基于滑模反演控制的稳定平台齿隙非线性补偿

Sliding Mode Backstepping Control for Stabilized Platform Backlash Nonlinear Compensation

针对航空遥感惯性稳定平台中齿隙非线性带来的不稳定问题,结合反演控制和滑模控制的优点,在传统反演控制的每一步迭代过程引入与齿轮运动状态相关的基于连续饱和函数的动态滑模面,设计了相应的滑模反演控制器。在保证了系统误差快速收敛的同时,抑制了反演过程中的误差积累,实现了系统非线性误差精确补偿。仿真实验结果表明,与传统反演控制相比,滑模反演控制显著降低了齿隙非线性对系统动态性能的影响,有效提高了系统对期望角位置、角速度的跟踪性能。

To solve the unstable problem caused by backlash nonlinearity in airborne remote sensing inertial stabilized platform, a sliding mode backstepping controller is designed. Compared to traditional backstepping controller, during the design process, dynamic sliding mode surfaces based on continuous saturation function and related to gear motion state are introduced into each recursive step. It guarantees system error quick convergence, and suppresses the tracking error accumulation, finally realize system nonlinear error accurate compensation. The simulation experimental results show that the sliding mode backstepping controller can decrease gear nonlinearity effect on system dynamic performance, and improve the system angular position and angular velocity tracking ability.