Research on Servo Control Algorithm of Photoelectric Stabilized Platform Based on Sliding Mode Active Disturbance Rejection

Abstract

Aiming at the problems of parameters to be modified and the indistinct physical meaning of the photoelectric stabilization platform control based on the principle of active disturbance rejection, a sliding mode active disturbance rejection control algorithm is proposed. The mathematical model of the control system of the two-axis optoelectronic stabilization platform is established. The external disturbance and various order states of the airborne optoelectronic stabilization platform are estimated in actual time by using the extended state observer, and the optimal control function is constructed by the sliding mode reaching law to complete the nonlinear reactive reactance. The optimization of the disturbance controller structure is carried out, and the algorithm is verified by Matlab simulation. The simulation results show that after the photoelectric stabilization platform adopts the sliding mode ADRC controller, it not only retains the advantages of strong nonlinear ADRC resistance to load disturbance, but also can effectively suppress the external disturbance and realize the high-precision position of the photoelectric stabilization platform control.