Active-disturbance-rejection control method for position stepping of aerial camera scanning mechanism

Abstract

The invention provides an active-disturbance-rejection control method for position stepping of an aerial camera scanning mechanism. The active-disturbance-rejection control method comprises the following steps: S1, processing a location input command of a mechanism object by adopting a two-order tracking differentiator, generating a differential signal of the command, forming a speed input feedforward amount according to the differential signal, and combining the speed input feedforward amount and a location control rule to generate a speed in-loop reference input amount; S2, establishing an object mathematic model according to the rotational inertia parameter and motor parameter of the mechanism object, wherein the object mathematic model is an output transfer function including disturbance, and a state equation of the mechanism object is obtained according to the output transfer function; S3, establishing a three-order linear expansion status observer according to known information,calculating an acceleration compensation amount and a speed error according to the in-loop reference input amount as well as a mechanism speed signal, an acceleration signal and a total turbulent amount estimated by the observer, and calculating a speed correction result according to the speed error; S4, performing total disturbance quantity saturation inhibition; and S5, generating a motor control amount.

Description

technical field [0001] The invention belongs to the technical field of photoelectric stabilization platform control, and in particular relates to a step-by-step active disturbance rejection control method for the scanning mechanism of an aerial camera. Background technique [0002] Active disturbance rejection control technology is a new type of control technology proposed by researcher Han Jingqing at the end of the 20th century. In 2009, he published a monograph "Active disturbance rejection control technology - control technology for estimating and compensating uncertain factors", which systematically explained the technology , whose core idea is to treat the internal and external disturbances of the system as the total disturbance and use the extended state observer to estimate and compensate, which is of great significance in engineering applications. In 2003, Professor Gao Zhiqiang proposed to use the bandwidth parameterization method to design linear expansion state o...

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Problems solved by technology

[0004] In view of this, the present invention provides a step-by-step active disturbance rejection control method for the scanning mechanism of the aerial camera to solve the large overshoot caused by the high gain in the prior art and the response caused by the introduced integral link to the system. Lag and overshoot, multi-order lead-lag method parameters are coupled with each other and the tuning is complicated, the parameters are sensitive to load changes, and the robustness is poor

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