摘要
为获取清晰稳定的视频图像,必须利用稳定平台给船载摄像机提供一个良好的空间稳定环境。该平台为一个三轴机械设备,当船体处于不同的运动姿态时,轴系间摩擦力矩会改变,因此提出一种考虑摩擦补偿的变结构控制方法。仿真和研究结果表明,与经典PID控制方法相比,变结构控制器能有效消除因摩擦引起的"爬行"和"平顶"现象。使用指数趋近律的变结构控制算法使系统快速跟踪指令信号,动态效果良好。
To obtain clear video signal, it is necessary to use a stability control platform carried with camera offer a good isolation space environment. The platform is a 3-axis multi-body mechanical device. While shipboard being different motion posture, the friction torque between the shafts will vary, a variable structure control（VSC） method considering friction compensation is presented. Simulation and research results demonstrate VSC controller can effectively eliminate ＂crawling＂ and ＂flat top＂phenomena compared with PID control. VSC of using the exponential approach law can make the system quickly track the input command signal, dynamic effect is good.
出处
《电子技术应用》
北大核心
2015年第7期54-56,60,共4页
Application of Electronic Technique
基金
山东省自然科学基金(Y2006G16)
关键词
摄像稳定平台
变结构控制
摩擦
PID
camera stabilized platform
variable structure control
friction
PID
