A High-precision Control Method for Two-axis Inertially Stabilized Platform Based on Adaptive Backstepping Sliding Mode
A stable platform, backstepping sliding mode technology, applied in the direction of adaptive control, general control system, control/adjustment system, etc., can solve the problem that the control performance is easily affected by external interference, etc., to meet the needs of high-precision control and simple calculation , The effect of fast response of dynamic parameters
Active Publication Date: 2020-12-11
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 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
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[0035] Such as figure 1 Shown, the concrete realization of the present invention is as follows
[0036] (1) Build a backstepping sliding mode controller based on the auxiliary sliding mode surface
[0037] Based on the Newton-Euler theory, the dynamic equation of the two-axis inertial stable platform is expressed as
[0038]
[0039] Among them, when ζ=p, it means the pitch channel, when ζ=a, it means the azimuth channel, Respectively, pitch attitude angle, pitch angle rate, azimuth attitude angle, azimuth rate, f ζ is a nonlinear function in the platform dynamics model, u ζ is the control voltage, b ζ Coefficients for motor control in the platform state model, g ζ d ζ interfere with the system.
[0040] define z 1ζ is the actual angular position state x 1ζ with the desired angular position command x 1ζd error, z 2ζ is the actual angular rate state x 2ζ with virtual angular rate command x 2ζd error, then
[0041] z 1ζ =x 1ζ -x 1ζd
[0042] z 2ζ =x 2ζ ...
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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...
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IPC IPC(8): G05B13/04
CPCG05B13/04
Inventor 雷旭升董斐张延顺
Owner BEIHANG UNIV