Journal of Dalian Maritime University >
2020 , Vol. 46 >Issue 1: 20 - 28
DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2020.01.003
Stability control of parallel three-DOF ship-borne stabilization platform based on ADRC
Received date: 2019-08-29
Revised date: 2019-09-29
Online published: 2019-09-29
Aiming at the stabilization control problem of parallel three-degree-of-free ship-borne stabilization platform under dynamic uncertainties and unknown timevarying external disturbances, the active disturbance rejection control (ADRC) technique was used to construct an extended state observer to online estimate the total disturbances resulted from system dynamic uncertainties, unknown external disturbances as well as the coupling between the platform motion state variables. The ship-borne stabilization platform PID feedback control law was designed and the estimates of the total disturbances was fed forward to the control inputs to compensate the total disturbances so as to achieve stable control of the platform. Theoretical analysis indicates that the designed ADRC stabilization control law of ship-borne stabilization platform can keep its upper support surface stable in the inertial space, and ensure uniformly ultimately bounded of all signals in the ship-borne stabilization platform closed-loop control system. The simulation results verify the effectiveness of the designed stabilization law of the ship-borne stabilization platform and its robustness to unknown time-varying external disturbances.
XU Meng , DU Jia-lu , HE Guang-jian , SUN Yu-qing , LI Dong-hai . Stability control of parallel three-DOF ship-borne stabilization platform based on ADRC[J]. Journal of Dalian Maritime University, 2020 , 46(1) : 20 -28 . DOI: 10.16411/j.cnki.issn1006-7736.2020.01.003
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