Photoelectric servo turntable visual axis stability control method based on self-adaptive sliding mode controller

Abstract

The invention provides a photoelectric servo turntable visual axis stability control method based on a self-adaptive sliding mode controller, which comprises the following steps of: firstly, establishing a multi-body dynamic model considering the coupling effect between different frames of a servo system and carrier disturbance, and then designing an integral nonsingular terminal sliding mode surface aiming at the visual axis stability control problem of a photoelectric system; designing a sliding mode control adaptive fast reaching law so as to enable the photoelectric servo system to rapidly approach the sliding mode surface; and finally, designing a self-adaptive nonsingular Terminal sliding mode controller, and carrying out visual axis stable speed loop control on the multi-axis turntable photoelectric servo control system. The model is suitable for any multi-rigid-body system, and the dynamic model of the system can be obtained only by inputting system parameters. By adopting the method disclosed by the invention, the photoelectric servo system can be quickly converged to a steady state, and the robustness to external interference is enhanced, so that the stable performance of an optical television shaft is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of photoelectric servo control, and in particular relates to a photoelectric servo turntable visual axis stabilization control method based on an adaptive sliding mode controller. Background Art

[0002] As the application scenarios of optoelectronic equipment become increasingly complex and diversified, higher requirements are placed on its line-of-sight stability control under complex disturbance conditions. At present, the conventional classical control algorithm, such as the PID control algorithm, is mainly used for the line-of-sight stability control algorithm of the optoelectronic turntable; however, due to the lack of a reasonable system dynamics model, when the carrier of the optoelectronic device is subjected to severe disturbances, the disturbance to the carrier will have a great impact on the servo control system to stabilize the optoelectronic optical axis pointing, and it is difficult for traditional classical control algorithms to achieve high-precision optical line-of-sight stability control. At present, the research work on the dynamics modeling of the optoelectronic servo control turntable mainly focuses on the kinematic modeling of the system or the subsystem modeling of a single axis, and does not fully consider the influence of factors such as the coupling between multiple axes and the carrier disturbance on the system.

[0003] Sliding mode control is a variable structure control algorithm, which has good robustness to system parameters and external disturbances, and can be considered for the optical axis stability control of the optoelectronic servo turntable. When the system enters the sliding mode motion state, the motion of the system will only be related to the selection of control parameters, and has nothing to do with the system's own parameters and external disturbances. However, the classic linear sliding surface has the problem that the system steady-state error is difficult to converge to zero within a finite time. When applied to the visual axis stability control of the optoelectronic servo turntable, it will lead to large control errors and response time. The visual axis stability control of the optoelectronic servo turntable has high requirements on control accuracy, response time and other performances, and there will be jitter problems during the sliding mode control process. Therefore, the classic linear sliding surface will affect the visual axis stability performance of the optoelectronic servo turntable. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing servo optoelectronic turntable optical axis stabilization control method does not consider the coupling effect between different frames of the servo system and the influence of carrier disturbance factors on the optoelectronic turntable, and the control result has poor robustness, and to provide an optoelectronic servo turntable optical axis stabilization control method based on an adaptive sliding mode controller. In this method, a multi-body dynamic model considering the coupling effect between different frames of the servo system and the carrier disturbance factors is established, which is suitable for various multi-axis optoelectronic turntables whose center of gravity is colinear or non-colinear with the rotation axis, and on the basis of the multi-body dynamic model, a non-singular terminal sliding mode surface is designed for the speed control loop of the optical axis stabilization, realizing an adaptive rapid approach law, having good robustness to external interference, reducing the approach time of the sliding mode control, weakening the jitter, and improving the optical axis stabilization performance.

[0005] To achieve the above purpose, the technical solution provided by the present invention is:

[0006] The optical axis stabilization control method of the photoelectric servo turntable based on the adaptive sliding mode controller includes the following steps:

[0007] Step 1: Establish a multi-body dynamics model that takes into account the coupling effects of different frames of the servo system and the carrier disturbance factors.

[0008]

[0009] Where A(x1) and C(x1) are related functions of variable x1, B(x1,x2) is related functions of variables x1 and x2; u(t) is the external control input;

[0010] Step 2: Aiming at the problem of line of sight stability control of the optoelectronic system, an integral non-singular terminal sliding surface is designed; the non-singular terminal sliding surface is: in, is the sliding surface independent variable parameter, α>0, β>0, 1<γ<2;

[0011] Step 3: Design an adaptive fast reaching law to enable the optoelectronic servo system to quickly approach the sliding mode surface; the form of the adaptive fast reaching law of the sliding mode control is:

[0012]

[0013] Wherein, k, ε and δ are control parameters, and k>0, ε>0, 0<δ<1; σ is a preset threshold, 0<σ<1; tanh(s) represents the hyperbolic tangent function, and e is the base of the natural logarithm;

[0014] Step 4: Based on the multi-body dynamics model established in step 1, an adaptive non-singular terminal sliding mode controller is designed according to the non-singular terminal sliding mode surface designed in step 2 and the adaptive fast reaching law designed in step 3;

[0015] The designed sliding mode controller is:

[0016]

[0017] Step 5: Use the adaptive non-singular Terminal sliding mode controller designed in step 4 to perform visual axis stabilization speed loop control on the multi-axis turntable optoelectronic servo control system, so that the servo system can quickly reach a stable state.

[0018] Furthermore, the step 1 comprises the following steps:

[0019] Step 1.1: Use the virtual power principle to describe the general dynamic equation of the multi-axis optoelectronic turntable servo system as:

[0020] Among them, the matrix

[0021] Coefficient vector matrix

[0022] In the formula, f and h is the intermediate vector matrix, m is a diagonal matrix consisting of the masses of the different frames of the system, F is the external force matrix, M * is the external moment matrix, J is the inertia tensor matrix, T is the pathway matrix, C and C 0 represents the weighted body hinge vector matrix, is the angular velocity of the carrier in the system, p is the rotation axis basis vector;

[0023] Step 1.2: Draw a directed graph of the multi-axis optoelectronic turntable servo system, and establish the association matrix of the multi-axis optoelectronic turntable servo system based on the directed graph. S and pathway matrix T ;

[0024] Step 1.3: Establish a weighted body hinge vector matrix based on the distance from different hinges to the center of mass of the rigid body associated with the hinge, where the matrix element c is ia Represents the product of the vector from the center of mass of the i-th rigid body frame to the a-th hinge and the corresponding element of the association matrix;

[0025] Step 1.4: Combine the rotation axis basis vectors of each joint in the system to form a matrix p T , then the relative angular velocity matrix of each rigid body in the system is obtained Ω and the absolute angular velocity matrix ω , and the intermediate vector matrix f and h ;

[0026] Relative angular velocity matrix Absolute angular velocity matrix ω = ω 01- T T Ω , ω 0 is the angular velocity of the carrier in the system;

[0027] Intermediate vector matrix f for:

[0028]

[0029] Among them, the matrix parameters i + (a) and i - (a) are two rigid bodies connected by a directed arc a, i + (a) represents the rigid body at the starting point of the directed arc a, i - (a) represents the rigid body at the end point of the directed arc a, i.e. + (a) From directed arc a to i - (a), n is the total number of system frames;

[0030] Intermediate vector matrix h for:

[0031]

[0032] Among them, the matrix elements

[0033]

[0034] Step 1.5: Determine the external force matrix of the optoelectronic system F and the external moment matrix M * :

[0035]

[0036] Where: n is the number of turntable frames, matrix element F i is the resultant force acting on the mass center of the ith rotating frame of the optoelectronic system, M i is the total torque acting on the i-th rotating frame of the rigid body, which includes the control torque, friction torque and winding torque, etc. i is the inertia tensor of the i-th frame rotation;

[0037] Step 1.6: Substitute the formulas obtained in steps 1.2 to 1.5 into the formulas in step 1.1 to obtain the multi-body dynamics model of the optoelectronic system.

[0038] Furthermore, the specific process of step 1.2 is as follows:

[0039] Step 1.2.1, draw multiple vertices, with each vertex representing each rigid body in the multi-axis optoelectronic turntable servo system, and the directed connection between the points represents the connection hinge between the rigid bodies, so there is a directed graph of the multi-axis optoelectronic turntable servo system;

[0040] Step 1.2.2: Establish the correlation matrix of the multi-axis optoelectronic turntable servo system based on the directed graph S and pathway matrix T , where the incidence matrix S and pathway matrix T The matrix elements are:

[0041]

[0042] The advantages of the present invention are:

[0043] 1. When establishing the multi-axis coupling dynamics modeling of the optoelectronic servo turntable, the control method of the present invention takes into account the coupling effect between different frames of the servo system and the influence of the carrier disturbance factors on the optical axis stability performance of the optoelectronic servo turntable. On the basis of the established dynamic model, a non-singular terminal sliding surface is designed for the speed control loop of the optical axis stability. The adaptive non-singular Terminal sliding mode controller designed with the non-singular terminal sliding surface is combined with an adaptive rapid reaching law to enable the optoelectronic servo system to quickly reach a stable state, reduce the reaching time of the sliding mode control, weaken the jitter, have good robustness to external interference, and improve the optical axis stability performance of the optoelectronic turntable.

[0044] 2. The modeling process of the present invention is clear, simple and programmed, and can be easily realized through computer programming. The model is highly versatile and suitable for various multi-axis photoelectric servo turntables whose center of gravity is colinear or non-colinear with the rotation axis.

[0045] 3. The non-singular nonlinear terminal sliding surface designed in the present invention can make the system converge quickly within a limited time and effectively avoid the singularity problem, thereby improving the control accuracy and response time of the optical axis stability of the optoelectronic servo turntable.

[0046] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0048] Figure 1 It is a flowchart of the method of the present invention;

[0049] Figure 2 It is a schematic diagram of the process of establishing system dynamics modeling in the present invention;

[0050] Figure 3 It is a schematic diagram of the system directed graph drawn;

[0051] Figure 4 The present invention adopts the method to control the simulation effect diagram. DETAILED DESCRIPTION

[0052] Embodiments of the present invention are described in detail below. The embodiments are exemplary and intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0053] Reference Figure 1 The optical axis stabilization control method of the optoelectronic servo turntable based on the adaptive sliding mode controller comprises the following steps:

[0054] Step 1: Establish a multi-body dynamics model that considers the coupling effects of different frames of the servo system and the carrier disturbance factors, such as Figure 2 As shown, the specific steps are:

[0055] Step 1.1: For the multi-axis turntable optoelectronic system, the universal dynamic equation of the multi-body system expressed by the virtual power principle is described as:

[0056]

[0057] Among them, q represents the generalized degree of freedom vector, which uses relative coordinates and can be transformed using the direction cosine matrix. Using the concept of augmented volume, the two coefficients in the equation are given as follows:

[0058]

[0059] The underscore represents a matrix whose elements are vectors or tensors.

[0060] The coefficient vector matrix expression is as follows:

[0061]

[0062] In the formula, f and h is the intermediate vector matrix, m is a diagonal matrix consisting of the masses of the different frames of the system, F is the external force matrix, M * is the external moment matrix, J is the inertia tensor matrix, T is the pathway matrix, C and C 0 represents the weighted body hinge vector matrix, is the angular velocity of the carrier in the system, p is the rotation axis basis vector;

[0063] Step 1.2: First draw a directed graph of the system. Figure 3 As shown in the figure, each vertex in the figure represents a rigid body, and the connection between the points represents the connection between the rigid bodies. Then, the association matrix of the system is established based on the directed graph S and pathway matrix T , the matrix elements are defined as follows:

[0064]

[0065] Step 1.3: Create a weighted body joint vector matrix based on the distance from each joint to the center of mass of its associated rigid body. C and C 0. Its matrix element c ia Represents the result of multiplying the vector from the center of mass of the i-th rigid body frame to the a-th hinge by the corresponding element of the association matrix.

[0066] Step 1.4: Derive the system kinematic parameter matrix. To combine the axis basis vectors of each joint into a matrix expression: p T , then the system relative angular velocity matrix Ω With the absolute angular velocity matrix ω They are:

[0067]

[0068] ω = ω 01- T T Ω (6)

[0069] in ω 0 represents the angular velocity of the rigid body (ie, the carrier in the present invention).

[0070] The matrix in formula (3) f The expression is:

[0071]

[0072] Among them, the matrix parameters i + (a) and i - (a) represents two vertices (rigid bodies) connected by a directed arc a, i + (a) is the rigid body at the starting point of the directed arc a, i - (a) is the rigid body at the end point of the directed arc a, i.e. + (a) Through the directed arc a pointing to i - (a).

[0073] The matrix in formula (3) h The expression is:

[0074]

[0075] Among them, the matrix elements

[0076]

[0077] Step 1.5: Derive the system external force matrix F and the external moment matrix M* ,but

[0078]

[0079] in, J represents the inertia tensor matrix, n=3, matrix parameter F i is the resultant force acting on the mass center of the ith rotating frame of the optoelectronic system, M i is the total torque acting on the i-th rotating frame of the rigid body, which includes the control torque, friction torque and winding torque, etc.; J i is the inertia tensor of the i-th frame rotation. For any rigid body, its inertia tensor is defined as follows:

[0080]

[0081] In the formula, J x , J y , J z is the principal moment of inertia of the rigid body.

[0082] Step 1.6: Substitute equations (4)-(10) into equations (1)-(3) to obtain the multi-body dynamics equations of the optoelectronic servo system.

[0083] Step 2: Aiming at the problem of line of sight stabilization control of the optoelectronic system, an integral non-singular terminal sliding surface is designed. The non-singular terminal sliding surface is:

[0084]

[0085] in: are the independent variable parameters of the sliding surface, α>0, β>0, 1<γ<2.

[0086] Step 3: In order to ensure that the system can quickly approach the sliding surface, a new type of sliding mode control adaptive fast reaching law is designed, which is as follows:

[0087]

[0088] Among them, k, ε and δ are all control parameters, and k>0, ε>0>0, 0<σ<1, 0<δ<1, tanh(s) represents the hyperbolic tangent function, and e is the base of the natural logarithm.

[0089] Formula (12) can adaptively adjust the speed of approaching the sliding surface, where the exponential approach term When the error is large, the approach speed can be significantly accelerated. When the error is small, it is close to the conventional exponential approach term -ks; power approach law The jitter can be reduced, where σ is the preset threshold. When the error is greater than the threshold σ, due to Therefore, the power approximation term can also speed up the convergence speed, while avoiding the phenomenon that the power approximation term will increase the convergence time during the error convergence process to the greatest extent. Therefore, the chattering can be reduced.

[0090] Step 4: Design the sliding mode controller.

[0091] Consider a second-order kinetic equation of the form:

[0092]

[0093] Where A(x1) and C(x1) are related functions of variable x1, B(x1,x2) is the related function of variables x1 and x2; u(t) is the external control input.

[0094] The non-singular Terminal sliding surface shown in formula (11) can be specifically written as:

[0095]

[0096] exist Nearby, taking its derivative we can get:

[0097]

[0098] Therefore, the non-singular Terminal sliding surface shown in formula (11) is continuous, and its derivative can be obtained:

[0099]

[0100] Substituting formula (13) into formula (16), we can obtain:

[0101]

[0102] Using the sliding surface shown in equation (11) and the adaptive fast reaching law shown in equation (12), the sliding mode controller can be obtained as:

[0103]

[0104] The adaptive non-singular Terminal sliding mode controller shown in formula (18) designed by using the sliding surface shown in formula (11) and the adaptive fast reaching law shown in formula (12) can perform closed-loop feedback control on the second-order nonlinear system, enable the system state to converge quickly to the sliding surface, and be robust to external carrier disturbances.

[0105] Step 5: Use the adaptive non-singular Terminal sliding mode controller designed in step 4 to perform visual axis stabilization speed loop control on the multi-axis turntable optoelectronic servo control system, so that the servo system can quickly reach a stable state.

[0106] Proof of stability: The Lyapunov function associated with the sliding surface (11) is defined as:

[0107]

[0108] You can get:

[0109]

[0110] because and 2 =2V, formula (20) can also be written as:

[0111]

[0112] make Then we can get: Since 1<γ<2, λ1>0, λ2>0.

[0113] Therefore, when x2≠0, according to the extended Lyapunov stability theory, the system will reach s=0 in a finite time, and the convergence time meets the requirements.

[0114] When x2=0, replacing the control input u(t) in equation (13) with equation (18) yields:

[0115]

[0116] From formula (22), we can see that when s>0, When s<0, This means that x2=0 is not stable, so the system can converge to the sliding mode surface from any position in the state space. The adaptive non-singular Terminal sliding mode controller given by equation (16) can make the state shown in equation (11) converge to 0 and achieve stable control.

[0117] The following takes a three-axis optoelectronic turntable as an example to illustrate the specific process of the method of the present invention. Among them, the outer ring frame of the three-axis optoelectronic turntable controls the roll angle of the optoelectronics, the middle ring frame controls the pitch angle of the optoelectronics, and the inner ring frame controls the azimuth angle of the optoelectronics. Figure 1 As shown, an adaptive non-singular Terminal sliding mode controller is designed for the system. The specific steps are as follows:

[0118] Step 1: Establish the multi-body dynamics equation of the system. The specific steps can be divided into:

[0119] Step 1.1: Let B0, B1, B2, B3 represent the carrier, the outer roll frame, the middle pitch frame, and the inner azimuth frame, respectively. The three-axis optoelectronic turntable in the example of the present invention has three rotational degrees of freedom, namely, the outer roll frame angle q1, the middle pitch frame angle q2, and the inner azimuth frame angle q3, that is, q = [q1, q2, q3]. Use T ij Indicates B j To B i The coordinate transformation matrix between them is:

[0120]

[0121] Step 1.2: Draw a directed graph of the system, such as Figure 2 As shown; then according to the directed graph, the association matrix and the path matrix of the photoelectric turntable system in the example of the present invention are respectively:

[0122]

[0123] Step 1.3: Obtain the weighted body joint vector matrix based on the system kinematic parameters:

[0124]

[0125] Among them, the vector subscript represents the connected coordinate system of the corresponding rigid frame, and ρ1, ρ2, ρ3, ρ4 and ρ5 are the distance parameters from the center of mass of each frame to the corresponding rotation axis.

[0126] Step 1.4: Write the axis basis vectors of each hinge into a matrix. The expression is as follows:

[0127]

[0128] The angular velocity of the system is:

[0129]

[0130] Intermediate vector matrix f and h :

[0131]

[0132] Step 1.5: Let F1, F2, and F3 represent the resultant forces acting on the mass centers of the three rigid rotating frames B1, B2, and B3, respectively; let M1, M2, and M3 represent the moments applied to the mass centers of the three rigid rotating frames, respectively; let J1, J2, and J3 represent the inertia tensors of the three rotating frames, respectively; and let m1, m2, and m3 represent the masses of the three rotating frames, respectively. Then the coefficients in equation (3) can be written as:

[0133]

[0134] Step 1.6: Substituting the above equations into equations (1), (2) and (3) and decoupling the left side of the equation, the system dynamics equation shown in equation (1) can be obtained as follows:

[0135]

[0136] The coefficients on the left side of the equation include the trigonometric function coupling terms of the three direction angles, and the coefficients on the right side include the coupling terms related to the three direction angles, angular velocity, and carrier angular velocity. It is not difficult to see from the dynamic model that the three-axis optoelectronic servo system is a multi-input-output nonlinear system with coupling effects, especially the azimuth frame, due to its small moment of inertia, the influence of the roll and pitch frames on it cannot be ignored.

[0137] Step 2: Design a non-singular Terminal sliding surface. Define the tracking error as:

[0138]

[0139] Where i = 1, 2, 3, represents the frame angle q i The target speed is . The non-singular terminal sliding surface is designed as follows:

[0140]

[0141] Step 3: Design an adaptive non-singular Terminal sliding mode controller. Based on the dynamic equation established in equation (31), using the non-singular terminal sliding mode surface shown in equation (30) and the adaptive fast reaching law shown in equation (12), the control input can be obtained as:

[0142]

[0143] Step 4: Using the sliding mode controller designed by formula (31) to perform line-of-sight stabilization speed loop control on the three-axis optoelectronic system in the example of the present invention, the system can quickly reach a stable state and have good robustness to disturbances from external carriers.

[0144] Figure 4 The simulation effect of sliding mode control of the example of the present invention is given. Among them, the angular velocities of the carrier in three directions are all subjected to relatively severe white noise disturbances, and the control targets are set to 20° / s for the outer roll frame, 30° / s for the pitch frame, and 40° / s for the azimuth frame. It can be seen that the angular velocities of the three frames of the optoelectronic turntable all quickly reach the steady-state control target, with high accuracy and small jitter.

[0145] The present invention is based on the modeling principle of the Roberson-Wittenburg method, adopts the concept of graph theory to describe the structure and path relationship of the multi-rigid body system, takes the relative displacement between adjacent rigid bodies as the generalized coordinate, adopts programmed modeling and solving, and establishes a multi-body dynamics model that considers the coupling effect between different frames of the servo system and the carrier disturbance factor. The model is applicable to the universal form dynamic equation of any multi-rigid body system. On the basis of the dynamics model, the present invention designs a non-singular terminal sliding surface and a new type of adaptive fast approaching law for the speed control loop of the optical video axis stabilization, which has good robustness to external interference, reduces the approaching time of the sliding mode control and weakens the chattering.

[0146] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the visual axis stability of an optoelectronic servo turntable based on an adaptive sliding mode controller, characterized in that: The following steps are involved: Step 1: Establish a multi-body dynamics model that takes into account the coupling effects of different frames of the servo system and the carrier disturbance factors. Where A(x1) and C(x1) are related functions of variable x1, B(x1,x2) is related functions of variables x1 and x2; u(t) is the external control input; Step 2: Aiming at the problem of line of sight stability control of the optoelectronic system, an integral non-singular terminal sliding surface is designed; the non-singular terminal sliding surface is: in, is the sliding surface independent variable, α, β and γ are sliding surface parameters and satisfy: α>0, β>0, 1<γ<2; Step 3: Design an adaptive fast reaching law to enable the optoelectronic servo system to quickly approach the sliding mode surface; the form of the adaptive fast reaching law of the sliding mode control is: Wherein, k, ε and δ are control parameters and satisfy: k>0, ε>0, 0<δ<1; σ is a preset threshold, 0<σ<1; tanh(s) represents the hyperbolic tangent function, and e is the base of the natural logarithm; Step 4: Based on the multi-body dynamics model established in step 1, an adaptive non-singular terminal sliding mode controller is designed according to the non-singular terminal sliding mode surface designed in step 2 and the adaptive fast reaching law designed in step 3; The designed sliding mode controller is: Step 5: Use the adaptive non-singular Terminal sliding mode controller designed in step 4 to perform visual axis stabilization speed loop control on the multi-axis turntable optoelectronic servo control system, so that the servo system can quickly reach a stable state.

2. According to the method for controlling the optical axis stabilization of an optoelectronic servo turntable based on an adaptive sliding mode controller according to claim 1, it is characterized in that: The step 1 comprises the following steps: Step 1.1: Use the virtual power principle to describe the general dynamic equation of the multi-axis optoelectronic turntable servo system as: Among them, the matrix Coefficient vector matrix In the formula, f and h is the intermediate vector matrix, m is a diagonal matrix consisting of the masses of the different frames of the system, F is the external force matrix, M * is the external moment matrix, J is the inertia tensor matrix, T is the pathway matrix, C and C 0 represents the weighted body hinge vector matrix, is the angular velocity of the carrier in the system, p is the axis basis vector matrix; Step 1.2: Draw a directed graph of the multi-axis optoelectronic turntable servo system, and establish the association matrix of the multi-axis optoelectronic turntable servo system based on the directed graph. S and pathway matrix T ; Step 1.3: Establish a weighted body hinge vector matrix based on the distance from different hinges to the center of mass of the rigid body associated with the hinge, where the matrix element c is ia Represents the product of the vector from the center of mass of the i-th rigid body frame to the a-th hinge and the corresponding element of the association matrix; Step 1.4: Combine the rotation axis basis vectors of each joint in the system to form a matrix p T , then the relative angular velocity matrix of each rigid body in the system is obtained Ω and the absolute angular velocity matrix ω , and intermediate vector matrices f and h; Relative angular velocity matrix Absolute angular velocity matrix ω = ω 01- T T Ω , ω0 is the angular velocity of the carrier in the system; The intermediate vector matrix f is: Among them, the matrix parameters i + (a) and i - (a) are two rigid bodies connected by a directed arc a, i + (a) represents the rigid body at the starting point of the directed arc a, i - (a) represents the rigid body at the end point of the directed arc a, i.e. + (a) Through the directed arc a pointing to i - (a), n is the number of turntable frames; Intermediate vector matrix h for: Among them, the matrix elements Step 1.5: Determine the external force matrix of the optoelectronic system F and the external moment matrix M * : Among them: Matrix element F i is the resultant force acting on the mass center of the ith rotating frame of the optoelectronic system, M i is the total moment acting on the i-th rotating frame of the rigid body, J i is the inertia tensor of the i-th frame rotation; Step 1.6: Substitute the formulas obtained in steps 1.2 to 1.5 into the formulas in step 1.1 to obtain the multi-body dynamics model of the optoelectronic system.

3. According to claim 1, the method for controlling the optical axis stabilization of an optoelectronic servo turntable based on an adaptive sliding mode controller is characterized in that: The specific process of step 1.2 is as follows: Step 1.2.1, draw multiple vertices, with each vertex representing each rigid body in the multi-axis optoelectronic turntable servo system, and the directed connection between the points represents the connection hinge between the rigid bodies, so there is a directed graph of the multi-axis optoelectronic turntable servo system; Step 1.2.2: Establish the correlation matrix of the multi-axis optoelectronic turntable servo system based on the directed graph S and pathway matrix T , where the incidence matrix S and pathway matrix T The matrix elements are:

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