Two kinds of high-performance gyro stabilized platform control strategies

The accuracy of the velocity loop isolation control in a gyro stabilized platform (GSP) is effected by many factors, including the existence of un-modeled nonlinear uncertainty, and the random bias of states and signal measurement noise. The PID controller which is the most used in the real system cannot reach the expected higher level performance. In order to improve the control accuracy, two integrated solutions: active disturbance rejection control (ADRC) and disturbance rejection control based on velocity disturbance observer (VDOB) are proposed for eliminating all factors of affecting the accuracy in this paper. The differences of these two control strategies on the structure and design are analyzed. The simulation experiments indicate that the performance of isolation degree can reach 4.61% using ADRC, and 3.05% under the VDOB control scheme in the case that the platform disturbance is 3 degree, l/6Hz, which means the isolation performance at least improves 50.9% comparing with the performance of 9.39% in the PID control system with the nonlinear friction parameters' identifications and the forward compensation. The ADRC is a more real time control strategy, and the VDOB control has a higher precision control for the gyro stabilized platform.