High-Order Active Disturbance Rejection Controller for High-Precision Photoelectric Pod

With the rapid development of the information age, the need for high-resolution reconnaissance and surveillance is becoming more and more urgent. It is necessary to develop photoelectric pods with a high-precision stabilization function, which isolate the influence of external disturbance and realize the tracking of maneuvering targets. In this paper, the internal frame stabilization loop control technique is studied. Firstly, the mathematical models of the current loop are established. Secondly, the friction model, parametric model, and mechanical resonance model of the system are identified. Finally, a fourth-order tracking differentiator and a fifth-order extended state observer are designed. Through simulation verification, the stability performance of HO-ADRC, increasing by 145.17%, is better than that of PID. In terms of disturbance suppression and noise removal ability, HO-ADRC is also better than PID.