This paper proposes the theoretical framework and the experimental application of an improved active disturbance rejection controller (ADRC) to speed control for the pitching axis of a remote sensing camera. Mechanical model of the pitching axis, mechatronics model of the speed control system for the pitching axis, and speed algorithm model of a permanent magnet synchronous motor are established. Control rates of the extended state observer (ESO) and the nonlinear state error feedback (NSEF) of the traditional ADRC are improved using a new nonlinear function. The nonlinear dynamics, model uncertainty, and external disturbances of the speed control system are extended to a new state, and the improved ESO is implemented to observe this state. The overtime variation of the speed control system is predicted and compensated for in real time using the improved ESO. The nonlinear integration method is adopted to nonlinearly combine the differential and the error differential by the improved NSEF. Subsequently, high-quality control is provided to the system. Simulation and experimental verification for the speed control system for the pitching axis of a remote sensing camera are conducted. Results show the effectiveness of the proposed controller.

中文翻译：

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使用改进的主动抗扰控制器控制遥感相机俯仰轴的速度

本文提出了改进的自抗扰控制器（ADRC）在遥感相机俯仰轴速度控制中的理论框架和实验应用。建立了俯仰轴力学模型、俯仰轴速度控制系统机电一体化模型和永磁同步电机速度算法模型。使用新的非线性函数改进了扩展状态观测器 (ESO) 的控制率和传统 ADRC 的非线性状态误差反馈 (NSEF)。将速度控制系统的非线性动力学、模型不确定性和外部扰动扩展到一个新的状态，并实施改进的 ESO 来观察该状态。使用改进的 ESO 实时预测和补偿速度控制系统的超时变化。采用非线性积分方法，通过改进的NSEF对微分和误差微分进行非线性组合。随后，为系统提供高质量的控制。对遥感相机俯仰轴速度控制系统进行了仿真和实验验证。结果显示了所提出的控制器的有效性。