舰载稳定平台的非奇异终端滑模控制

Nonsingular terminal sliding mode control for ship-borne stability platform

为提高国防武器装备的技术水平,军事上对舰载装备的稳瞄、跟踪能力提出了更高的性能需求,舰载稳定平台精度高、响应快变得尤为重要。本文提出一种新型无抖动滑模控制算法,通过非奇异终端滑模控制,消除了位置快速跟随时电流的高频抖动现象。通过Matlab仿真分析与试验验证,在双轴舰载稳定平台的伺服控制上,达到了转台无静差快速跟踪正弦位置给定信号的效果,验证了算法的有效性。

To improve the technical level of national defense weapons and equipment, the ship-borne stability platform military needs better stability and tracking ability of shipboard equipment, which makes the high precision and fast response of ship-borne stability platform become more and more important. In this paper, a novel chatting-free sliding mode control is proposed, to eliminate the high-frequency chatter phenomenon of the current in position tracking control mode by the nonsingular terminal sliding mode control method. Through the simulation of Matlab and experimental verification, the sinusoidal position reference signal is quickly tracked on the servo control of the biaxial ship-borne stability platform, and the effectiveness of the algorithm is verified.