惯性稳定平台高精度控制方法

High Precision Control Method for Inertial Stabilization Platform

惯性稳定控制技术广泛应用在无人机云台稳像、导弹制导、卫星成像等领域,其精度直接影响到系统成像、跟踪的性能。然而当前基于永磁同步电机驱动的惯性稳定平台仍然缺乏一套可靠的高效控制方法,传统基于经典控制理论的线性控制器无法满足实际工程需求。为此,提出一种新型的滑模控制方案,实验结果证明了其有效性。在此基础上,为了减小滑模控制器的抖振并抑制系统的各种外扰,设计了Luenberger状态观测器以观测系统的实时扰动,并将其补偿进滑模控制器中。实验结果证明,采用所提出的控制方案,在速度跟踪实验中相比于传统的PI+DOB控制策略有很大提升。所设计的新型控制方案能使系统性能完全满足工程需求。

Inertial stability control technology is widely used in image stabilization of UAV platform,missile guidance,satellite imaging and other fields.Its accuracy directly affects the performance of system imaging and tracking.However,at present,there is still a lack of reliable and efficient control method for the inertial stability platform driven by permanent magnet synchronous motor,and the traditional linear controller based on classical control theory can not meet the actual engineering requirements.Therefore,a new sliding mode control scheme is proposed.The experimental results show its effectiveness.On this basis,in order to reduce the chattering of the sliding mode controller and suppress various external disturbances of the system,a Luenberger state observer is designed to observe the real-time disturbances of the system and the disturbances compensated into the sliding mode controller.The experimental results show that the new control scheme proposed has a great improvement compared with the traditional PI+DOB control strategy in the speed tracking experiment.The designed new control scheme can make the system performance fully meet the engineering requirements.