Linear Active Disturbance Rejection Control for Naval Gun Servo System

The position control performance of the naval gun servo system directly affects the firing accuracy. In order to realize the high-precision control of naval gun servo system under the condition of large load variation and strong disturbance, a three-closed-loop controller is designed based on the mathematical model of PMSM and the analysis of load torque. On the basis of the current loop and the speed loop PI control, a compound control is adopted in position loop, composed of linear active disturbance rejection control (LADRC) and feedforward control. The controller is designed through a linear extended state observer (LESO) to observe the system states and then compensate the total internal and external disturbance. Especially, feedforward term is used to compensate the tracking error. The model of naval gun servo system is established by Matlab/Simulink software. Simulation results show that the controller effectively reduces the load torque interference. Compared to the PID control method, the proposed compound method makes the system obtain better anti-interference and dynamic performance.