陀螺稳定平台模糊自调整滑模解耦控制

Fuzzy self-adjusting sliding mode decoupling control for gyro stabilized platform

针对陀螺稳定平台系统中轴系间耦合因素对控制性能的影响,设计了一种模糊自调整滑模解耦控制算法。根据非线性微分几何理论,建立了稳定平台输入输出解耦控制,在此基础之上加入了模型参考滑模控制。所设计的滑模控制律采用了分层结构,在边界层内引入了非线性项,同时边界层厚度由一种模糊自调整方法实时改变,从而有效降低了滑模控制在实际应用中的抖振现象,提高了系统的解耦精确度。通过在某型号电视导引头陀螺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等常用方法相比较,该方法的控制效果明显优于其他控制方法,有效提高了稳定平台系统的鲁棒性和跟踪精确度。

To reduce the coupling influence among axes on the control performance of gyro stabilized platform, a fuzzy self-adjusting sliding mode control algorithm was designed. Based on the differential geometry theory, the input-output decoupling control of the stabilized platform was founded. Then, a mode-following sliding mode control was added to it. The sliding mode control adopted the boundary layer structure, and a nonlinear item was used inside the boundary layer. At the same time, the width of the boundary layer was changed by a fuzzy self-adjusting method, which reduced the sliding mode control chattering and increased the decoupling precision effectively. Experiments on the gyro stabilized turntable of a TV guidance head show the effectiveness and feasibility of the decoupling control method. Compared with usual methods, such as PID control, this method has better control performance and improves robustness and tracking precision of the system effectively.