Novel disturbance observation compensation controller and implementation method thereof

Abstract

The invention discloses a novel disturbance observation compensation controller and an implementation method of the novel disturbance observation compensation controller. Different from an internal model disturbance observation compensation and state space observer which is widely adopted in the current disturbance observation and compensation technology, the method of combining the active disturbance rejection technology and the internal model control technology is introduced, and the disturbance observation compensation controller is analyzed and designed in an auxiliary mode. The novel disturbance observation compensation controller comprises a system controller, an extended state observer (ESO), a controlled object closed-loop modeling module and an internal model controller. According to the invention, the disturbance observation error caused by the uncertainty of the controlled object model is solved, the contradiction between the disturbance observation precision and the modeling precision is relieved, the disturbance observation and compensation precision is greatly improved, and the design steps of the novel disturbance observation compensation controller are simplified. The controller is high in disturbance observation precision, good in disturbance compensation effect, simple in design step and convenient for engineering realization.

Description

technical field [0001] The invention relates to a novel disturbance observation compensation controller and a realization method thereof, which are applied to photoelectric capture and tracking systems such as photoelectric telescopes, and belong to the technical field of tracking control. Background technique [0002] With the advancement of science and technology, the modern photoelectric tracking system is gradually becoming intelligent. The photoelectric tracking system based on the ground platform can no longer meet the needs of modern scientific observation. And born. The photoelectric tracking system based on the motion platform not only needs to solve internal disturbances such as friction disturbances and unbalanced torque disturbances, but also faces new challenges, namely, complex carrier disturbances and environmental disturbances. Specifically, the carrier disturbance refers to the disturbance caused by the movement of the carrier to the photoelectric tracking ...

AI Technical Summary

Problems solved by technology

However, due to the unknown model of the controlled object in advance, it is difficult to adjust the parameters of the extended observer, and the observation accuracy of the internal model controller for the disturbance cannot be achieved.

[0004] Currently, internal model controllers such as figure 2 , an expanded observer such as figure 1 , which can meet the disturbance suppression requirements in most occasions, but as modern technology requires higher and higher precision of photoelectric tracking systems, the disturbance of photoelectric tracking systems based on motion platforms becomes more and more complex, whether it is an internal model disturbance observer or an extended state It is difficult for observers to meet the requirements, so it is necessary to study a new type of disturbance observation and compensation controller, which has the advantages of both internal model controller and extended observer, that is, it is not sensitive to the model of the controlled object, and it is not sensitive to the low frequency and middle frequency bands. The disturbance observation accuracy is high, the sudden disturbance can be suppressed, and the robustness is strong. At the same time, the design steps of this disturbance observation and compensation controller are simple and easy to implement in engineering

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