The Application Of Active Disturbance Rejection Controller For Monaxial Stabilization Platform Using Ring Laser Gyro

Platform compass is an exact and complicated apparatus which is used in navigation, it can provide exact orientation and benchmark of level for navigation, observation, weapons and control system in the naval vessel,it can also display the position and posture of the ships. Ring Laser Gyro(RLG) is a perfect equipment for INS. in contrast with the other kinds of gyroscope,the RLG has advantages such as more precise , resisting the severe environment,lager dynamic range and more credible. At present,RLG is mainly used in SINS,but as the reducing of the cost and the developing of the technology,we can try to design a new precise platform compass which may be used in naval vessel replacing the mechanical gyros with RLG.The stabilization control circuit is one of the key parts of platform compass. Active disturbance rejection controller(ADRC) is a new controller which has inherited the excellences of PID controller and conquered the disadvantages of it . This paper analyzes the differences between platform compass system using Ring Laser Gyro and the ones using mechanical gyros ,then it provides the active disturbance rejection control method for stabilization control circuits of platform compass system using Ring Laser Gyro. This controller can be easily designed and both the simulation and the experiment results show that it can separate the external disturbance effectively and it is not sensitive to modeling uncertainty. In addition, the system also has other character such as high accurate. Thus, it is an excellent controller for this stabilization control circuits. In addition,DSP is a digital signals process chip which is very suited to complicated arithmetic and the control of electromotor,so this paper designs a stabilization control circuit based on DSP.