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

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...

AI Technical Summary

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 sliding mode control constructs a controller, generates control instructions, and constructs an adaptive neural network to estimate and suppress multi-source interference during the working process of the two-axis inertial stable platform, and realize high-precision control of the two-axis inertial stable platform

Images