On ADRC for photoelectrical stabilized platform

This paper discusses the ADRC application in the photoelectrical platform for disturbance rejection. Firstly, model of stabilized platform system is established, in which uncertain external load disturbance and unmodelled dynamics are regarded as one integrated disturbance. Then, using ESO to observe and compensate this integrated disturbance, and using the compensation loop of active disturbance rejection control(ADRC) as the inner loop of traditional PID controller . The simulation results show that the anti-interference ability could be improved by the designing of ADRC with traditional PID control. The stable precision of visible axis could be well improved. Both the simulation and hardware implementation of the ADRC based digital control method on the platform show that the controller has good aspect to have good engineering function and prospect.