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Inertially stabilized platform sliding mode control method based on fuzzy switching gain adjustment

A technology of inertial stabilization platform and gain adjustment, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as lack of research and practice research, achieve reliable control and reduce chattering phenomenon.

Pending Publication Date: 2021-11-19
BEIHANG UNIV
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Problems solved by technology

[0004] To sum up, with the development of aerial remote sensing technology and the popularization of applications, there is a broad prospect for high-precision imaging control of aerial remote sensing systems, but there is still a lack of research and practice in this area.

Method used

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  • Inertially stabilized platform sliding mode control method based on fuzzy switching gain adjustment
  • Inertially stabilized platform sliding mode control method based on fuzzy switching gain adjustment
  • Inertially stabilized platform sliding mode control method based on fuzzy switching gain adjustment

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0044] Such as figure 2 As shown, the mechanical structure of the inertial stable platform includes 1 is the accelerometer y, 2 is the pitch frame rate gyro, 3 is the pitch frame gear pair, 4 is the pitch frame resolver, 5 is the pitch frame torque motor, and 6 is the azimuth frame torque motor , 7 is the azimuth frame resolver, 8 is the roll frame gear pair, 9 is the roll frame torque motor, 10 is the roll frame resolver, 11 is the azimuth frame rate gyro, 12 is the roll frame rate gyro, 13 is the acceleration Count x. The inertial stabilization platform compensates the disturbance moment by driving the frame rotation in three directions. The code discs in the three directions are used to measure the relative rotation angle of the frame to realize the soft lock of the frame. Angular rate, the two-axis accumulator is used to sense the local ...

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Abstract

The invention discloses an inertially stabilized platform sliding mode control method based on fuzzy switching gain adjustment, an inertial stabilization platform is taken as a research object, aiming at the problem of how to improve the control precision of the inertial stabilization platform in a complex multi-source disturbance environment, all disturbances of the inertial stabilization platform are taken as a whole, and on the basis of sliding mode equivalent control. a global rapid terminal sliding mode controller of the inertial stabilization platform is designed, and a system state can be converged to a balance state without leaving a sliding mode surface rapidly and accurately; in order to solve the problem that robustness and buffeting problems cannot be considered simultaneously in a global fast terminal sliding mode controller, fuzzy switching gain adjustment is fused on the basis of sliding mode control, a fuzzy rule is designed, switching gain in inertial stabilization platform sliding mode control is effectively estimated according to a sliding mode arrival condition. The multi-source interference influence is weakened or eliminated by utilizing the fuzzy switching gain, the buffeting phenomenon is reduced, a good multi-source disturbance suppression effect is achieved, and the stabilization precision of the inertial stabilization platform is obviously improved.

Description

technical field [0001] The invention relates to a sliding mode control method of an inertial stable platform based on fuzzy switching gain adjustment, which can strengthen the inertial stable platform's ability to suppress multi-source disturbances, reduce the impact of chattering problems, improve the stability accuracy of the inertial stable platform, and is suitable for large , Disturbance suppression of medium and small inertial stable platform systems. Background technique [0002] The airborne aerial remote sensing system has the advantages of high resolution, flexible maneuverability, and good real-time performance, and is playing an increasingly important role in people's daily life. Under the influence of multi-source disturbances such as the external environment and internal disturbances of the carrier aircraft, the non-ideal motion of the carrier platform in multi-dimensional space is inevitable, and it is prominently manifested in complex forms such as nonlinear ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 周向阳舒通通孙步早吕子豪
Owner BEIHANG UNIV
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