Gyro stabilized pod based on active disturbance rejection control

Abstract

Gyro stabilized pod, demanding high tracking precision and stabilization precision, is a nonlinear system. Classical control method is often used in actual system, which is difficult to guarantee high precision and high disturbance rejection ability. According to disturbance characteristics of gyro stabilized pod, this paper presents the active disturbance rejection control (ADRC) algorithm based on the typical structure of two-axis and four-frame. The simulation results show that ADRC controller has advantages of short regulating time, high precision and high disturbance rejection ability. A comparison between ADRC and PID is also presented, which further shows that the ADRC controller is superior to PID controller.