自抗扰技术在船载天线伺服系统中的应用研究

为减小船摇扰动对船载天线伺服系统指向及跟踪精度的影响，引入线性自抗扰控制器（LADRC）对伺服系统位置环进行改进。首先对天线伺服系统模型进行简要分析，建立系统状态空间方程；然后利用LADRC对系统进行改进，并对其参数设计进行了详细介绍，同时为提高系统动态跟踪性能，利用TD微分器提取目标速度信息进行前馈补偿；最后经实验测试验证，LADRC相对于传统PID控制器能够保持天线伺服系统动态性能不下降，同时有效提高系统的抗船摇性能。

Study and application of active disturbance rejection control technology in ship borne antenna servo system

To reduce the influence of ship shake disturbance on tracking and pointing accuracy of ship borne antenna servo system, LADRC is used to modify the position loop of servo system. Firstly, the antenna servo system model is briefly analyzed and the state space equation is established. Then the system is improved by using LADRC, and its parameter design is introduced in detail. At the same time, in order to improve the dynamic tracking performance of the system, TD differentiator is used to extract the target velocity information for feedforward compensation. Finally, it is verified by experimental tests that compared with the traditional PID controller, LADRC can keep the dynamic performance of the antenna servo system from declining, and effectively provide its anti-ship shaking disturbance performance.