浮球式惯性平台动态积分滑模控制方法研究

Dynamic Integral Sliding Mode Control Algorithm of Floated Inertial Platform

浮球平台的内球是平台对惯性空间稳定的部件,其输出量的控制精度和快速响应能力相互制约。研究了平台稳定性与快速性的协调方法,采用了基于比例积分干扰观测器的动态积分滑模控制方法,并将其仿真实验结果与美国国防科技报告提出的LQR控制方法进行对比。实验结果表明,该方法可有效提高伺服回路稳态精度、改善系统动态性能。

The endosphere of floated inertial precision and fast response of the endosphere restri pl ct atform is the inertial stabilized device. The control each other. The method of how to coordinate the sta- bility and fast response is studied and a dynamic integral sliding mode control algorithm with a proportion- al integral disturbance observer is presented. The results of the simulation are compared with the LQR control algorithm proposed in the American scientific and technical report. The simulation results show that the control method can improve the control precision of the servo loop of the platform and the per- formance of the stabilized system.