Design Of Active Disturbance Rejection Controller For Dynamic Gyro Image Stabilization System

The dynamic gyro is a key component of the precision guided weapon.Although the controller based on classical control theory can meet the performance indexes and achieve certain control requirements,there is still a lot of improvement space.In order to improve tracking performance and anti-interference performance,a controller based on the active disturbance rejection theory is designed for the dynamic gyro which is strongly coupled and disturbed.A decoupling feedforward control matrix deal with coupling of two channels.An ADRC controller is presented by Nonlinear State Error Feedback and Extended State Observer to estimate and compensate the disturbance of system in order to make control to dynamic gyro.It is demonstrated by numerical simulation that the controller designed by ADRC can meet the need of dynamic gyro,and it has excellent decoupling performance,tracking performance,anti-interference performance and noise suppression performance for coupling system.According to the basic structure and working principle of dynamic gyro to compile embedded control software based on CCS 3.3 software platform and using STM320F28335 DSP development board in order to make rotation control and precession control to dynamic gyro.The results of debugging ADRC controller show that well-functioning control software can meet the need of dynamic gyro.