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弹箭与制导学报 >

2021 , Vol. 41 >Issue 1: 65 - 69

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2021.01.014

侦察车云台伺服系统的改进自抗扰控制

  • 胡近朱 ,
  • 高强 ,
  • 侯润民 ,
  • 时尚 ,
  • 陶征勇
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  • 南京理工大学机械工程学院,南京 210094

胡近朱(1995—),男,江苏盐城人,硕士研究生,研究方向:机电系统智能控制。

收稿日期: 2019-12-24

  网络出版日期: 2025-02-11

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Improved Active Disturbance Rejection Control of a Reconnaissance Vehicle PTZ Servo System

  • HU Jinzhu ,
  • GAO Qiang ,
  • HOU Runmin ,
  • SHI Shang ,
  • TAO Zhengyong
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  • School of Mechanical Engineering, Nanjing University of Science and Technology,Nanjing 210094,China

Received date: 2019-12-24

  Online published: 2025-02-11

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摘要

某型号侦察车云台伺服系统是复杂的非线性时变系统。为了提高观瞄设备在侦察车作业时的稳定性,克服伺服系统自身存在的非线性问题,将自抗扰控制(ADRC)融入到控制系统中。针对ADRC参数庞杂、整定繁琐的问题,采用改进的自适应遗传算法对ADRC中的重要参数进行在线整定。仿真结果表明:该方法可明显提高车载云台伺服系统的观瞄精度和控制性能,并具有一定的抗干扰能力。

关键词： 车载云台; 伺服系统; 自适应遗传算法; 自抗扰控制

本文引用格式

胡近朱 , 高强 , 侯润民 , 时尚 , 陶征勇 . 侦察车云台伺服系统的改进自抗扰控制[J]. 弹箭与制导学报, 2021 , 41(1) : 65 -69 . DOI: 10.15892/j.cnki.djzdxb.2021.01.014

Abstract

The PTZ servo system of a certain type of reconnaissance vehicle is a complex nonlinear time-varying system. In order to improve the stability of the sighting equipment during the operation of the reconnaissance vehicle and overcome the non-linear problems of the servo system itself, ADRC is integrated into the control system. Aiming at the complicated and complicated setting of ADRC parameters, an improved adaptive genetic algorithm is used to set the important parameters in ADRC online. The simulation results show that this method can obviously improve the sight accuracy and control performance of the vehicle-mounted pan / tilt servo system, and has certain anti-interference ability.

Key words： car head; servo system; adaptive genetic algorithm; active disturbance rejection control

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