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

A technology of active disturbance rejection control and stable platform, applied in the direction of control using feedback, etc., can solve the problems of poor anti-interference ability, inability to balance tracking accuracy and tracking speed, etc.

Active Publication Date: 2015-01-07
ZHEJIANG UNIV OF TECH
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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...

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

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Embodiment Construction

[0041] In order to make the object, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

[0042] refer to Figure 1 ~ Figure 4 , a control method for a ship-mounted camera-stabilized platform using ADRC technology, said method comprising the following steps:

[0043] Step 1), establish the discrete-time state-space model of the control system of the ship-borne camera stabilization platform.

[0044] Each direction subsystem of the camera stabilization platform is composed of a PWM driver, a power amplifier, a stepper motor and a transmission mechanism. The third-order transfer function model of each direction subsystem of the camera stabilization platform obtained after series connection is:

[0045] θ ( s ) u ...

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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...

Claims

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Application Information

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IPC IPC(8): G05D3/12
Inventor 张文安马剑董辉赖宏焕刘凯
Owner ZHEJIANG UNIV OF TECH
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