Research on Sea Surface Gimbal Control Strategy Based on LESO Observation PID

Abstract Aiming at the problems of poor anti-disturbance effect and slow response speed of the wave gimbal based on traditional PID algorithm on the sea surface, a PID algorithm based on linear extended state observer (LESO) is designed. This algorithm aims to achieve stable attitude control and enhance the gimbal’s anti-disturbance capabilities. The unknown perturbations of the system are estimated and compensated by LESO in real time; in order to solve the problem of difficult measurement due to multiple disturbances and high coupling of angles as well as angular velocities, the perturbation compensation link is introduced on the basis of the traditional serial PID control strategy. The verification is carried out on the actual built sea surface gimbal. The proposed control strategy shows significant superiority over the traditional PID control strategy in both internal and external disturbance experiments. This reflects the real-time estimation of the system error. It can be seen that the proposed algorithm is more resistant to external perturbations and has a higher response speed compared to the traditional PID.