A Stabilization Method for Precision-Guided Optoelectronic Guidance Platform Based on Sliding Mode Adaptation

Abstract

This invention proposes a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptive adjustment. The method involves linear lead correction and integration of the line-of-sight (LOS) angle signal, filtering and amplifying the platform's pitch angular velocity signal, and combining these into an outer loop LOS sliding mode surface signal. An adaptive method is then used to generate a comprehensive LOS sliding mode surface interference signal based on the base angular velocity and platform angular velocity. This signal is combined with the LOS sliding mode surface signal to form the desired platform angular velocity signal, which is then compared with the platform angular velocity signal to obtain the platform angular velocity error signal. Lead and lag filtering are then performed separately, and these are combined to generate an inner loop angular velocity error sliding mode surface signal. An adaptive method is used to design a comprehensive velocity sliding mode surface interference signal. Finally, the angular velocity error sliding mode surface signal and its nonlinear transformation signal are superimposed to form the overall platform stabilization control voltage signal, which is then sent to the motor to achieve platform stabilization.

Description

Technical Field

[0001] This invention relates to the field of stabilization of precision-guided optoelectronic platforms, and more specifically, to a stabilization method for precision-guided optoelectronic platforms based on sliding mode adaptation. Background Technology

[0002] Precision-guided photoelectric detection systems are increasingly widely used in modern high-precision measuring instruments. The image quality obtained from photoelectric measurements is closely related to the stability of the photoelectric guidance platform. The main function of a precision-guided photoelectric stabilization platform is to maintain stability in relative inertial space and isolate the angular position changes caused by external disturbances such as shaking and rotation of the platform's mounting base, thus preventing blurring and ghosting of the image information obtained by the photoelectric system. Traditional photoelectric guidance platform design methods are mainly based on PID control theory using transfer functions, or employ methods such as stability margin, feedforward feedback compensation, and frequency domain analysis based on transfer functions. These methods are primarily for linear systems at a specific characteristic point, and the theoretical analysis is very clear. However, for actual systems under disturbances with different frequency characteristics, they often exhibit nonlinear characteristics, making it difficult to describe the platform's comprehensive characteristics using a single linear system model. Based on this background, this invention proposes a nonlinear design method combining sliding mode and adaptive methods. The robustness of sliding mode and the self-disturbance rejection capability of adaptive methods are used to isolate external disturbances generated by the platform base. Experimental results show that this method has excellent anti-interference capability, demonstrating the high engineering application value of this invention.

[0003] It should be noted that the information in the background section above is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptation, thereby overcoming the problems of weak platform stability and anti-interference ability caused by the limitations and defects of related technologies.

[0005] According to one aspect of the present invention, a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptation is provided, comprising the following steps:

[0006] Step S10: Install a rate gyroscope on the precision-guided photoelectric guidance platform, measure the pitch angular velocity signal of the photoelectric guidance platform, and record it as... Simultaneously, a rate gyroscope is installed on the photoelectric guidance platform base to measure the pitch angular velocity signal of the platform base, which is recorded as follows: The line-of-sight angle signal of the photoelectric guidance platform was obtained by taking pictures and measuring with an IRFPA infrared camera and processing the data, denoted as . .

[0007] Step S20: Based on the line-of-sight angle signal, firstly, linear lead correction processing is performed to obtain the line-of-sight angle lead correction signal; then, the line-of-sight angle signal is integrated to obtain the line-of-sight angle integral signal; then, the platform pitch velocity signal is filtered and amplified to obtain the platform pitch velocity filtered and amplified signal; finally, the line-of-sight angle signal, the line-of-sight angle lead correction signal, the line-of-sight angle integral signal, and the platform pitch velocity filtered and amplified signal are combined to obtain the line-of-sight angle sliding surface signal.

[0008] Step S30: Based on the line-of-sight angle sliding surface signal, calculate the adaptive estimation rules for the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient, respectively. Then, obtain the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient by integration. Finally, combine them to obtain the line-of-sight angle sliding surface comprehensive interference signal.

[0009] Step S40: Calculate the desired platform pitch angular velocity signal based on the combined interference signal and the line-of-sight sliding surface signal; then compare it with the pitch angular velocity signal of the photoelectric guidance platform to obtain the platform angular velocity error signal; and perform lead filtering and lag filtering to obtain the platform angular velocity error lead filtering signal and the platform angular velocity error lag filtering signal.

[0010] Step S50: Based on the platform angular velocity error signal, platform angular velocity error lead filter signal, platform angular velocity error lag filter signal, and platform base pitch angular velocity signal, a linear combination is performed to obtain the angular velocity error sliding surface signal; an adaptive estimation law for the constant interference coefficient of the velocity sliding surface and an adaptive estimation law for the interference coefficient of the velocity sliding surface base are designed, and the constant interference coefficient of the velocity sliding surface and the interference coefficient of the velocity sliding surface base are obtained by integration; and a comprehensive velocity sliding surface interference signal is generated by combining them, and then the angular velocity error sliding surface signal and its nonlinear transformation signal are superimposed to form the final platform stabilization control voltage signal, which is sent to the torque motor to drive the photoelectric guidance platform and its load, thereby stabilizing the line-of-sight angle signal of the photoelectric guidance platform.

[0011] In one exemplary embodiment of the present invention, based on the line-of-sight angle sliding surface signal, adaptive estimation rules are calculated for the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient, respectively. Then, by integration, the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient are obtained. Finally, these are combined to obtain the line-of-sight angle sliding surface comprehensive interference signal, which includes:

[0012] ;

[0013] ;

[0014] ;

[0015] ;

[0016] ;

[0017] ;

[0018] ;

[0019] ;

[0020] ;

[0021] in For the integrated interference signal of the sliding mode surface at the line of sight angle; For constant interference coefficient of line of sight angle, For the line-of-sight angle related interference coefficient, For the platform pitch rate related interference coefficient, The base pitch angular velocity-related interference coefficient; An adaptive estimation law for the interference coefficient of the constant line-of-sight angle. The adaptive estimation law for the line-of-sight angle related interference coefficient, The adaptive estimation law for the platform pitch velocity-related disturbance coefficients, The adaptive estimation law for the interference coefficient related to the pitch angular velocity of the base; , , , , , , , This is a constant parameter used to adjust the convergence speed of the adaptive estimation of the interference coefficient;

[0022] In one exemplary embodiment of the present invention, based on the line-of-sight angle signal, a linear lead correction process is first performed to obtain a line-of-sight angle lead correction signal; then, the line-of-sight angle signal is integrated to obtain a line-of-sight angle integral signal; next, the platform pitch velocity signal is filtered and amplified to obtain a platform pitch velocity filtered and amplified signal; then, the line-of-sight angle signal, the line-of-sight angle lead correction signal, the line-of-sight angle integral signal, and the platform pitch velocity filtered and amplified signal are combined to obtain a line-of-sight angle sliding surface signal, including:

[0023] ;

[0024] ;

[0025] ;

[0026] ;

[0027] in , For the parameters of linear lead compensation, Differential operators for transfer functions, For the line-of-sight angle advance correction signal, For the line-of-sight angle integral signal, Filter and amplify the platform pitch angular velocity signal. This is the line-of-sight angle sliding surface signal. , These are the constant parameters of the filter amplifier. , , , These are constant sliding surface parameter signals.

[0028] In one exemplary embodiment of the present invention, the desired platform pitch angular velocity signal is calculated based on the combined interference signal and the line-of-sight sliding surface signal; then, it is compared with the pitch angular velocity signal of the photoelectric guidance platform to obtain the platform angular velocity error signal; and then, lead filtering and lag filtering are performed to obtain the platform angular velocity error lead-filtered signal and the platform angular velocity error lag-filtered signal, including:

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] in The desired signal for the platform's pitch angular velocity; , For constant parameter signals; This is the platform angular velocity error signal; This is the platform angular velocity error leading filter signal; This is a hysteresis filter signal for the platform's angular velocity error. , , , , , , , These are constant filter parameters.

[0034] In one exemplary embodiment of the present invention, the platform angular velocity error signal, the platform angular velocity error lead filter signal, the platform angular velocity error lag filter signal, and the platform base pitch angular velocity signal are linearly combined to obtain the angular velocity error sliding surface signal; an adaptive estimation law for the constant disturbance coefficient of the velocity sliding surface and an adaptive estimation law for the disturbance coefficient of the velocity sliding surface base are designed, and the constant disturbance coefficient of the velocity sliding surface and the disturbance coefficient of the velocity sliding surface base are obtained by integration; and a combined velocity sliding surface disturbance comprehensive signal is generated, and then the angular velocity error sliding surface signal and its nonlinear transformation signal are superimposed to form the final platform stability control voltage signal, including:

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] ;

[0040] ;

[0041] ;

[0042] ;

[0043] in , , , These are constant parameters for the velocity sliding surface; This is the sliding surface signal for angular velocity error; For the adaptive estimation law of the constant disturbance coefficient of the velocity sliding surface, For the adaptive estimation law of the disturbance coefficient of the velocity sliding surface base, The constant disturbance coefficient of the velocity sliding surface. The disturbance coefficient of the velocity sliding surface base. , , , This is a constant parameter used to adjust the convergence speed of the velocity sliding surface disturbance coefficient; Nonlinear transformation signal of angular velocity error sliding surface signal, For velocity sliding surface interference synthesis signal, , , For constant control parameters, This provides the final platform stabilization control voltage signal.

[0044] Beneficial effects

[0045] This invention discloses a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptation. Its main innovations are as follows: First, it employs a combination of outer-loop linear lead correction and inner-loop lead filtering, effectively compensating for the adverse effects of delays caused by infrared camera image capture and data processing on the photoelectric guidance platform. Second, the dual sliding mode surface design of the inner and outer loops, along with the introduction of an adaptive compensation method for base angular velocity, significantly enhances the platform's ability to resist and isolate disturbances.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0048] Figure 1 This is a flowchart of a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptive stabilization provided by the present invention.

[0049] Figure 2 This is the pitch angular velocity signal curve (radians / second) of the photoelectric guidance platform provided in the embodiment of the present invention.

[0050] Figure 3 This is the platform base pitch angular velocity signal curve (radians / second) of the method provided in the embodiment of the present invention.

[0051] Figure 4 This is the line-of-sight angle signal curve (degrees) of the photoelectric guidance platform provided in the embodiment of the present invention.

[0052] Figure 5 This is the line-of-sight angle lead correction signal curve (radians / second) of the method provided in the embodiments of the present invention.

[0053] Figure 6 This is the line-of-sight angle integral signal curve (unitless) of the method provided in the embodiments of the present invention.

[0054] Figure 7 This is the platform pitch angular velocity filtered and amplified signal curve (unitless) of the method provided in the embodiments of the present invention.

[0055] Figure 8 This is a unitless curve of the stable control voltage signal of the photoelectric guidance platform provided in the embodiment of the present invention.

[0056] Figure 9 It is the platform base pitch angle signal curve (in radians) of the method provided in the embodiments of the present invention. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of the invention. However, those skilled in the art will recognize that the technical solutions of the invention may be practiced with one or more of these specific details omitted, or other methods, components, apparatus, steps, etc., may be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of the invention.

[0058] This invention provides a stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptive adjustment. It performs linear lead correction and integration on the line-of-sight (LOS) angle signal, filters and amplifies the platform's pitch angular velocity signal, and combines them into an outer loop LOS angle sliding surface signal. Then, based on the base angular velocity and platform angular velocity, an adaptive method is used to generate a comprehensive interference signal for the LOS angle sliding surface, which is combined with the LOS angle sliding surface signal to form the desired platform angular velocity signal. This desired signal is then compared with the platform angular velocity signal to obtain the platform angular velocity error signal. Lead filtering and lag filtering are then performed separately, and combined to generate an inner loop angular velocity error sliding surface signal. An adaptive method is used to design a comprehensive velocity sliding surface interference signal. Finally, the angular velocity error sliding surface signal and its nonlinear transformation signal are superimposed to form the overall platform stabilization control voltage signal, which is then sent to the motor to achieve platform stabilization.

[0059] The following will, with reference to the accompanying drawings, further explain and illustrate the stabilization method of a precision-guided photoelectric guidance platform based on sliding mode adaptation according to the present invention. (Reference) Figure 1 As shown, the stabilization method for a precision-guided photoelectric guidance platform based on sliding mode adaptation may include the following steps:

[0060] Step S10: Install a rate gyroscope on the precision-guided electro-optical guidance platform and measure the pitch angular velocity signal of the electro-optical guidance platform; at the same time, install a rate gyroscope on the base of the electro-optical guidance platform and measure the pitch angular velocity signal of the platform base; use an IRFPA infrared camera to take pictures and measure, and perform data processing to obtain the line-of-sight angle signal of the electro-optical guidance platform.

[0061] Specifically, firstly, a rate gyroscope is installed on the precision-guided electro-optical guidance platform to measure the platform's pitch angular velocity, which is recorded as... Secondly, a rate gyroscope is installed on the photoelectric guidance platform base to measure the pitch angular velocity of the platform base, which is recorded as follows: Finally, a high-speed IRFPA infrared camera was used to take pictures and measure the data, and the line-of-sight angle signal of the photoelectric guidance platform was obtained through data processing, denoted as . .

[0062] Step S20: Based on the line-of-sight angle signal, firstly, linear lead correction processing is performed to obtain the line-of-sight angle lead correction signal; then, the line-of-sight angle signal is integrated to obtain the line-of-sight angle integral signal; then, the platform pitch velocity signal is filtered and amplified to obtain the platform pitch velocity filtered and amplified signal; finally, the line-of-sight angle signal, the line-of-sight angle lead correction signal, the line-of-sight angle integral signal, and the platform pitch velocity filtered and amplified signal are combined to obtain the line-of-sight angle sliding surface signal.

[0063] Specifically, based on the aforementioned line-of-sight angle signal, a linear lead correction process is first performed to obtain the line-of-sight angle lead correction signal as follows:

[0064] ;

[0065] in , The parameters for linear lead compensation are detailed in the case study below. Differential operators for transfer functions, This is the line-of-sight angle advance correction signal.

[0066] Secondly, the line-of-sight angle signal is integrated to obtain the integrated line-of-sight angle signal as follows:

[0067] ;

[0068] in This is the line-of-sight angle integral signal.

[0069] Next, the platform pitch velocity signal is filtered and amplified to obtain the following filtered and amplified platform pitch velocity signal:

[0070] ;

[0071] in The platform pitch angular velocity signal is filtered and amplified. , These are constant parameters for the filter amplifier; detailed selection can be found in the case study below.

[0072] Finally, the line-of-sight angle signal, the line-of-sight angle lead correction signal, the line-of-sight angle integral signal, and the platform pitch angular velocity filtered and amplified signal are combined to obtain the line-of-sight angle sliding surface signal as follows:

[0073] ;

[0074] in For the line-of-sight angle sliding surface signal, , , , For constant sliding surface parameter signals, see the case implementation below for details on selection.

[0075] Step S30: Based on the line-of-sight angle sliding surface signal, calculate the adaptive estimation rules for the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient, respectively. Then, obtain the line-of-sight angle constant interference coefficient, the line-of-sight angle related interference coefficient, the platform pitch angular velocity related interference coefficient, and the base pitch angular velocity related interference coefficient by integration. Finally, combine them to obtain the line-of-sight angle sliding surface comprehensive interference signal.

[0076] Specifically, based on the aforementioned line-of-sight angle sliding surface signal, the adaptive estimation rules for the line-of-sight angle constant interference coefficient, line-of-sight angle related interference coefficient, platform pitch angular velocity related interference coefficient, and base pitch angular velocity related interference coefficient are calculated as follows:

[0077] ;

[0078] ;

[0079] ;

[0080] ;

[0081] in An adaptive estimation law for the interference coefficient of the constant line-of-sight angle. The adaptive estimation law for the line-of-sight angle related interference coefficient, The adaptive estimation law for the platform pitch velocity-related disturbance coefficients, The adaptive estimation law for the interference coefficient related to the pitch angular velocity of the base; , , , , , , , This is a constant parameter used to adjust the convergence speed of the adaptive estimation of the interference coefficient. For detailed selection, please refer to the case implementation below.

[0082] Secondly, by integrating the above adaptive estimation law, the following interference coefficients are obtained: constant line-of-sight angle interference coefficient, line-of-sight angle related interference coefficient, platform pitch rate related interference coefficient, and base pitch rate related interference coefficient:

[0083] ;

[0084] ;

[0085] ;

[0086] ;

[0087] in For constant interference coefficient of line of sight angle, For the line-of-sight angle related interference coefficient, For the platform pitch rate related interference coefficient, This is the interference coefficient related to the pitch angular velocity of the base.

[0088] Finally, by combining the above-mentioned constant line-of-sight angle interference coefficient, line-of-sight angle related interference coefficient, platform pitch angular velocity related interference coefficient, and base pitch angular velocity related interference coefficient, the comprehensive interference signal of the line-of-sight angle sliding surface is obtained as follows:

[0089] ;

[0090] in This is a comprehensive interference signal for the sliding mode surface at the line of sight angle.

[0091] Step S40: Calculate the desired platform pitch angular velocity signal based on the combined interference signal and the line-of-sight sliding surface signal; then compare it with the pitch angular velocity signal of the photoelectric guidance platform to obtain the platform angular velocity error signal; and perform lead filtering and lag filtering to obtain the platform angular velocity error lead-filtered signal and platform angular velocity error lag-filtered signal as follows:

[0092] Specifically, based on the combined interference signal from the line-of-sight angle sliding surface and the line-of-sight angle sliding surface signal, the expected pitch velocity signal of the platform is calculated as follows:

[0093] ;

[0094] in The desired signal for the platform's pitch angular velocity; , For constant parameter signals, see the case implementation below for detailed selection.

[0095] Secondly, the expected pitch angular velocity signal of the platform is compared with the pitch angular velocity signal of the photoelectric guidance platform to obtain the following platform angular velocity error signal:

[0096] ;

[0097] in This is the platform angular velocity error signal.

[0098] Next, the platform angular velocity error signal is subjected to lead filtering, resulting in the following platform angular velocity error lead-filtered signal:

[0099] ;

[0100] in This is the platform angular velocity error leading filter signal. , , These are constant filtering parameters; detailed selection can be found in the case study below.

[0101] Finally, the platform angular velocity error signal is subjected to hysteresis filtering to obtain the platform angular velocity error hysteresis filtered signal as follows:

[0102] ;

[0103] in This is a hysteresis filter signal for the platform's angular velocity error. , , , , These are constant filtering parameters; detailed selection can be found in the case study below.

[0104] Step S50: Based on the platform angular velocity error signal, platform angular velocity error lead filter signal, platform angular velocity error lag filter signal, and platform base pitch angular velocity signal, a linear combination is performed to obtain the angular velocity error sliding surface signal; an adaptive estimation law for the constant interference coefficient of the velocity sliding surface and an adaptive estimation law for the interference coefficient of the velocity sliding surface base are designed, and the constant interference coefficient of the velocity sliding surface and the interference coefficient of the velocity sliding surface base are obtained by integration; and a comprehensive velocity sliding surface interference signal is generated by combining them, and then the angular velocity error sliding surface signal and its nonlinear transformation signal are superimposed to form the final platform stabilization control voltage signal, which is sent to the torque motor to drive the photoelectric guidance platform and its load, thereby stabilizing the line-of-sight angle signal of the photoelectric guidance platform.

[0105] Specifically, the platform angular velocity error signal, the platform angular velocity error lead filter signal, the platform angular velocity error lag filter signal, and the platform base pitch angular velocity signal are first linearly combined to obtain the angular velocity error sliding surface signal as follows:

[0106] ;

[0107] in , , , For the constant parameters of the velocity sliding surface, see the case implementation below for details; This is the angular velocity error sliding surface signal.

[0108] Secondly, based on the angular velocity error sliding surface signal, the adaptive estimation law for the constant interference coefficient of the velocity sliding surface and the adaptive estimation law for the interference coefficient of the velocity sliding surface base are designed as follows:

[0109] ;

[0110] ;

[0111] in For the adaptive estimation law of the constant disturbance coefficient of the velocity sliding surface, For the adaptive estimation law of the disturbance coefficient of the velocity sliding surface base, , , , This is a constant parameter used to adjust the convergence speed of the velocity sliding surface interference coefficient. For detailed selection, please refer to the case implementation below.

[0112] After further integration, the constant disturbance coefficient of the velocity sliding surface and the disturbance coefficient of the velocity sliding surface base are obtained as follows:

[0113] ;

[0114] ;

[0115] in The constant disturbance coefficient of the velocity sliding surface. The disturbance coefficient of the velocity sliding surface base.

[0116] Then, the velocity sliding surface constant interference coefficient and the velocity sliding surface base interference coefficient are combined to obtain the velocity sliding surface interference comprehensive signal as follows:

[0117] ;

[0118] in This is a comprehensive signal of velocity sliding surface interference.

[0119] Next, the nonlinear transformation of the angular velocity error sliding surface signal is obtained by performing a nonlinear transformation on the angular velocity error sliding surface signal, as follows:

[0120] ;

[0121] in This is a nonlinear transformation signal of the sliding surface signal for angular velocity error. This is a constant control parameter; detailed selection can be found in the case study below.

[0122] Finally, based on the comprehensive signal of velocity sliding surface interference, the angular velocity error sliding surface signal and its nonlinear transformation signal are superimposed to form the final platform stabilization control voltage signal as follows:

[0123] ;

[0124] in , This is a constant control parameter; detailed selection can be found in the case study below.

[0125] The final platform stability control voltage signal is sent to the torque motor, thereby achieving the stability, interference suppression, and isolation of the photoelectric guidance platform.

[0126] Case Implementation and Computer Simulation Results Analysis

[0127] In step S10, a rate gyroscope is installed on the precision-guided photoelectric guidance platform to measure the pitch angular velocity signal of the photoelectric guidance platform. Figure 2 As shown, the amplitude oscillates sinusoidally around 0.1; simultaneously, a rate gyroscope is installed on the photoelectric guidance platform base to measure the platform base's pitch angular velocity signal, as shown below. Figure 3 As shown, the amplitude fluctuates around 4; the line-of-sight angle signal of the photoelectric guidance platform is obtained by taking pictures and measuring with an IRFPA infrared camera and processing the data. Figure 4 As shown, the amplitude fluctuates around 0.003.

[0128] In step S20, select , ; , The line-of-sight angle advance correction signal is obtained as follows: Figure 5 As shown. The line-of-sight angle integral signal is as follows. Figure 6 As shown. The platform pitch angular velocity filtered and amplified signal is as follows. Figure 7 As shown. Select , , , .

[0129] In step S30, select , , , , , , , .

[0130] In step S40, select , . , , , , , , , .

[0131] In step S50, select , , , , , , , , , The final stable control voltage signal for the photoelectric guidance platform is obtained as follows: Figure 8 As shown. The platform base pitch angle signal is as follows: Figure 9 As shown, the amplitude fluctuates around 0.26. (This is achieved through...) Figure 9 and Figure 4 The comparison shows that, despite the shaking of the platform base, it was ultimately caused by... Figure 4 It can be seen that the sway of the line-of-sight angle is only about 1.15% of that of the platform base. And by... Figure 3 and Figure 2 The comparison shows that the amplitude of the platform base's swaying angular velocity is about 40 times that of the line-of-sight angular velocity. This indicates that although the platform base experiences violent high-frequency swaying, the final amplitude of the line-of-sight angular velocity sway is very small. Therefore, the stability control algorithm of the entire photoelectric guidance platform is effective, effectively isolating the platform base's swaying, thus demonstrating that this invention has high engineering application value.

Claims

1. A precise guidance optoelectronic guidance platform stabilization method based on sliding mode self-adaption, characterized in that The following steps are performed: Step S10, install rate gyro on the precision guided photoelectric guiding platform, measure the pitch angular velocity signal of the photoelectric guiding platform, denoted as ; meanwhile, install rate gyro on the base of the photoelectric guiding platform, measure the pitch angular velocity signal of the platform base, denoted as ; take pictures by using IRFPA infrared camera, measure and process data to obtain the line of sight angle signal of the photoelectric guiding platform, denoted as ; Step S20, according to the line-of-sight angle signal, first, a linear lead correction processing is performed to obtain a line-of-sight angle lead correction signal; then the line-of-sight angle signal is integrated to obtain a line-of-sight angle integral signal; then the platform pitch angle velocity signal is filtered and amplified to obtain a platform pitch angle velocity filtered and amplified signal; then the line-of-sight angle signal, the line-of-sight angle lead correction signal, the line-of-sight angle integral signal, and the platform pitch angle velocity filtered and amplified signal are combined to obtain a line-of-sight angle sliding mode surface signal as follows: ； ； ； ； wherein , is a parameter of the linear lead correction, is a differential operator of the transfer function, is a line of sight angle lead correction signal, is a line of sight angle integral signal, is a platform pitch angle velocity filter amplification signal, is a line of sight angle sliding mode surface signal; , is a filter amplifier constant parameter; , , , is a constant sliding mode surface parameter signal; Step S30, according to the line-of-sight angle sliding mode surface signal, the adaptive estimation law of the line-of-sight angle constant disturbance coefficient, the line-of-sight angle related disturbance coefficient, the platform pitch angle velocity related disturbance coefficient, and the base pitch angle velocity related disturbance coefficient are respectively solved, and then the line-of-sight angle constant disturbance coefficient, the line-of-sight angle related disturbance coefficient, the platform pitch angle velocity related disturbance coefficient, and the base pitch angle velocity related disturbance coefficient are obtained through integration; finally, the line-of-sight angle sliding mode surface comprehensive disturbance signal is obtained by combination as follows: ； ； ； ； ； ； ； ； ； wherein is a line-of-sight angle sliding mode surface comprehensive interference signal; is a line-of-sight angle constant interference coefficient, is a line-of-sight angle related interference coefficient, is a platform pitch angle velocity related interference coefficient, is a base pitch angle velocity related interference coefficient; is an adaptive estimation law of the line-of-sight angle constant interference coefficient, is an adaptive estimation law of the line-of-sight angle related interference coefficient, is an adaptive estimation law of the platform pitch angle velocity related interference coefficient, is an adaptive estimation law of the base pitch angle velocity related interference coefficient; , , , , , , , is a constant parameter, used for adjusting the convergence speed of the adaptive estimation of the interference coefficient; Step S40, according to the line-of-sight angle sliding mode surface comprehensive disturbance signal and the line-of-sight angle sliding mode surface signal, the platform pitch angle velocity expected signal is solved; then, compared with the photoelectric guidance platform pitch angle velocity signal, the platform angle velocity error signal is obtained; and the lead filter and the lag filter processing are performed to obtain the platform angle velocity error lead filter signal and the platform angle velocity error lag filter signal as follows: ； ； ； ； wherein is a platform pitch angular velocity desired signal; , is a constant parameter signal; is a platform angular velocity error signal; is a platform angular velocity error lead filtered signal; is a platform angular velocity error lag filtered signal; , , , , , , , is a constant filtered parameter; Step S50, according to the platform angle velocity error signal, the platform angle velocity error lead filter signal, the platform angle velocity error lag filter signal, and the platform base pitch angle velocity signal, a linear combination is performed to obtain an angle velocity error sliding mode surface signal; and the velocity sliding mode surface constant disturbance coefficient adaptive estimation law and the velocity sliding mode surface base disturbance coefficient adaptive estimation law are designed, and the velocity sliding mode surface constant disturbance coefficient and the velocity sliding mode surface base disturbance coefficient are obtained through integration; and a velocity sliding mode surface disturbance comprehensive signal is generated by combination, then the angle velocity error sliding mode surface signal and its nonlinear transformation signal are superimposed to form a final platform stable control voltage signal, which is transmitted to the torque motor to drive the photoelectric guidance platform and its load, so as to realize the line-of-sight angle signal stability of the photoelectric guidance platform as follows: ； ； ； ； ； ； ； ； wherein , , , is a constant parameter of the velocity sliding mode surface; is an angular velocity error sliding mode surface signal; is a constant disturbance coefficient adaptive estimation law of the velocity sliding mode surface, is a base disturbance coefficient adaptive estimation law of the velocity sliding mode surface, is a constant disturbance coefficient of the velocity sliding mode surface, is a base disturbance coefficient of the velocity sliding mode surface, , , , is a constant parameter for adjusting the fast and slow of the convergence speed of the disturbance coefficient of the velocity sliding mode surface; is a nonlinear transformation signal of the angular velocity error sliding mode surface signal, is a disturbance comprehensive signal of the velocity sliding mode surface, , , is a constant control parameter, is a final platform stable control voltage signal.

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