单轴滚转稳定平台的双环自适应滑模控制

Double loop Adaptive Sliding Mode Variable Structure Control of One axis Roll Stabilized Platform

负载扰动、载体转速扰动以及伺服电机本身的非线性、强耦合和变参数等存在严重影响单轴滚转稳定平台性能。在分析单轴滚转稳定平台PID控制模型基础上,提出双环自适应滑模变结构控制的永磁同步电机控制方法。其电流环采用id=0矢量变换实现解耦控制;自适应滑模变结构控制外环实现对稳定平台的角度和角速度的反馈控制,抑制载体转速干扰;自适应滑模变结构控制内环实现滑模变结构控制伺服电机的角速度反馈控制,抑制伺服电机参数变化和力矩干扰影响,采用自适应控制策略有效地削弱滑模抖振。通过对传统PID控制与双环自适应SMC控制对比仿真,结果表明双环自适应SMC控制策略的鲁棒性更强,控制性能更好。

To reduce the load torque,carrier speed and nonlinear,strong coupling and variable parameters of servo motor influence on the control performance of one-axis roll stabilized platform,a novel double-loop adaptive sliding model control （ASMC） method is designed for permanent magnet synchronous motors （PMSM） based on analysis of platform system model.Field-orientation vector control id=0 is designed in current loop to decoupling motor system; ASMC outer-loop controller used stable angle and angular velocity as feedback signal is designed to restrain carrier speed interference; ASMC inner-loop controller used motor angular velocity as feedback signal is designed to restrain servo motor parameter variations and load torque disturbance,and an adaptive control strategy is presented to reduce intrinsic chattering.Compared to the traditional PID control method,the simulation results show that ASMC method is better control performance,stronger robustness in one-axis roll stabilized platform.