陀螺稳定跟踪平台的滑模摩擦补偿双环控制研究

A study of sliding model friction-compensation double loop control of a gyro stabilized tracking platform

研究了应用于小型地面移动机器人的陀螺稳定跟踪平台的控制原理及控制效果。对陀螺稳定跟踪平台单环控制结构进行了分析，指出平台受到的外来力矩干扰是稳定环在惯性空间受到的载体姿态变化的干扰和电机传动轴受到的轴间摩擦力的干扰。针对这种情况，将滑模控制（SMC）应用于陀螺稳定平台的速度环摩擦补偿控制，结合PID稳定环，构造了PID＋SMC双环控制结构，提出了双环稳定控制算法。滑模控制器用于基于Stribeck模型摩擦补偿的速度环控制，作为稳定平台控制的内部环路，形成速度环反馈控制，陀螺角速度反馈形成相对惯性空间的稳定环。仿真分析及实验对比表明，该双环稳定控制方法比单环PID稳定方法的稳定跟踪效果好。

A control principle and a control effect are researched aiming at the applications of gyro stabilized tracking platform （GSP） for miniature ground mobile robot. According to the analysis of single loop control structure for GSP tracking platform, a conclusion that the external moment disturbance equals to the attitude disturbance of the load in the stabilization loop of the inertial space and the friction disturbance between centers for the motor rotation aix is obtained. To solve this prolem, a double loop stabilization method is proposed, which consists of a sliding model variable structure control （SMC） and a PID stabilization loop, and the SMC is to compensate the friction in velocity loop for GSP. The sliding model controller serves the function of velocity control based on the Stribeck model friction compensation, which is the in- ner loop for the stabilization platform control. The gyro angular velocity feedback serves the function of stabilization loop for the inertial space. Simulations and experiments are made to compare their performances, and it is validated that the double loop control gets the better performance than the single loop PID stabilization method.