Neural network and active disturbance rejection composite control method for three-axis tripod head servo motor

Abstract

The invention discloses a neural network and active disturbance rejection composite control method for a three-axis tripod head servo motor. The method is characterized by comprising following steps of (1) establishing a three-axis tripod head internal frame servo system dynamical equation with a Stribeck friction model, (2) designing an active disturbance rejection controller for the dynamical equation established in step (1), and (3) designing an RBF neural network, combining the RBF neural network with the active disturbance rejection controller to form an RBF neural network active disturbance rejection supervisory controller. According to the method, better response speed and control accuracy can be achieved in a nonlinear system, the stability and robustness of a control system can beensured, the introduction of neural network can improve the adaptive ability of the system, and the method can adapt to a larger range of a controlled object under the condition of satisfying controlperformance requirements.

Description

technical field [0001] The invention relates to the technical field of three-axis pan / tilt servo motor control, in particular to a method for combining an RBF neural network with an ADRC (Active Disturbance Rejection Control, referred to as ADRC) to form an RBF neural network ADRC supervisory control method , especially a compound control method of neural network and active disturbance rejection for a three-axis pan-tilt servo motor. Background technique [0002] For the three-axis gimbal, how to design a good stabilization control method to counteract external shaking, so as to effectively overcome the image blur caused by lens shaking, is of great significance for obtaining high-quality images. In terms of spatial structure, the three-axis gimbal mainly consists of outer frame, middle frame, and inner frame, and the outer frame, middle frame, and inner frame are independent and perpendicular to each other, and have degrees of freedom in three directions. Assuming that the...

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Problems solved by technology

Since the friction phenomenon in the servo system exists objectively, the pan / tilt servo motor will have a strong friction phenomenon when it is running at low speed. At this time, the controlled object has nonlinear characteristics, and the traditional PID control is difficult to achieve high-precision control effect.

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