基于滑模变结构的陀螺稳定平台非线性解耦控制

Nonlinear decoupling control of gyro stabilized turntable based on sliding mode variable structure

为了消除陀螺稳定平台系统中各框架间的非线性耦合影响,设计了一种滑模非线性解耦控制算法。分析了高精度三轴陀螺稳定平台框架间的非线性耦合特性,建立了系统的动力学模型。利用非线性微分几何方法对系统进行了输入输出解耦控制设计,结合模型跟踪滑模变结构控制方法消除了系统解耦控制中的非线性扰动因素。针对滑模控制中的抖动问题,设计了带有边界层的积分滑模控制器,有效减弱了控制器的抖振现象,提高了系统解耦精度。在某型号电视导引头稳定平台系统中测试表明了该解耦控制方法的有效性和可行性。同PID方法和不带边界层的滑模控制方法相比较,该解耦方法的解耦效果明显优于其他两种方法。

In order to eliminate the nonlinear coupling among frames of the gyro stabilized turntable, a sliding mode nonlinear decoupling control method was designed. The nonlinear coupling characteristic among three frames of the high precision gyro stabilized turntable was analyzed and the dynamic model of the system was founded. Using nonlinear differential geometry means, the input-output decoupling control design was given. Using mode-tracking sliding mode variable structure method, the nonlinear disturbances of the system were eliminated. For the chattering problem of variable control, an integral sliding mode control method with boundary layer was proposed, which can reduce chattering effectively and improve the steady-state precision of the system. Experiments on the gyro stabilized turntable of a TV guidance head show the effectiveness and feasibility of the decoupling control method. Compared with PID method and sliding mode control method without boundary layer, this method has higher decoupling precision.