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Wang L, Li X, Zhou Z, Liu Y, Yang Z, Zhang S, Li C. Disturbance Observation and Suppression in an Airborne Electro-Optical Stabilized Platform Based on a Generalized High-Order Extended State Observer. SENSORS (BASEL, SWITZERLAND) 2024; 24:3629. [PMID: 38894420 PMCID: PMC11175322 DOI: 10.3390/s24113629] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/23/2024] [Revised: 05/23/2024] [Accepted: 05/29/2024] [Indexed: 06/21/2024]
Abstract
Active disturbance rejection control (ADRC) is widely used in airborne optoelectronic stabilization platforms due to its minimal reliance on the mathematical model of the controlled object. The extended state observer (ESO) is the core of ADRC, which treats internal parameter variations and external disturbances as total disturbances, observes the disturbances as extended states, and then compensates them into the control loop to eliminate their effects. However, the ESO can only achieve a precise estimation of constant or slowly varying disturbances. When the disturbance is periodically changing, satisfactory results cannot be obtained. In this paper, a generalized high-order extended state observer (GHOESO) is proposed to achieve the precise estimation of known frequency sinusoidal disturbance signals and improve disturbance suppression levels. Through numerical simulations, a traditional ESO and GHOESO are compared in terms of disturbance observation capability and disturbance suppression ability for single and compound disturbances based on our prior knowledge of disturbance frequency. The effectiveness of the proposed GHOESO method is verified. Finally, the algorithm is applied to an airborne optoelectronic stabilization platform for a 1°/1 Hz swing experiment on a space hexapod swing table. The experimental results demonstrate the superiority of the GHOESO proposed in this paper.
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Affiliation(s)
- Lu Wang
- Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
- University of Chinese Academy of Sciences, No. 19, Yuquan Rd, Beijing 100049, China
| | - Xiantao Li
- Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Zhanmin Zhou
- Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Yuzhang Liu
- Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Zongyuan Yang
- Wuhan Second Ship Design and Research Institute, Wuhan 430060, China
| | - Shitao Zhang
- Wuhan Second Ship Design and Research Institute, Wuhan 430060, China
| | - Chong Li
- Equipment Department of China PLA Air Force in Changchun Area Military Representative Office, Changchun 130062, China
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Wang L, Li X, Liu Y, Mao D, Zhang B. High-Precision Control of Aviation Photoelectric-Stabilized Platform Using Extended State Observer-Based Kalman Filter. SENSORS (BASEL, SWITZERLAND) 2023; 23:9204. [PMID: 38005590 PMCID: PMC10674736 DOI: 10.3390/s23229204] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/28/2023] [Revised: 11/01/2023] [Accepted: 11/03/2023] [Indexed: 11/26/2023]
Abstract
The accuracy of the line-of-sight of aviation photoelectric optoelectronic stabilization platforms is limited by two factors: external disturbance and sensor noise. An extended state observer (ESO) can effectively improve their anti-interference ability. However, due to the serious problem of gyroscope noise, further improvement of an ESO's disturbance suppression effect is limited. This article proposes a control structure that combines a Kalman filter (KF) and ESO, effectively improving upon the interference suppression ability of a traditional ESO under the influence of noise. Firstly, an ESO was used to observe the lumped disturbance of the system, and then, the observed disturbance was compensated for in the control loop. Secondly, based on the compensation servo control system, the state equation of the system was reconstructed using a Kalman filter. Finally, the reconstructed filtered state variables were iterated onto the universal state observer, achieving the observation of disturbances while filtering out sensor noise. Under the conditions of a laboratory flight simulation turntable, the line-of-sight stability accuracy level was improved under disturbance excitation. It can be seen that the combination of a Kalman filter and extended disturbance observer proposed in this project improves the ESO's anti-interference ability under the influence of noise.
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Affiliation(s)
- Lu Wang
- University of Chinese Academy of Sciences, No.19, Yuquan Rd., Beijing 100049, China;
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Xiantao Li
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Yuzhang Liu
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Dapeng Mao
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
| | - Bao Zhang
- Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun 130033, China
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Lan L, Jiang W, Hua F. Research on the Line of Sight Stabilization Control Technology of Optronic Mast under High Oceanic Condition and Big Swaying Movement of Platform. SENSORS (BASEL, SWITZERLAND) 2023; 23:3182. [PMID: 36991895 PMCID: PMC10058664 DOI: 10.3390/s23063182] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/19/2023] [Revised: 03/10/2023] [Accepted: 03/14/2023] [Indexed: 06/19/2023]
Abstract
To realize high-performance line of sight (LOS) stabilization control of the optronic mast under high oceanic conditions and big swaying movements of platforms, a composite control method based on an adaptive radial basis function neural network (RBFNN) and sliding mode control (SMC) is proposed. The adaptive RBFNN is used to approximate the nonlinear and parameter-varying ideal model of the optronic mast, so as to compensate for the uncertainties of the system and reduce the big-amplitude chattering phenomenon caused by excessive switching gain in SMC. The adaptive RBFNN is constructed and optimized online based on the state error information in the working process; therefore, no prior training data are required. At the same time, a saturation function is used to replace the sign function for the time-varying hydrodynamic disturbance torque and the friction disturbance torque, which further reduce the chattering phenomenon of the system. The asymptotic stability of the proposed control method has been proven by the Lyapunov stability theory. The applicability of the proposed control method is validated by a series of simulations and experiments.
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Affiliation(s)
- Lintao Lan
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
- Huazhong Institute of Electro-Optics, Wuhan National Laboratory for Optoelectronics, Wuhan 430223, China
| | - Wei Jiang
- State Key Laboratory of Digital Manufacturing Equipment and Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
| | - Fangwu Hua
- Huazhong Institute of Electro-Optics, Wuhan National Laboratory for Optoelectronics, Wuhan 430223, China
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Zhao J, Zhao T, Liu N. Fractional-Order Active Disturbance Rejection Control with Fuzzy Self-Tuning for Precision Stabilized Platform. ENTROPY (BASEL, SWITZERLAND) 2022; 24:1681. [PMID: 36421536 PMCID: PMC9689549 DOI: 10.3390/e24111681] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/09/2022] [Revised: 11/14/2022] [Accepted: 11/16/2022] [Indexed: 06/16/2023]
Abstract
In this paper, a novel fractional-order active disturbance rejection control with fuzzy self-tuning method (FSFOADRC) is proposed for photoelectric tracking system (PTS). Firstly, aiming at the internal uncertainty of PTS and external disturbance, a fraction-order extended state observer (FOESO) is designed, and the FOESO can transform the plant into a simple form, which greatly simplifies the mathematical model. Secondly, a fuzzy regulator is applied to the proportion-differentiation controller (PD), increasing the flexibility and adaptivity of the controller. In addition, the stability of the whole control system can be guaranteed. Eventually, numerical comparative simulations are implemented to verify the feasibility and superiority of the proposed method. Compared with the integral-order active disturbance rejection control (IOADRC), fractional-order active disturbance rejection control (FOADRC) without the fuzzy regulator and proportion-integration-differentiation (PID) controller, the proposed method performs better with faster response, smaller overshoot, and stronger disturbance suppression capability.
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Affiliation(s)
| | | | - Nian Liu
- Correspondence: ; Tel.: +86-139-8193-5993
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Vision-Based Target Detection and Tracking for a Miniature Pan-Tilt Inertially Stabilized Platform. ELECTRONICS 2021. [DOI: 10.3390/electronics10182243] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
This paper presents a novel visual servoing sheme for a miniature pan-tilt intertially stabilized platform (ISP). A fully customized ISP can be mounted on a miniature quadcopter to achieve stationary or moving target detection and tracking. The airborne pan-tilt ISP can effectively isolate a disturbing rotational motion of the carrier, ensuring the stabilization of the optical axis of the camera in order to obtain a clear video image. Meanwhile, the ISP guarantees that the target is always on the optical axis of the camera, so as to achieve the target detection and tracking. The vision-based tracking control design adopts a cascaded control structure based on the mathematical model, which can accurately reflect the dynamic characteristics of the ISP. The inner loop of the proposed controller employs a proportional lag compensator to improve the stability of the optical axis, and the outer loop adopts the feedback linearization-based sliding mode control method to achieve the target tracking. Numerical simulations and laboratory experiments demonstrate that the proposed controller can achieve satisfactory tracking performance.
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Wen T, Xiang B. The airborne inertially stabilized platform suspend by an axial-radial integrated active magnetic actuator system. J Adv Res 2021; 31:191-205. [PMID: 34194842 PMCID: PMC8240374 DOI: 10.1016/j.jare.2021.01.002] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/21/2020] [Revised: 11/13/2020] [Accepted: 01/04/2021] [Indexed: 11/26/2022] Open
Abstract
A novel structure of AMA system is designed and constructed, and the axial control and radial control are integrated in the AMA system. The magnetic forces and the gimbal torques of the axial-radial integrated AMA system have good actively controllability and linearity. The good tracking performance of the AMA system is experimentally verified, and mid-frequency disturbance is effectively suppressed.
Introduction The inertial stabilization platform (ISP) is widely used in the earth observation system to stably track the line of sight of the payload because it could isolate vibrations and angular motions of the aviation platform. Objectives an active magnetic actuator (AMA) system integrating the axial and the radial control is used to levitate the azimuth gimbal to improve attitude stabilization precision and dynamic performance of the ISP, and then the dynamic model of azimuth gimbal is developed. Methods The magnetic force and the gimbal torque of the axial-radial integrated AMA system are investigated, and the attitude information of the suspended azimuth gimbal is measured. Results The attitude stabilization precision of azimuth gimbal is confined at 0.02°, and the control bandwidth of the axial-radial integrated AMA system could exceed 100 Hz. Conclusion the ISP with an axial-radial integrated AMA system has better attitude stabilization precision and wider control frequency than the pure mechanical ISP, so it is potential to be applied in the airborne remote sensing system to improve the measurement precision.
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Affiliation(s)
- Tong Wen
- School of Instrument Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China.,Ningbo Institute of Technology, Beihang University, Ningbo, Zhejiang Province 31500, China
| | - Biao Xiang
- School of Mechano-Electronic Engineering, Xidian University, Hi-Tech Development Zone, Xi'an City, Shaanxi Province 710126, China.,Department of Mechanical Engineering, The Hong Kong Polytechnic University, Kowloon, Hong Kong, China
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Mao J, Li S, Li Q, Yang J. Design and implementation of continuous finite-time sliding mode control for 2-DOF inertially stabilized platform subject to multiple disturbances. ISA TRANSACTIONS 2019; 84:214-224. [PMID: 30342809 DOI: 10.1016/j.isatra.2018.09.014] [Citation(s) in RCA: 12] [Impact Index Per Article: 2.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/13/2017] [Revised: 08/04/2018] [Accepted: 09/14/2018] [Indexed: 06/08/2023]
Abstract
Control performances of inertially stabilized platforms (ISPs) are always affected by various disturbed phenomena such as cross-couplings, mass unbalance, parameter variations, and external disturbances in real applications. To improve the dynamic response and the disturbance rejection ability of the ISP, a continuous finite-time sliding mode control (SMC) approach with cascaded control structure is proposed. By constructing a finite-time disturbance observer, the multiple disturbances are precisely estimated in real time without the complex modeling and calibration work. Under the field oriented control framework, for the stabilized loop subsystem, an improved super-twisting controller incorporating the disturbance estimates is developed whereas for the current loop subsystem, the super-twisting control method is directly employed. Finite-time convergence of the inertial angular rates is guaranteed with the continuous control action such that chattering is alleviated remarkably. Moreover, by utilizing the manner of disturbance compensation, the feedback control gains can be tuning down without sacrificing the disturbance rejection ability. Comparative experiments are performed to verify the effectiveness of the proposed control approach.
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Affiliation(s)
- Jianliang Mao
- Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, People's Republic of China
| | - Shihua Li
- Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, People's Republic of China.
| | - Qi Li
- Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, People's Republic of China
| | - Jun Yang
- Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, School of Automation, Southeast University, Nanjing, Jiangsu 210096, People's Republic of China
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Wang Y, Lei H, Ye J, Bu X. Backstepping Sliding Mode Control for Radar Seeker Servo System Considering Guidance and Control System. SENSORS 2018; 18:s18092927. [PMID: 30177652 PMCID: PMC6164308 DOI: 10.3390/s18092927] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/15/2018] [Revised: 08/29/2018] [Accepted: 08/30/2018] [Indexed: 11/16/2022]
Abstract
This paper investigates the design of a missile seeker servo system combined with a guidance and control system. Firstly, a complete model containing a missile seeker servo system, missile guidance system, and missile control system (SGCS) was creatively proposed. Secondly, a designed high-order tracking differentiator (HTD) was used to estimate states of systems in real time, which guarantees the feasibility of the designed algorithm. To guarantee tracking precision and robustness, backstepping sliding-mode control was adopted. Aiming at the main problem of projectile motion disturbance, an adaptive radial basis function neural network (RBFNN) was proposed to compensate for disturbance. Adaptive RBFNN especially achieves online adjustment of residual error, which promotes estimation precision and eliminates the “chattering phenomenon”. The boundedness of all signals, including estimation error of high-order tracking differentiator, was especially proved via the Lyapunov stability theory, which is more rigorous. Finally, in considered scenarios, line of sight angle (LOSA)-tracking simulations were carried out to verify the tracking performance, and a Monte Carlo miss-distance simulation is presented to validate the effectiveness of the proposed method.
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Affiliation(s)
- Yexing Wang
- Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China.
| | - Humin Lei
- Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China.
| | - Jikun Ye
- Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China.
| | - Xiangwei Bu
- Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China.
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