Realization of Control Algorithm for Vehicle Optoelectronic Tracking Platform Based on Sliding Mode Control and Active Disturbance Rejection Control Optimized by Differential Evolution Algorithm

Abstract

In order to improve the tracking ability of the vehicle mounted photoelectric tracking platform, and make its tracking system has the characteristics of rapid response, small overshoot, high-precision position tracking, strong anti-interference and good robustness. In this paper, a joint active disturbance rejection control (ADRC) and sliding mode control (SMC) method is proposed, which can effectively improve the tracking ability of the equipment. Firstly, the mathematical model of the DC motor is analyzed, and then the sliding mode control based on the linear extended state observer (LESO) and the third-order tracking differentiator is established as the speed loop control of the system. Finally, the parameters of the nonlinear ADRC which built control system’s position loop are optimized by the improved differential evolution (DE) algorithm. The speed loop simulation results show that the proposed algorithm has better control effect than PID control algorithm, Robust control algorithm, and ADRC control algorithm;The simulation of position loop demonstrates that the performance of the controller optimized by DE algorithm is better than the parameter tuning based on experience. The experimental results illustrate that the proposed control algorithm can ensure that the optoelectronic tracking equipment can track the target which 3km away with 0.1 mrad accuracy.

Keywords

• ADRC
• SMC
• differential evolution
• DC-motor
• opto-electronic tracking and pointing servo control