基于扩张状态观测器的机载光电转台控制系统

姜相宇; 董岩; 宋建林; 王伟

doi:10.12382/bgxb.2025.0441

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基于扩张状态观测器的机载光电转台控制系统

更新时间：2026-04-24

- 基于扩张状态观测器的机载光电转台控制系统
- An ESO-based Control System for Airborne Opto-electronic Rotary Table
- 兵工学报 2026年47卷第3期页码：250441
- 作者机构：
  
  长春理工大学电子信息工程学院，吉林长春 130022
  吉林珩辉光电科技有限公司，吉林长春 130022
  长春理工大学光电工程学院，吉林长春 130022
- 作者简介：
  
  通信作者邮箱：dongyanpersonal@163.com
- 基金信息：
  
  国家重点研发计划项目(2022YFB2803205)
- DOI：10.12382/bgxb.2025.0441
  中图分类号： TP273
- 收稿：2025-06-03，
  
  网络首发：2025-12-25，
  
  纸质出版：2026-03
- 稿件说明：
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姜相宇, 董岩, 宋建林, 等. 基于扩张状态观测器的机载光电转台控制系统[J]. 兵工学报, 2026,47(3):250441.

JIANG Xiangyu, DONG Yan, SONG Jianlin, et al. An ESO-based Control System for Airborne Opto-electronic Rotary Table[J]. Acta Armamentarii, 2026, 47(3): 250441.
姜相宇, 董岩, 宋建林, 等. 基于扩张状态观测器的机载光电转台控制系统[J]. 兵工学报, 2026,47(3):250441. DOI： 10.12382/bgxb.2025.0441.

JIANG Xiangyu, DONG Yan, SONG Jianlin, et al. An ESO-based Control System for Airborne Opto-electronic Rotary Table[J]. Acta Armamentarii, 2026, 47(3): 250441. DOI： 10.12382/bgxb.2025.0441.

摘要

为了解决机载光电转台受摩擦力矩、姿态扰动以及机体振动等影响导致跟踪精度降低的问题，提出一种基于电流环的5阶扩张状态观测器（Extended State Observer，ESO）的控制方法。依据电流环的高带宽特性，能够快速响应非线性力矩扰动的变化，对电流环进行PI校正后得出3阶被控系统，并以此来建立4阶ESO使其抑制摩擦力矩以及姿态扰动，并采用期望频率校正法设计控制器。为进一步解决在高频振动下ESO由于高增益的特性反而严重影响其观测精度的问题，在4阶ESO中引入1阶滤波器的微分方程来重构5阶ESO抑制高频振动，并通过李雅普诺夫对其进行稳定性证明。实验结果表明：5阶ESO算法相较于比例-积分-微分算法和4阶ESO算法在（2°0.5 Hz）的姿态扰动下，跟踪误差RMS值分别降低了52.5%和10.2%；在摩擦力矩抑制方面提升了51%和18%；在振动抑制方面提升了69.7%和57.1%，有效提升了光电转台系统的跟踪精度。

Abstract

In order to address the degradation in tracking accuracy of airborne opto-electronic rotary table resulting from friction torque

attitude disturbance and high-frequency vibration

a control method of fifth-order extended state observer（ESO）based on current loop is proposed. The control system can rapidly respond to the variation in nonlinear torque disturbance based on the high-bandwidth characteristic of current loop enables. A third-order controlled system is obtained after performing PI correction on the current loop

On this basis

a fourth-order ESO is established to suppress friction torque and attitude disturbance. Finally

the controller is designed using the desired frequency correction method. To further address the degradation in observation accuracy due to the high-gain characteristic of ESO under high-frequency vibration

a differential equation of first-order filter is introduced into the fourth-order ESO framework to reconstruct a fifth-order ESO for high-frequency vibration suppression. The stability of ESO is verified via Lyapunov theory. The experimental results demonstrate that the proposed method reduces the tracking error RMS by 52.5% and 10.2%

respectively under the attitude disturbances of（2° 0.5 Hz）compared to the PID control and the fourth-order ESO. Additionally

it improves the effect of friction torque suppression by 51% and 18%

and also improves the effect of vibration suppression by 69.7% and 57.1%

significantly improving the tracking accuracy of opto-electronic rotary table.

关键词

Keywords

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