Study on ADRC based boresight stabilized technology of photoelectric platform

According to the factors of velocity disturbance of the carrier and measurement noise that affected control accuracy of the photoelectric platform, two control strategies of active disturbance rejection control(ADRC) and filtering control were designed. Firstly, the law of disturbance in the mathematical model of velocity stabilized loop of servo control system for the photoelectric platform was analyzed, the disturbances equivalent was made and the notion of general disturbances was proposed, and then the ADRC controller based on reduced-order extended state observer(ESO) was designed. Furthermore, Kalman filter was used to process the measurement noise in the system, thus the error of estimation of the ESO was reduced. Finally, was conducted thoroughly the contrast tests between the traditional PI control system with the Kalman-ADRC control system designed in this paper. The experimental results demonstrate that, with the same designed bandwidth, the stabilization time of step response of the Kalman-ADRC control system is reduced by 32.53% and the overshoot amplitude is reduced by 72.73% compared with the PI control system; when using swing table to introduce a sinusoidal disturbance with an amplitude of 1 and a frequency of less than 2.5 Hz, the disturbance isolation degree of the Kalman-ADRC control system gains an increase of 54.67%compared with the PI control system; when the parameters of the system model varied within the range of 15%, the Kalman-ADRC control system still has an excellent performance in disturbance isolation degree, presenting strong robustness. It is thus concluded that the Kalman-ADRC control system can meet the boresight stabilized performance requirements of the photoelectric platform, and has great practical value in improving the accuracy of boresight stabilization.