Speed Control for the Pitching Axis of a Remote Sensing Camera Using an Improved Active Disturbance Rejection Controller
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Speed Control for the Pitching Axis of a Remote Sensing Camera Using an Improved Active Disturbance Rejection Controller Bing-You Liu Abstract: This paper proposes the theoretical framework and the experimental application of an improved active disturbance rejection controller (ADRC) to speed control for the pitching axis of a remote sensing camera. Mechanical model of the pitching axis, mechatronics model of the speed control system for the pitching axis, and speed algorithm model of a permanent magnet synchronous motor are established. Control rates of the extended state observer (ESO) and the nonlinear state error feedback (NSEF) of the traditional ADRC are improved using a new nonlinear function. The nonlinear dynamics, model uncertainty, and external disturbances of the speed control system are extended to a new state, and the improved ESO is implemented to observe this state. The overtime variation of the speed control system is predicted and compensated for in real time using the improved ESO. The nonlinear integration method is adopted to nonlinearly combine the differential and the error differential by the improved NSEF. Subsequently, high-quality control is provided to the system. Simulation and experimental verification for the speed control system for the pitching axis of a remote sensing camera are conducted. Results show the effectiveness of the proposed controller. Keywords: Improved active disturbance rejection controller (ADRC), improved extended state observer (ESO), improved nonlinear state error feedback (NSEF), speed control.
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INTRODUCTION
The speed control for the pitching axis of a remote sensing camera is implemented in a weightless environment. Consequently, even a slight disturbance will cause a serious speed error of the pitching axis. Thus, the pitching axis requires a control system with high speed control accuracy. In recent years, extensive research on the speed control system for the pitching axis of remote sensing cameras has been conducted locally and internationally and several achievements have been reported. For example, an attitude-independent calibration approach based on an iteration method with variable weights was developed in [1] to perform efficient on-orbit calibration for star cameras. An integrated design methodology for vibration isolation and attitude control was proposed in [2] to reduce the impact of vibration. In our previous work [3], we designed an angular momentum balancing mechanism for the posture control axis of a remote sensing camera to improve its control performance. However, the aforementioned studies used only a mechanical method to improve the control accuracy of star cameras, space telescopes, and remote sensing cameras. Several scholars and research in-
stitutes have studied methods that adopt advanced control strategies to improve speed control accuracy in a weightless environment. The secure output CP of heterogeneous multi-agent system network with DoS attack was studied in [4].
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