Research on stability control of floated inertial platform based on ADRC

This paper focuses on the stabilization problem for the floated inertial platform experimental system. Based on the moment analysis of the platform and the mode of the main moment, the dynamic equation of the stabilized platform rotating around its center is derived in consideration of some disturbances. To solve the system model uncertainty, measurement noise, three-axial coupling and unmodeled disturbances, the Auto Disturbances Rejection Controller (ADRC) is proposed. In addition, the time delay problem, caused by system wireless transmission, is addressed using an improved ADRC controller. Three-axial stabilized control system model of floated inertial platform experimental system is built by MATLAB/SIMULINK. Simulations indicate that the ADRC controller is better than the traditional PID controller. This controller can stabilize the platform more quickly, more accurately, more robustly and without overshoot. Improved Smith predicting ADRC controller can eliminate the influence of transmission time delay of the system to realize the stability control real-timely. By virtue of this improved controller, this platform can provide an effective inertial reference for the vehicle.