposed to design the controller of the steady-pointing servo system as a robust inner membrane controller, which can significantly improve the system Disturbance isolation capability, but the controller relies on the precise mathematical model of the controlled object, which is limited in practical applications

[0004] At present, in practical applications, most of the stabilized aiming servo systems still use the classic PID controller, which is not conducive to improving the control performance of the stabilized aiming servo system

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