基于LQR及改造扩张状态观测器下的PID控制器参数整定方法
By combining linear quadratic optimal control with the PID controller parameter tuning method of modified extended state observer, the problems of external disturbances and internal uncertainties in the inertial stabilization platform are solved, and the dynamic response performance and anti-interference capability of the system are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- INST OF OPTICS & ELECTRONICS CHINESE ACAD OF SCI
- Filing Date
- 2023-02-07
- Publication Date
- 2026-07-17
AI Technical Summary
Existing technologies are insufficient to effectively suppress external disturbances and internal uncertainties in inertial stabilization platforms, leading to a decline in system stability. Furthermore, traditional extended state observers have insufficient design accuracy and limited anti-interference capabilities.
A PID controller parameter tuning method based on linear quadratic optimal control and modified extended state observer is adopted. Combined with the dominant pole placement technique, the extended state observer gain matrix is designed, and the PID controller parameters are optimized by the LQR method to achieve accurate observation and compensation of disturbances.
It significantly improves the system's dynamic response performance and anti-interference capability, improves the system's rise time and settling time, and enhances the disturbance suppression capability of the inertial stabilization platform.
Smart Images
Figure CN115933368B_ABST