基于ADRC的并联三自由度船载稳定平台稳定控制律设计

针对存在动态不确定与未知时变外界扰动下的并联三自由度船载稳定平台稳定控制问题,采用自抗扰控制(Active Disturbance Rejection Control,ADRC)技术,构造扩张状态观测器,实时估计由船载稳定平台动态不确定、未知时变外界扰动以及平台各自由度运动状态变量间的耦合构成的总扰动;设计船载稳定平台PID反馈控制律,并将总扰动的估计前馈至控制输入端补偿船载稳定平台的总扰动,以实现平台的稳定控制.理论分析表明,设计的基于ADRC的船载稳定平台稳定控制律可使其上支撑面在惯性空间保持平稳,并保证船载稳定平台闭环控制系统中所有信号一致最终有界.仿真实验结果验证了设计的基于ADRC的船载稳定平台稳定控制律的有效性以及对未知时变外界扰动的鲁棒性.

Stability control of parallel three-DOF ship-borne stabilization platform based on ADRC

Aiming at the stabilization control problem of parallel three-degree-of-free ship-borne stabilization platform under dynamic uncertainties and unknown time-varying external disturbances,the active disturbance rejection control(ADRC)technique was used to construct an extended state observer to online estimate the total disturbances resulted from system dynamic uncertainties,unknown external disturbances as well as the coupling between the platform motion state variables.The ship-borne stabilization platform PID feedback control law was designed and the estimates of the total disturbances was fed forward to the control inputs to compensate the total disturbances so as to achieve stable control of the platform.Theoretical analysis indicates that the designed ADRC stabilization control law of ship-borne stabilization platform can keep its upper support surface stable in the inertial space,and ensure uniformly ultimately bounded of all signals in the ship-borne stabilization platform closed-loop control system.The simulation results verify the effectiveness of the designed stabilization law of the ship-borne stabilization platform and its robustness to unknown time-varying external disturbances.