为了使半捷联导引头在干扰力矩和刻度尺误差引起的耦合干扰及其他不确定干扰下仍具有很强的鲁棒性, 提出了伺服系统混合自抗扰控制(Active Disturbance Rejection Control, ADRC)方案。首先, 建立了导引头半捷联稳定平台数学模型; 其次, 设计了半捷联导引头稳定平台混合自抗扰控制系统, 通过对自抗扰稳定回路频带特性进行研究, 分析了控制器参数对控制性能的影响, 给出了控制参数设计原则; 最后, 对混合自抗扰控制方案进行了数字仿真验证。仿真结果表明: 相比于传统控制器, 混合自抗扰控制器能获得更好的控制精度, 能有效克服干扰力矩和刻度尺误差对导引头的影响, 在典型弹体频率2 Hz处隔离度幅值比传统控制器最多能降低约67.9%。研究成结果可为半捷联导引头稳定控制系统的设计提供指导。

A hybrid active disturbance rejection control (ADRC) scheme for stable loop was proposed. In order to make the semi-strapdown seekers have strong robustness under the coupling disturbances induced by disturbance torques and scale error and other uncertain perturbations. Firstly, the mathematic model of the semi-strapdown stable platform was established. Secondly, a hybrid ADRC system for the stable platform of a semi-strapdown seeker was designed. The influence of controller parameters on the control performance was analyzed by studying the frequency characteristics of ADRC, and the design principle of control parameters was given. Finally, the hybrid ADRC scheme was verified by mathematical simulation. The simulation results show that, compared with the traditional controller, the hybrid ADRC achieves better control accuracy and can effectively overcome the influence of disturbance torque and scale error on the seeker. The amplitude of the disturbance rejection rate (DRR) can be reduced by about 67.9% under the typical attitude disturbance frequency(2 Hz). The research results can provide guidance for the design of semi-strapdown seeker stable control system.