【目的】针对车载增稳云台在非铺装路况下，传统比例-积分-微分(PID)控制策略出现的抗扰动效果较差、响应速度较慢等问题，本文设计一种基于线性扩张状态观测器(LESO)的单神经元自适应(SNA)-PID控制策略，用于提高云台姿态控制的稳定性以及抗扰动性。【方法】首先建立步进电机的数学模型。其次，根据LESO原理以及有监督Hebb学习规则的单神经元自适应算法，设计了一种基于LESO+SNA-PID控制策略，并通过Lyapunov稳定性理论证明了控制策略的收敛性。最后，为验证所提策略的有效性，搭建了实际的车载增稳云台，并在内、外扰动的条件下将其和传统PID以及LESO+PID控制策略进行对比分析。【结果】所提出的控制策略相较于传统PID控制以及LESO+PID控制在单次扰动、1 Hz连续扰动以及8 Hz连续扰动情况下，角度跟踪的峰峰值等指标均有大幅度减少；在目标值修改情况下，超调量略微增加，但极大的减少了调整时间。【结论】所提基于LESO+SNA-PID控制策略形成的双重补偿闭环策略有效提高了对外界扰动的抗干扰能力，并提升了响应速度，具有较强的工程应用价值。

[Objective] To address the issues of poor disturbance rejection performance and slow response speed exhibited by traditional proportional-integral-derivative (PID) control strategy for vehicle-mounted stabilized gimbals operating on unpaved roads, this paper proposes a single-neural adaptive (SNA)-PID control strategy based on a linear extended state observer (LESO). This approach aims to enhance the stability and disturbance rejection capability of the gimbal’s posture control. [Methods] Firstly, a mathematical model of the stepper motor was established. Then, based on the LESO principle and the supervised Hebb learning rule, a LESO-based SNA-PID control strategy was designed. The convergence of the proposed control strategy was verified using Lyapunov stability theory. Finally, to validate the effectiveness of the proposed strategy, a practical vehicle-mounted stabilization gimbal platform was constructed, and comparative experiments were conducted under both internal and external disturbances against conventional PID and LESO+PID control strategy. [Results] Compared with traditional PID and LESO+PID control, the proposed control strategy significantly reduced angle-tracking peak-to-peak values and other performance indices under single disturbance, 1 Hz continuous disturbance, and 8 Hz continuous disturbance conditions. Although a slight increase in overshoot was observed when the reference signal changed, the settling time was substantially reduced. [Conclusion] The proposed LESO+SNA-PID control strategy forms a dual-compensation closed-loop strategy, which effectively enhances the disturbance rejection capability against external disturbances and improves the system’s response speed, demonstrating significant value for practical engineering applications.

国家自然科学基金(52467022);广西自然科学基金(2025GXNSFAA069219);桂林市科学研究与技术开发计划(20210226-2)