基于加性分解的复合控制在稳定平台中的应用

Application of the Compound Control Based on the Additive Decomposition to the Stabilized Platform

针对高精度光电伺服稳定平台系统中摩擦和非线性干扰对跟踪精度的影响问题,采用加性分解原理将稳定平台系统分解为主系统和辅系统.主系统负责视轴的跟踪,对名义模型设计基于加速度控制的比例—微分(PD)控制器.辅系统负责视轴的稳定,并设计了非线性扩张状态观测器(nonlinear extended state observer,NESO),对等效干扰进行有效的估计和补偿;结合有限时间收敛理论和滑模控制理论设计滑模补偿器,进一步补偿未知干扰.利用李亚普诺夫理论证明系统的稳定性.Matlab仿真结果验证了本方法的有效性.

To study the effect of friction and nonlinear disturbance in the high-precision opto-electronic servo-stabilized platform,we employ additive decomposition theory to decompose a stabilized platform system into a primary system and an auxiliary system. The primary system is in charge of optical axis tracking. We design a proportion-differential( PD) controller based on acceleration control for the nominal model. The auxiliary system is in charge of optical axis stabilization. We design a nonlinear extended state observer( NESO) to effectively estimate and compensate for the equivalent interference. Combining finite time convergence theory and sliding mode control theory,we design a sliding mode compensator to compensate for unknown interferences.The stability of the system is proved by using Lyapunov theory. Matlab simulation results verify the effectiveness of the proposed method.