周新力,李醒飞
AuthorsHTML:周新力，李醒飞
AuthorsListE:Zhou Xinli,Li Xingfei
AuthorsHTMLE:Zhou Xinli，Li Xingfei
Unit:天津大学精密测试技术及仪器国家重点实验室，天津 300072
Unit_EngLish:State Key Laboratory of Precision Measurement Technology and Instruments， Tianjin University，Tianjin 300072，China
Abstract_Chinese:针对光电跟踪系统存在的时变摩擦力、外界扰动等非线性因素引起控制精度降低的问题，本文提出一种积 分反步自抗扰控制策略. 首先建立了光电跟踪系统的非线性动力学模型，然后将系统中未建模部分与外界扰动定义 为总和扰动并将其扩展为新的系统状态变量．同时考虑降低参数的整定难度，采用线性状态观测器实时估计光电跟 踪系统的各阶状态与总和扰动. 此外，采用反步设计法的思想，引入子系统与虚拟控制量的概念，提出一种将积分 反步法与自抗扰控制器相结合的复合控制策略，进而提高系统的控制精度与动态响应速度. 采用李雅普诺夫 (Lyapunov)稳定性理论对积分反步自抗扰控制策略进行了证明. 最后在光电平台上对所提出的控制策略进行了实验 验证，并与典型自抗扰算法和反步法对比. 实验结果表明：在阶跃实验中，该算法的动态响应速度为1.965 s ，优于 典型自抗扰算法的 2.392 s ；在混频正弦角度跟踪实验中，其跟踪误差的绝对值总和为典型自抗扰算法的 35.9% ，为 反步法的19.2% ，其跟踪误差的标准差为 0.123 6 ，明显小于典型自抗扰算法的 0.282 4 与反步法的 0.536 6 . 该算法 能有效地抑制时变摩擦及外界扰动，可以实现光电跟踪系统的高精度位置控制与快速动态响应．
Abstract_English:In this paper，an integral backstepping active disturbance rejection control(ADRC) strategy is proposed to tackle nonlinear factors，such as time-varying friction and external disturbance，existing in the electro-optical targeting system. First，the nonlinear dynamic model of the electro-optical tracking system is established. Thereafter，the unmodeled part and external disturbance are defined as the total disturbance and extended to a new system state variable. Meanwhile，considering the difficulty of parameter tuning，a linear state observer is used to estimate the states and total disturbance of the electro-optical targeting system in real time. Moreover，the idea of the backstepping design method is adopted，and the concepts of a subsystem and virtual control variable are introduced. A compound control strategy combining integral backstepping and active disturbance rejection controller is proposed to improve the control accuracy and dynamic response speed of the system. The integral backstepping active disturbance rejection control strategy is proved by Lyapunov stability theory. Finally，the proposed control strategy is tested on the elec\u0002tro-optical platform and compared with the typical ADRC algorithm and backstepping method. Experimental results show that in the step experiment，the dynamic response speed of the proposed algorithm is 1.965 s，which is better than that of the typical ADRC algorithm(2.932 s). In the mixing sinusoidal angle tracking experiment，the sum of the absolute value of the tracking error of the proposed algorithm is 35.9% of the typical ADRC algorithm and 19.2% of the backstepping algorithm. The standard deviation of the tracking error of the proposed algorithm is 0.123 6，which is less than that of the typical ADRC algorithm ( 0.282 4 ) and backstepping algorithm ( 0.536 6 ). The proposed algorithm can effectively suppress the time-varying friction and external disturbance and implement high precision position control and fast dynamic response of the electro-optical targeting system.
Keyword_Chinese:光电跟踪系统；自抗扰控制；积分反步法；扩张状态观测器；摩擦力
Keywords_English:electro-optical targeting system；active disturbance rejection control；integral backstepping method； extended state observer(ESO)；friction

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