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Active disturbance rejection control method and controller, and fine tracking control system

An active disturbance rejection controller and active disturbance rejection control technology, applied in the field of tracking control, can solve problems affecting the performance of active disturbance rejection control, and achieve the effects of improving stability, enhancing anti-disturbance ability, and quick response

Inactive Publication Date: 2019-02-19
CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide an ADRC control method, a controller and a fine tracking control system, aiming to solve the problem that the ADRC control performance is affected due to the phenomenon of high-frequency tremor in the ADRC control method and controller in the prior art technical issues

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  • Active disturbance rejection control method and controller, and fine tracking control system
  • Active disturbance rejection control method and controller, and fine tracking control system
  • Active disturbance rejection control method and controller, and fine tracking control system

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Embodiment 1

[0038] figure 1 A flow chart of the ADRC method provided by Embodiment 1 of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown. The ADRC control method includes the following steps:

[0039] Step S10, designing a tracking differentiator according to a preset tracking curve trajectory to obtain a smooth input signal.

[0040] Step S20, constructing an extended state observer, estimating the state of the system according to the input and output of the controlled object and the sum of disturbances, and expanding the sum of disturbances into a new state variable.

[0041] Step S30, designing a sliding mode controller to receive the coupled output from the tracking differentiator and the extended state observer, reduce internal parameter perturbation and external disturbance, and eliminate chattering at the origin.

[0042] Step S40, compensating the disturbance, the extended state observ...

Embodiment 2

[0070] image 3 A schematic structural diagram of the fine tracking control system provided by Embodiment 2 of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

[0071] The fine tracking control system shown in the embodiment of the present invention includes the active disturbance rejection controller 1 shown in the first embodiment, and also includes a digital-to-analog converter (D / A) 2, a driver 3, a control actuator 4, and a position sensor 5 .

[0072] The active disturbance rejection controller 1, the digital-to-analog converter 2, the driver 3, and the control actuator 4 are sequentially connected with signals, and the position sensor 5 is used to track the target position. According to the output of the fine tracking control system The output signal is fed back to the active disturbance rejection controller 1 after position detection of the ...

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Abstract

The invention belongs to the technical field of disturbance rejection control, and provides an active disturbance rejection control method and controller, and a fine tracking control system. The active disturbance rejection control method comprises the following steps of: designing a tracking differentiator according to a preset tracking curve trajectory to obtain a smooth input signal; constructing an expansion state observer; estimating the state of the system and the sum of disturbances according to the input and output of a controlled object; expanding the sum of the disturbances into a new state variable; designing a sliding mode controller; and receiving a coupled output of the tracking differentiator and the expansion state observer to reduce internal parameter perturbation and external interference, so as to eliminate chattering of a origin. The high-frequency chatter suppression ability of the active disturbance rejection control and the stability of a control process are improved by adopting the sliding mode controller instead of a traditional nonlinear feedback control, so that the disturbance rejection capability of the system is enhanced.

Description

technical field [0001] The invention belongs to the technical field of tracking control, and in particular relates to an active disturbance rejection control method, a controller and a fine tracking control system. Background technique [0002] ATP (Acquisition, Tracking and Pointing, Acquisition, Tracking, and Pointing) is a key technology for establishing and maintaining space laser communication links. In order to achieve high dynamic range and high-precision tracking at the same time, the current space laser communication almost adopts the composite axis control structure of coarse tracking and fine tracking. When the rough tracking control unit guides the incident light to the field of view of the fine tracking detector, the fine tracking control unit Enter the optical path closed-loop tracking stage. For a typical laser communication system, the beam width is about 10μrad. Therefore, the tracking and aiming accuracy must be better than 5μrad, generally better than 2μ...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 刘永凯董全睿张玉良高世杰王建立陈涛
Owner CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI