机载光电平台的非线性积分滑模控制器设计

Design of a Nonlinear Integral Sliding Mode Controller for Airborne Electro-Optical Platform

为了提高机载光电稳定平台的动态性能及稳定精度,提出了一种非线性积分滑模的控制方法,该方法可以解决传统滑模具有的稳态误差及传统积分滑模超调量大、调节时间长以及暂态性能恶劣等问题;采用改进的指数趋近律,可加快响应速度并减小抖振。另外,将非线性积分滑模面引入滑模观测器,提高了系统的抗扰能力。仿真结果表明,与传统滑模、传统线性积分滑模相比,该方法可以无超调、更快、更准确地跟踪输入指令,并且瞄准线稳定精度相较于传统滑模提高28.43%。因此,所设计的控制方法既提高了系统的动态性能,也提高了平台的稳定精度。

In order to improve the stability precision of the electro-optical stabilized platform,a nonlinear integral sliding mode control method is proposed,which can solve the problems of the steady-state error of the conventional sliding mode control,as well as large overshoot,long adjustment time and poor transient performance of the conventional integral sliding mode control.Adopting new reaching law can improve the response speed and reduce the chattering.Moreover,the nonlinear integral sliding mode surface is added to sliding mode observer to improve the anti-disturbance ability of the system.Simulation results show that the proposed method can track the input instructions more rapidly and accurately without overshoot in comparison with conventional sliding mode and integral sliding mode.By using this method,the stabilization accuracy of the line of sight is improved by 28.43% compared with that of the conventional sliding mode.Therefore,the control algorithm designed not only improves the dynamic performance of the system,but also improves the stability accuracy of the platform.