An Improved Method of Friction Compensation and Stability Control for Optoelectronic Stabilized Platform

Abstract

In order to improve the anti-disturbance ability of the optoelectronic stabilized platform, an improved active disturbance rejection control algorithm is proposed, which combines LuGre friction model and linear reduced extended state observer. Firstly, LuGre friction model is established to compensate the friction torque of bearing. Then, the friction compensation error and other disturbances are regarded as an extended state, which is estimated by a linear reduced-order extended state observer. The estimated value is fed back to the controller to further compensate the disturbance. The improved ADRC algorithm has superior disturbance rejection ability taking advantage of the accurate compensation of LuGre model and the adaptation of extended state observation. Experimental results show that the improved algorithm can well suppress external interferences and significantly improve the ability of anti-interference and tracking response of the system.