Bi-axis inertially-stabilized platform high-precision control method based on self-adaptive backstepping sliding mode

A technology of backstepping sliding mode and stable platform, which is applied in the direction of adaptive control, general control system, control/regulation system, etc., and can solve the problems that the control performance is easily affected by external interference

Active Publication Date: 2016-07-20
BEIHANG UNIV
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Problems solved by technology

[0005] The technical problem solved by the present invention is: the control performance of the two-axis inertial stable platform is easily affected by external interference when performing tasks, and a composite control algorithm based on adaptive backstepping sliding mode is proposed. Backstepping slidin

Method used

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  • Bi-axis inertially-stabilized platform high-precision control method based on self-adaptive backstepping sliding mode
  • Bi-axis inertially-stabilized platform high-precision control method based on self-adaptive backstepping sliding mode
  • Bi-axis inertially-stabilized platform high-precision control method based on self-adaptive backstepping sliding mode

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Embodiment Construction

[0033] Such as figure 1 Shown, the concrete realization of the present invention is as follows

[0034] (1) Build a backstepping sliding mode controller based on the auxiliary sliding mode surface

[0035] Based on the Newton-Euler equation, the dynamic equation of the two-axis inertial stabilized platform is expressed as

[0036] x · 1 ζ = x 2 ζ x · 2 ζ = ...

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Abstract

The invention provides a bi-axis inertially-stabilized platform high-precision control method based on a self-adaptive backstepping sliding mode, and relates to design of a composite controller for backstepping sliding mode control based on an auxiliary integral sliding mode surface and adaptive neural network construction and optimization. The method is characterized by, to begin with, designing a backstepping sliding mode control method based on the auxiliary integral sliding mode surface according to a bi-axis inertially-stabilized platform dynamical model, and generating a control command according to state error information to realize suppression of indeterminacy and interference of dynamical model parameters; and then, constructing an adaptive neural network, constructing an adaptive neural network weight updating matrix based on the error information to update a weight matrix of the neural network online, estimating upper bound of interference error in real time, and realizing bi-axis inertially-stabilized platform high-precision control under complex environment. The method has the advantages of good real-time performance, fast dynamic parameter response and high multisource interference adaptability and the like, and can used for high-precision control and the like under the complex multisource interference environment.

Description

technical field [0001] The invention relates to a high-precision control method of a two-axis inertial stable platform based on an adaptive backstep sliding mode, which is suitable for the field of high-precision control of aeronautical surveying and mapping stable platforms. Background technique [0002] The two-axis pod platform is fixed to the flight carrier through the base, supports and stabilizes the remote sensing load, and isolates the impact of the non-ideal attitude motion of the flight carrier on the boresight of the remote sensing load to improve the imaging quality of the remote sensing load, which has broad application prospects. [0003] As a complex multi-frame coupled system, the two-axis inertial stabilized platform has the characteristics of nonlinearity, strong coupling, and high difficulty in control. In addition, the two-axis inertial stabilized platform has wind disturbance during flight, the angular movement disturbance of the base caused by the vibra...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 雷旭升董斐张延顺
Owner BEIHANG UNIV
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