基于模糊切换增益调节的惯性稳定平台滑模控制
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TP273. 3 V243. 5 TH761. 6

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国家自然科学基金(51775017)、航空科学基金(2019ZC051003)项目资助


Sliding mode control of inertially stabilized platform based on fuzzy switching gain adjustment
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    摘要:

    为了实现航空遥感惯性稳定平台在复杂多源扰动环境下的高精度控制,提出基于模糊滑模的惯性稳定平台高精度控制 方法,通过对总和扰动抑制实现对多源扰动抑制,从而提高稳定平台控制精度。 首先将惯性稳定平台的所有扰动视为整体,基 于滑模等效控制设计惯性稳定平台的全局快速终端滑模控制器,实现系统状态快速、精确地收敛到平衡状态并且不离开滑模 面。 其次,针对控制系统存在鲁棒性与抖振问题无法兼顾的问题,在滑模控制基础上融合模糊切换增益调节,设计模糊规则对 惯性稳定平台滑模控制中的切换增益进行实时调节,从而利用切换增益消除干扰项。 最后,对所提出方法的正确性进行仿真以 及实验验证。 结果表明,基于模糊切换增益调节的滑模控制方法扰动抑制能力强、稳定精度高,相对于 PID 控制和全局快速终 端滑模控制,稳定精度分别提高 32. 7% 和 15. 3% 。

    Abstract:

    To realize the high-precision control of the inertially stabilized platform ( ISP ) in the complex multi-source disturbance environment, a high-precision control method of the ISP based on the fuzzy sliding mode is proposed. By suppressing the total disturbance, the influence of the multi-source disturbance is reduced, which improves the control accuracy of the ISP. Firstly, all disturbances suffered by the ISP are regarded as an entirety. Based on the sliding mode equivalent control, a global fast terminal sliding mode controller is designed to realize the system state quickly and accurately to the equilibrium state without leaving the sliding mode surface. Secondly, to enhance the robustness and chattering of the control system at the same time, this article fuses fuzzy switching gain regulation on the basis of the sliding mode control platform. By designing the fuzzy rules, the switching gain in sliding mode control of the inertial stabilization platform is adjusted in real time to eliminate the influence of interference by using the switching gain. Finally, simulations and experiments are carried out. Results show that the sliding mode control method based on the fuzzy switching gain adjustment method can improve stability accuracy and disturbance rejection ability. Compared with PID control and global fast terminal sliding mode controller, the stability accuracy values are improved by 32. 7% and 15. 3% , respectively.

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周向阳,舒通通,吕子豪,孙步早.基于模糊切换增益调节的惯性稳定平台滑模控制[J].仪器仪表学报,2021,(12):263-271

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  • 在线发布日期: 2023-06-28
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