Technologe On Active Disturbance Rejection Control Of Commander Panoramic Sight

Commander panoramic sight is one of the most important part of fire control system in modern tank. The thesis is mainly concerned with the digital control of the commander panoramic sight based on high performance Digital Signal Processor and Active Disturbance Rejection Control (ADRC) technique with fiber optical gyro to improve it's deficiency.Firstly, the structure and discrete arithmetic of the ADRC controller is analyzed. To test the feasibility of controlling the commander panoramic sight with ADRC technique, a model of the PM torque DC motor is developed and simulated under LabVIEW platform. The simulation indicates that the ADRC controller has the characters as quickness, zero overshoot, zero vibration, good robustness and high ability of rejecting disturbance.Secondly, the hardware and software of the control system for commander panoramic sight are designed. Structure of the hardware is introduced and the driving and isolating circuit are emphasized in hardware design section; Flow of the software is presented and Modules such as PWM wave generating, ADRC, SCI communication, ADC sampling, position protection are realized in software section. The new digital control system is more flexible and functional but less bulky and consumptive than the former analog ones. The designed software and hardware are used on the commander panoramic sight for optimizing the parameters of ADRC on-line and test the performance of the system. Experiments under different conditions, such as no disturbance, continuous disturbance and pulse disturbance are carried out. The results show that the system used ADRC technique has the merits as rapid response, zero overshoot, zero vibration, good robustness and high ability of disturbance rejection. Lastly, the performance of the system is tested on two different commander panoramic sight platform with optimized ADRC parameters. The experiment shows that the stationarity precision is up to 0.17 mil and zero drift to 1.58 mil/min which are prior to the analog system.