Stability control method and device based on particle active disturbance rejection

Abstract

The invention provides a stability control method and device based on particle active disturbance rejection, and the method comprises the steps of building an active disturbance rejection controller model based on a tethered balloon system dynamics model and a speed loop control model, wherein the speed loop control model is determined after theoretical modeling is carried out on each executive component of a control system of the tethered balloon system; and optimizing the parameters of the active-disturbance-rejection controller model by adopting a particle swarm search algorithm to determine an optimal active-disturbance-rejection controller model. Aiming at the problems that the tethered balloon system is used as a weak control aircraft, is greatly disturbed by a wind field, is poor in state stability and affects stable imaging of a photoelectric pod, the active-disturbance-rejection controller is optimized by utilizing the particle swarm search algorithm, internal and external disturbance of the photoelectric pod can be effectively isolated, the imaging stability of the photoelectric pod is improved, and the method is of great significance in application in the fields of long-time air parking of aerostats such as tethered balloons, earth observation implementation, monitoring and the like.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to a stable control method and device based on particle active disturbance rejection. Background technique [0002] The tethered balloon has the advantages of being able to stay in the air for a long time and having a large payload. After being equipped with an optoelectronic mission payload system, it can carry out different applications such as surveillance and monitoring, ground reconnaissance, and remote sensing observation. Facing the increasingly urgent border defense, coastal defense, and scientific detection In order to meet the needs of other applications, the use of tethered balloon optoelectronic pod systems to carry out regionalized fine monitoring has attracted more and more attention, and will play a huge role in the national economy, scientific research and national defense in the future. [0003] At present, a variety of control methods have been proposed fo...

AI Technical Summary

Problems solved by technology

[0005] 1) Limited by the structure of the tethered balloon itself, the tethered balloon is easily affected by the change of wind direction and wind force when it is in the air, and there will be random swings in the three directions of roll, pitch and yaw

It is difficult to control the attitude of the tethered balloon, and the visual axis of the sensor in the photoelectric pod often changes randomly

2) Limited by the influence of the wind, when the wind direction changes too fast, the tethered balloon platform is disturbed and rotates. In order to ensure effective tracking, the motor needs to be started and stopped frequently, and the direction of the photoelectric sensor is controlled. The friction torque and wind resistance torque change relatively quickly. Big

Difficult to ensure rapidity while having high stability

3) Limited by the rotation speed of the rotation axis of the photoelectric pod itself, when the wind direction changes rapidly, the speed at which the tethered balloon platform is disturbed may exceed the rotation speed of the rotation axis of the photoelectric pod itself, and it is easy to "lose" tracking target, difficult to achieve stable tracking

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