A method and device for stabilizing control based on particle active disturbance rejection

Abstract

The invention provides a stable control method and device based on particle ADR, comprising: establishing an ADR controller model based on the tethered balloon system dynamics model and the velocity loop control model; The control system of the system is determined after theoretical modeling of each actuator; the parameters of the ADRC model are optimized using the particle swarm search algorithm to determine the optimal ADRC model. The invention aims at the problem that the tethered balloon system is used as a weakly controlled aircraft, which is greatly disturbed by the wind field and has poor state stability, which affects the stable imaging of the photoelectric pod. The particle swarm search algorithm is used to optimize the active disturbance rejection controller, which can effectively isolate the photoelectric pod The internal and external disturbances of the cabin can be improved, and the imaging stability of the photoelectric pod can be improved.

Description

technical field [0001] The invention relates to the technical field of aircraft control, in particular to a stability control method and device based on particle self-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 heavy payload. After being equipped with a photoelectric mission load system, it can carry out different applications such as surveillance and monitoring, ground reconnaissance, and remote sensing observation. Faced with increasingly urgent frontier defense, coastal defense, and scientific detection In order to meet the application requirements, the use of tethered balloon photoelectric pod system to carry out regional fine monitoring has attracted more and more attention, and it will play a huge role in the fields of national economy, scientific research and national defense in the future. [0003] At present, a variety of control methods have been proposed ...

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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