为了提高舰载二维稳定平台船摇隔离效果与稳定精度,对比分析了速度前馈比例-积分(PI)控制器和线性自抗扰控制器的控制效果。首先,在二维稳定平台伺服系统数学模型的基础上,分别设计了基于船摇速度前馈的PI 控制器和线性自抗扰控制器,并在仿真软件中建立了仿真模型;然后,以实际的船摇运动数据作为激励输入控制模型,分析了常规PI 控制、速度前馈PI 控制以及线性自抗扰控制的纵摇框架的稳定精度,仿真结果表明线性自抗扰控制稳定精度明显优于速度前馈PI 控制;最后,通过海上试验验证了基于线性自抗扰控制的二维稳定平台具有较高的稳定精度,能够满足稳定平台伺服系统的工程化应用和性能指标要求。

In order to improve the isolation effect and stability accuracy of shipborne two-dimensional stable platform, the control effects of speed feedforward proportional-integral (PI) controller and linear active disturbance rejection controller are compared. First, on the basis of the mathematical model of two-dimensional stable platform servo system, PI controller and linear active disturbance rejection controller based on ship rocking speed feedforward are designed, and simulation model is established in the simulation software. Then, using actual ship rocking motion data as the excitation input control model, the stability accuracy of the pitch frame of conventional PI control, speed feedforward PI control, and linear active disturbance rejection control is analyzed. Simulation results show that the stability accuracy of linear active disturbance rejection control is significantly better than that of speed feedforward PI control. Finally, it is verified through offshore experiments that the two-dimensional stable platform based on linear active disturbance rejection control has high stability accuracy and can meet the engineering application and performance requirements of the stable platform servo system.

TM351