A servo loop angular velocity follow-up type partition discrete variable structure control method

Abstract

A servo loop angular velocity follow-up type partition discrete variable structure control method, comprising: obtaining the angular velocity of a table body on X p axis, Y p axis and Z p axis according to the angular velocity output by a gyroscope installed on the table body and acquiring the angle and angular velocity of internal relative rotation of a four-axis inertial stabilization platform system; performing partition variable structure control based on the size of the angular velocity component of an actuator according to the angular velocity component and the angle of internal relative rotation, and respectively calculating the resultant rotation angular velocity ω p of the table body on Z z axis, the resultant rotation angular velocity ω p1 of an inner frame on Y y axis, the resultant rotation angular velocity ω p2 of a middle frame on X x axis and the resultant rotation angular velocity ω p3 of an outer frame on Y yk′ axis. The present application can avoid the occurrence of singular values in the servo loop decoupling process, ensure the stabilization of the platform table body relative to the inertial space, and has the advantages of full attitude, high precision, and relatively smooth interval switching.

Description

Technical Field

[0001] This invention relates to a servo loop angular velocity follow-up partitioned discrete variable structure control method for a four-axis inertial stabilization platform, belonging to the field of inertial measurement technology. Background Technology

[0002] Because three-axis inertial platform systems suffer from "frame locking," making it difficult to meet the requirements of large-scale maneuvering of the platform, four-axis inertial platform systems were developed. Compared to three-axis inertial platform systems, four-axis inertial platform systems add an outer frame to the platform body, inner frame, and middle frame. The outer frame is located between the middle frame and the base of the platform.

[0003] To stabilize the platform relative to inertial space, the traditional solution is as follows: the servo loop is based on the inner frame angle β. yk and the angle β of the middle frame xk Different decouplers are used in different regions, see the reference "Variable Structure Partition Control of Four-Axis Gyroscope Stabilized Platform, Tsinghua University Journal Vol.50, No.7, 2010". The reason for using partition control is that when controlling the four axis motors in conjunction with the outputs of the three gyroscopes and any frame angle, there is a region where the motor driving torque is infinite, which may cause control failure.

[0004] When the carrier moves, the angles of the inner frame and the middle frame will be in different ranges. When using zone control, there is a switching between different control signals. Even if the switching condition with hysteresis relay characteristics is used, the platform will still experience instantaneous shaking at the switching moment, resulting in the platform body swaying relative to the space. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and reduce the influence of the follower circuit on the stable circuit.

[0006] The objective of this invention is achieved through the following technical solutions:

[0007] A servo loop angular velocity follow-up partitioned discrete variable structure control method for a four-axis inertial stabilization platform includes:

[0008] (1) Based on the angular velocity output by the gyroscope mounted on the platform, the position of the platform in the X direction is obtained. p Axis, Y p Axis and Z p angular velocity components on the axis

[0009] (2) Measure the X coordinate system of the outer frame around the middle frame body. p2 The angle β of the shaft rotation xk The Y-axis of the middle frame around the inner frame's body coordinate system p1 The angle β of the shaft rotationyk and angular velocity Z-axis of the inner frame around the body coordinate system p The angle β of the shaft rotation zk and angular velocity

[0010] (3) Calculate the rotational angular velocities of the platform, inner frame, middle frame, and outer frame. The process is as follows:

[0011] (3.1) When β xk β yk Satisfy condition |cosβ xk |≥|sinβ xk cosβ yk |and|cosβ xk |≥|sinβ yk When |, the specific calculation formula is as follows:

[0012] (3.1.1)|sinβ yk |≠1 hour

[0013]

[0014]

[0015]

[0016]

[0017] (3.1.2)|sinβ yk When |=1

[0018]

[0019]

[0020] ω x =0;

[0021]

[0022] (3.2) When β xk β yk The condition (3.1) is not satisfied, but the condition |sinβ is satisfied. xk cosβ yk |≥|sinβ yk When |, the specific calculation formula is as follows:

[0023]

[0024]

[0025]

[0026]

[0027] (3.3) When β xk β yk When conditions (3.1) and (3.2) are not met, the specific calculation formula is as follows:

[0028]

[0029]

[0030]

[0031]

[0032] Where, ω z For Taiwan Z p The resultant rotational angular velocity of the shaft; ω y For the inner frame Y p1 The resultant rotational angular velocity of the shaft; ω x For the medium frame X p2 The resultant rotational angular velocity of the shaft; ω yk′ For the outer frame Y p3 The resultant rotational angular velocity of the shaft.

[0033] In one embodiment of the present invention, the four-axis inertial stabilization platform includes a base, an outer frame, a middle frame, an inner frame, and a platform body, with corresponding body coordinate systems of the base body coordinate system X1Y1Z1 and the outer frame coordinate system X... p3 Y p3 Z p3 , Medium frame body coordinate system X p2 Y p2 Z p2 The inner frame body coordinate system X p1 Y p1 Z p1 and the X coordinate system of the platform body p Y p Z p The origins of the five coordinate systems coincide, and: the Z-axis of the platform body coordinate system... p Z-axis and the coordinate system of the inner frame p1 The axes coincide, and the Y-axis of the body coordinate system of the middle frame is... p2 Y-axis and the coordinate system of the inner frame p1 The axes coincide, and the X coordinate of the outer frame body coordinate system is... p3 The X-axis of the axis and the body coordinate system of the middle frame p2 The axes coincide, the X1 axis of the base body coordinate system and the Y axis of the outer frame body coordinate system. p3The axes coincide; wherein, the base is fixedly connected to the carrier, and when the stable platform system undergoes internal relative rotation under the drive of the carrier, the base revolves around the Y-axis of the outer frame's body coordinate system. p3 The axis rotates, and the outer frame revolves around the X coordinate system of the middle frame. p2 The axis rotates, and the middle frame rotates around the Y-axis of the inner frame's body coordinate system. p1 The axis rotates, and the inner frame rotates around the Z-axis of the platform's coordinate system. p The shaft rotates.

[0034] In one embodiment of the present invention, in step (2), the relative rotation angle and angular velocity inside the four-axis inertial stabilized platform system are measured by the following method:

[0035] X in the outer frame p2 An angle sensor is mounted on the axis to measure the X-axis of the outer frame around the coordinate system of the middle frame. p2 The angle β of the shaft rotation xk ; in the inner frame Y p1 An angle sensor is installed on the axis to measure the Y-axis of the middle frame around the inner frame's coordinate system. p1 The angle β of the shaft rotation yk and angular velocity In Taiwan Sports Z p A sensor mounted on the axis measures the Z-axis coordinate of the inner frame around the body coordinate system of the stage. p The angle β of the shaft rotation zk and angular velocity

[0036] In one embodiment of the present invention, in step (3), the rotation angle β yk The value range is -90 to 270°; rotation angle β zk β xk β yk′ The value range is -180 to 180°.

[0037] In one embodiment of the present invention, the angles satisfying condition (3.1) include the following six enclosed regions:

[0038] (4.1) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0039]

[0040] (4.2) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are:

[0041]

[0042] (4.3) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0043]

[0044] (4.4) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0045]

[0046] (4.5) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are:

[0047]

[0048] (4.6) A closed region consisting of 3 straight lines and 1 curve has the equations of the lines and the curve as follows:

[0049]

[0050] In one embodiment of the present invention, the angle satisfying condition (3.2) includes the following four closed regions: (5.1) a closed region composed of four curves, the equations of which are...

[0051]

[0052] (5.2) A closed region consisting of 4 curves, the equations of which are:

[0053]

[0054] (5.3) A closed region consisting of 4 curves, the equations of which are:

[0055]

[0056] (5.4) A closed region consisting of four curves, the equations of which are:

[0057]

[0058] In one embodiment of the present invention, the angle satisfying condition (3.3) includes the following six closed regions: (6.1) a closed region consisting of three straight lines and one curve, the equations of which are...

[0059] (6.2) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0060]

[0061] (6.3) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows:

[0062]

[0063] (6.4) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows:

[0064]

[0065] (6.5) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0066]

[0067] (6.6) A closed region is formed by three straight lines and one curve. The equations of the straight lines and the curve are:

[0068]

[0069] In one embodiment of the present invention, the partitioned discrete variable structure control method is used to reduce the influence of the servo loop on the stable loop.

[0070] In one embodiment of the present invention, the partitioned discrete variable structure control method is used to enable the platform to maintain higher precision relative to the inertial space.

[0071] A computer-readable storage medium having stored thereon computer program instructions, which, when loaded and executed by a processor, cause the processor to perform the above-described partitioned discrete variable structure control method.

[0072] Compared with the prior art, the present invention has the following advantages:

[0073] (1) The servo loop angular velocity follow-up partition discrete variable structure control method given by the present invention has the characteristic of less interference of the follow-up loop to the stage compared with the equal interval angle partition variable structure control method. Therefore, the decoupling method of the present invention can enable the stage to maintain a high precision relative to the inertial space.

[0074] (2) The servo loop angular velocity follow-up partition discrete variable structure control method given in this invention has the characteristic of smaller output energy compared with the equal interval angle partition variable structure control method, which is beneficial to save control energy.

[0075] (3) The four-axis inertial stabilization platform system described in this invention has the characteristic of small overshoot compared with the equal interval angle partition variable structure control method, which reduces the platform jitter caused by switching during the variable structure partition control process and helps to reduce the dynamic error caused by the variable interval switching control process. Attached Figure Description

[0076] Figure 1 This is a schematic diagram illustrating the relationship between five body coordinate systems in a four-axis inertial stabilization platform system according to an embodiment of the present invention.

[0077] Figure 2 This is a flowchart of the steps of a servo loop angular velocity follow-up partitioned discrete variable structure control method for a four-axis inertial stabilization platform system proposed in this invention;

[0078] Figure 3 It is a region divided according to the angles of the inner frame and the middle frame in the variable structure zoning control;

[0079] Figure 4 It is the process of the frame angle changing over time during variable structure zoning control;

[0080] Figure 5 It refers to the area where the inner frame and middle frame angles are located during variable structure zoning control;

[0081] Figure 6 This describes the change of the platform's angular velocity over time during variable structure zone control.

[0082] Figure 7 The process of the angle of the platform relative to the inertial space changing over time when the variable structure zoning control is implemented;

[0083] Figure 8 This describes the change of the frame angle over time when using the angular velocity follower-type partitioned discrete variable structure control of this invention;

[0084] Figure 9 This refers to the region where the angles of the inner frame and the middle frame are located when using the angular velocity follow-up partitioned discrete variable structure control of this invention;

[0085] Figure 10 This describes the change of the platform's angular velocity over time when using the angular velocity follower-type partitioned discrete variable structure control of this invention;

[0086] Figure 11 This describes the change of the angle of the platform relative to the inertial space over time when using the angular velocity follower-type discrete variable structure control of this invention. Detailed Implementation

[0087] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0088] The present invention provides a servo loop angular velocity follower-based partitioned discrete variable structure control method for a four-axis inertial stabilization platform, which is implemented based on a four-axis inertial stabilization platform system. This four-axis stabilization platform system includes a base, an outer frame, a middle frame, an inner frame, and a platform body, with corresponding body coordinate systems of X1Y1Z1 for the base and X2Y1Z1 for the outer frame. p3 Y p3 Z p3 , Medium frame body coordinate system X p2 Yp2 Z p2 The inner frame body coordinate system X p1 Y p1 Z p1 and the X coordinate system of the platform body p Y p Z p .

[0089] like Figure 1 The diagram shows the relationship between the five coordinate systems. The origins of these five coordinate systems coincide, and they have the following relative constraints: the Z-axis of the platform body coordinate system... p Z-axis and the coordinate system of the inner frame p1 The axes coincide, and the Y-axis of the body coordinate system of the middle frame is... p2 Y-axis and the coordinate system of the inner frame p1 The axes coincide, and the X coordinate of the outer frame body coordinate system is... p3 The X-axis of the axis and the body coordinate system of the middle frame p2 The X1 axis of the base body coordinate system coincides with the Y-axis of the follower frame body coordinate system. The base is fixed to the carrier. When the stable platform system undergoes internal relative rotation under the drive of the carrier: the base rotates around the Y-axis of the outer frame body coordinate system... p3 The axis rotates by an angle β. yk′ The X coordinate system of the outer frame around the middle frame body. p2 The axis rotates by an angle β. xk ; Y-axis of the middle frame around the inner frame body coordinate system p1 The axis rotates by an angle β. yk The Z-axis of the inner frame around the body coordinate system of the platform p The axis rotates by an angle β. zk .

[0090] like Figure 2 The processing flowchart shown illustrates the following steps in implementing the servo loop angular velocity follow-up partitioned discrete variable structure control method for the four-axis inertial platform system of this invention:

[0091] (1) Based on the angular velocity output by the gyroscope mounted on the platform, the position of the platform in the X direction is obtained. p Axis, Y p Axis and Z p angular velocity components on the axis

[0092] (2) The relative rotation angles and angular velocities within the four-axis inertial stabilized platform system were measured, including: the X-axis of the outer frame around the coordinate system of the middle frame. p2 The angle β of the shaft rotation xk ; Y-axis of the middle frame around the inner frame body coordinate system p1 The angle β of the shaft rotation yk and angular velocity Z-axis of the inner frame around the body coordinate system p The angle β of the shaft rotation zk and angular velocity

[0093] (3) Calculate the rotational angular velocities of the platform, inner frame, middle frame, and outer frame. The process is as follows:

[0094] (3.1) When β xk β yk Satisfy condition |cosβ xk |≥|sinβ xk cosβ yk |and|cosβ xk |≥|sinβ yk When |, the specific calculation formula is as follows:

[0095] (3.1.1)|sinβ yk |≠1 hour

[0096]

[0097]

[0098]

[0099]

[0100] (3.1.2)|sinβ yk When |=1

[0101]

[0102]

[0103] ω x =0;

[0104]

[0105] (3.2) When β xk β yk The condition (3.1) is not satisfied, but the condition |sinβ is satisfied. xk cosβ yk |≥|sinβ yk When |, the specific calculation formula is as follows:

[0106]

[0107]

[0108]

[0109]

[0110] (3.3) When β xk β yk When conditions (3.1) and (3.2) are not met, the specific calculation formula is as follows:

[0111]

[0112]

[0113]

[0114]

[0115] Where, ω z For Taiwan Z p The resultant rotational angular velocity of the shaft; ω y For the inner frame Y p1 The resultant rotational angular velocity of the shaft; ω x For the medium frame X p2 The resultant rotational angular velocity of the shaft; ω yk′ For the outer frame Y p3 The resultant rotational angular velocity of the shaft.

[0116] The above-mentioned servo loop angular velocity follower-type partitioned discrete variable structure control method for the four-axis inertial stabilization platform obtains the relative rotation angle and angular velocity inside the four-axis inertial stabilization platform system in step (2) by measuring the following method:

[0117] X in the outer frame p2 An angle sensor is mounted on the axis to measure the X-axis of the outer frame around the coordinate system of the middle frame. p2 The angle β of the shaft rotation xk ; in the inner frame Y p1 An angle sensor is installed on the axis to measure the Y-axis of the middle frame around the inner frame's coordinate system. p1 The angle β of the shaft rotation yk and angular velocity In Taiwan Sports Z p A sensor mounted on the axis measures the Z-axis coordinate of the inner frame around the body coordinate system of the stage. p The angle β of the shaft rotation zk and angular velocity

[0118] In the above-mentioned four-axis inertial stabilization platform servo loop angular velocity follower partitioned discrete variable structure control method, in step (3), the rotation angle β yk The value range is -90 to 270°; rotation angle β zk β xkβ yk′ The value range is -180 to 180°.

[0119] The angles that satisfy condition (3.1) include the following 6 closed regions:

[0120] (4.1) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0121]

[0122] (4.2) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are:

[0123]

[0124] (4.3) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0125]

[0126] (4.4) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0127] (4.5) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are:

[0128]

[0129] (4.6) A closed region consisting of 3 straight lines and 1 curve has the equations of the lines and the curve as follows:

[0130]

[0131] The angles that satisfy condition (3.2) include the following four closed regions:

[0132] (5.1) A closed region consisting of 4 curves, the equations of which are:

[0133]

[0134] (5.2) A closed region consisting of 4 curves, the equations of which are:

[0135]

[0136] (5.3) A closed region consisting of 4 curves, the equations of which are:

[0137]

[0138] (5.4) A closed region consisting of four curves, the equations of which are:

[0139]

[0140] The angles that satisfy condition (3.3) include the following 6 closed regions:

[0141] (6.1) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0142] (6.2) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0143]

[0144] (6.3) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows:

[0145]

[0146] (6.4) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows:

[0147]

[0148] (6.5) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows:

[0149]

[0150] (6.6) A closed region is formed by three straight lines and one curve. The equations of the straight lines and the curve are:

[0151]

[0152] To further illustrate that the decoupler of the present invention has the characteristic of minimum energy consumption, an embodiment is given below.

[0153] Example:

[0154] Reference "Variable Structure Partition Control of a Quad-Axis Gyroscope Stabilized Platform, Tsinghua University Journal Vol.50, No.7, 2010", the determined variable structure control region is as follows: Figure 3 As shown.

[0155] Let β yk′ β xk β yk β zk The initial values ​​are 0°, 60°, 70°, and 0° respectively. When using variable structure zoning control, the initial position is in region 4. Let the platform base angular velocity...

[0156] The time-varying process of the frame angle controlled by variable structure zoning is as follows: Figure 4 As shown, the areas where the inner frame and middle frame angles are located are as follows: Figure 5 As shown, the change of the angular velocity of the platform with time is as follows: Figure 6 As shown, the angle θ between the platform and the inertial space x θ y θ z The process of change over time is as follows Figure 7 As shown. At 0.5s, the platform enters region 1 from region 4, and the angular velocity of the platform is... Up to -310° / s The angle θ of the platform relative to inertial space can reach over -850° / s. x At the switching moment, it can reach -5.6°, θ y The temperature can reach -2.4°C at the switching moment.

[0157] When the angular velocity follower-type discrete variable structure control method of this invention is used for control, the change process of the frame angle with time is as follows: Figure 8 As shown, the areas where the inner frame and middle frame angles are located are as follows: Figure 9 As shown, the change of the angular velocity of the platform with time is as follows: Figure 10 As shown, the angle θ between the platform and the inertial space x θ y θ z The process of change over time is as follows Figure 11 As shown. At 1.335s, the platform enters region 1 from region 4, and the angular velocity of the platform is... Up to -310° / s The angle θ of the platform relative to inertial space can reach over -48° / s. x At the switching moment, it can reach -2.0°, θ y The temperature can reach -0.4° at the switching moment.

[0158] By comparing the variable structure partition control with the angular velocity follow-up partition discrete variable structure control method of the present invention, it can be seen that the overshoot of the angle and angular velocity of the platform relative to the inertial space is significantly reduced during the region switching process, and the method of the present invention has higher accuracy.

[0159] The contents not described in detail in this specification are common knowledge to those skilled in the art.

[0160] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for partitioned discrete variable structure control of a four-axis inertially stabilized platform servo loop angular velocity servo following type, characterized in that, include: (1) According to the angular velocity output by the gyroscope mounted on the table body, the angular velocity components of the table body on the X p axis, Y p axis and Z p axis are obtained (2) Measure the X coordinate system of the outer frame around the middle frame body. p2 The angle β of the shaft rotation xk The Y-axis of the middle frame around the inner frame's body coordinate system p1 The angle β of the shaft rotation yk and angular velocity Z-axis of the inner frame around the body coordinate system p The angle β of the shaft rotation zk and angular velocity (3) Calculate the rotational angular velocities of the platform, inner frame, middle frame, and outer frame. The process is as follows: (3.1) when β xk , β yk satisfies the condition |cosβ xk | ≥ |sinβ xk |, the specific calculation formula is as follows: cosβ yk | and |cosβ xk | ≥ |sinβ yk |, the specific calculation formula is as follows: (3.1.1) |sinβ yk |≠1 when (3.1.2) |sinβ yk | = 1 ω x = 0; (3.2) when β xk , β yk does not satisfy the condition of (3.1) but satisfies the condition |sinβ xk cosβ yk | ≥ |sinβ yk |, the specific calculation formula is as follows: (3.3) when β xk , β yk does not satisfy the conditions of (3.1) and (3.2), the specific calculation formula is as follows: Where, ω z For Taiwan Z p The resultant rotational angular velocity of the shaft; ω y For the inner frame Y p1 The resultant rotational angular velocity of the shaft; ω x For the medium frame X p2 The resultant rotational angular velocity of the shaft; ω yk′ For the outer frame Y p3 The resultant rotational angular velocity of the shaft.

2. The partitioned discrete variable structure control method according to claim 1, characterized by, The four-axis inertial stabilization platform consists of a base, an outer frame, a middle frame, an inner frame, and a platform body. The corresponding body coordinate systems are the base body coordinate system (X1Y1Z1) and the outer frame coordinate system (X...). p3 Y p3 Z p3 , Medium frame body coordinate system X p2 Y p2 Z p2 The inner frame body coordinate system X p1 Y p1 Z p1 and the X coordinate system of the platform body p Y p Z p The origins of the five coordinate systems coincide, and: the Z-axis of the platform body coordinate system... p Z-axis and the coordinate system of the inner frame p1 The axes coincide, and the Y-axis of the body coordinate system of the middle frame is... p2 Y-axis and the coordinate system of the inner frame p1 The axes coincide, and the X coordinate of the outer frame body coordinate system is... p3 The X-axis of the axis and the body coordinate system of the middle frame p2 The axes coincide, the X1 axis of the base body coordinate system and the Y axis of the outer frame body coordinate system. p3 The axes coincide; wherein, the base is fixedly connected to the carrier, and when the stable platform system undergoes internal relative rotation under the drive of the carrier, the base revolves around the Y-axis of the outer frame's body coordinate system. p3 The axis rotates, and the outer frame revolves around the X coordinate system of the middle frame. p2 The axis rotates, and the middle frame rotates around the Y-axis of the inner frame's body coordinate system. p1 The axis rotates, and the inner frame rotates around the Z-axis of the platform's coordinate system. p The shaft rotates.

3. The partitioned discrete variable structure control method of claim 1, wherein, In step (2), the relative rotation angle and angular velocity inside the four-axis inertial stabilized platform system are measured using the following method: X in the outer frame p2 An angle sensor is mounted on the axis to measure the X-axis of the outer frame around the coordinate system of the middle frame. p2 The angle β of the shaft rotation xk ; in the inner frame Y p1 An angle sensor is installed on the axis to measure the Y-axis of the middle frame around the inner frame's coordinate system. p1 The angle β of the shaft rotation yk and angular velocity In Taiwan Sports Z p A sensor mounted on the axis measures the Z-axis coordinate of the inner frame around the body coordinate system of the stage. p The angle β of the shaft rotation zk and angular velocity 4. The partitioned discrete variable structure control method of claim 1, wherein, In step (3), the rotation angle β yk ranges from -90° to 270°; the rotation angles β zk , β xk , β yk′ all range from -180° to 180°.

5. The partitioned discrete variable structure control method of claim 1, wherein, The angles that satisfy condition (3.1) include the following 6 closed regions: (4.1) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (4.2) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are: (4.3) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (4.4) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (4.5) A closed region consisting of 4 straight lines and 2 curves, the equations of the straight lines and curves are: (4.6) A closed region consisting of 3 straight lines and 1 curve has the equations of the lines and the curve as follows:

6. The partitioned discrete variable structure control method of claim 1, wherein, The angles that satisfy condition (3.2) include the following four closed regions: (5.1) A closed region consisting of 4 curves, the equations of which are: (5.2) A closed region consisting of 4 curves, the equations of which are: (5.3) A closed region consisting of 4 curves, the equations of which are: (5.4) A closed region consisting of four curves, the equations of which are:

7. The partitioned discrete variable structure control method of claim 1, wherein, The angles that satisfy condition (3.3) include the following 6 closed regions: (6.1) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (6.2) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (6.3) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows: (6.4) A closed region consisting of 4 straight lines and 2 curves, with equations of the lines and curves as follows: (6.5) A closed region consisting of 3 straight lines and 1 curve, with equations of the lines and curve as follows: (6.6) A closed region is formed by three straight lines and one curve. The equations of the straight lines and the curve are:

8. The partitioned discrete variable structure control method according to any one of claims 1 to 7, characterized by, This partitioned discrete variable structure control method is used to reduce the influence of the servo loop on the stable loop.

9. The partitioned discrete variable structure control method according to any one of claims 1 to 7, characterized by, This partitioned discrete variable structure control method is used to enable the platform to maintain higher precision relative to the inertial space.

10. A computer-readable storage medium having stored thereon computer program instructions, which, when loaded and run by a processor, cause the processor to perform the method as described in any one of claims 1 to 9.

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