School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China.
School of Instrumentation Science and Opto-Electronics Engineering, Beihang University, Beijing 100191, China.
ISA Trans. 2018 Oct;81:318-328. doi: 10.1016/j.isatra.2018.08.001. Epub 2018 Aug 10.
This paper presents a parameters tuning method based on the genetic algorithm (GA) for an active disturbance rejection control (ADRC) of a three-axis inertially stabilized platform (ISP) with imaging sensors. To improve the stabilization accuracy and robustness of an aerial ISP under multi-source disturbances environment, an ADRC control scheme is first proposed. Then, to accurately identify and tune the parameters in the ADRC controller, a GA-based parameters tuning method is proposed. In this way, the performance of the ADRC is superior to the empirical method. To validate the proposed method, the simulations and experiments are carried out. The results show that the proposed ADRC with GA-based parameters tuning method has significant disturbance rejection ability which can improve the stabilization accuracy obviously. Compared with the ADRC with empirically tuning method, the stabilization error (RMS) under movable base is decreased up to 50.09%.
本文提出了一种基于遗传算法（GA）的参数整定方法，用于带有成像传感器的三轴惯性稳定平台（ISP）的主动干扰抑制控制（ADRC）。为了提高多源干扰环境下空中 ISP 的稳定精度和鲁棒性，首先提出了一种 ADRC 控制方案。然后，为了准确识别和整定 ADRC 控制器中的参数，提出了一种基于 GA 的参数整定方法。这样，ADRC 的性能优于经验方法。为了验证所提出的方法，进行了仿真和实验。结果表明，提出的基于 GA 的参数整定的 ADRC 具有显著的干扰抑制能力，可以明显提高稳定精度。与具有经验整定方法的 ADRC 相比，在可移动基座下的稳定误差（RMS）降低了 50.09%。
