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OALib Journal期刊
ISSN: 2333-9721
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Design of active disturbance-rejection controller for photoelectric tracking system on moving bed
运动平台上光电跟踪系统的自抗扰控制器设计

Keywords: moving bed,photoelectric tracking system,active disturbance-rejection control,robustness,disturbance
运动平台
,光电跟踪系统,自抗扰控制,鲁棒性,扰动

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Abstract:

To meet the requirements of strong disturbance-rejection and fast response in tracking moving targets for photoelectric tracking system on the moving bed, we design an active disturbance-rejection controller (ADRC). After investigating the closed-loop bandwidth, we rebuild the structure of ADRC to ensure a wider bandwidth. An extended state observer (ESO) is designed to observe disturbances and compensate them. Restrictions on robust stability of ESO are analyzed. Compared with the PI controller, ADRC show better tracking and disturbance-rejection capabilities in experimental results. Particularly, the steady-state tracking error for step-input signal is less than half of that of PI, and the disturbance-rejection ratio is improved by 6 db around 2 Hz.

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