A marine anti-drone stabilizing holder anti-interference control method and system
Patent Information
- Application Number
- CN202610859598.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-15
- Publication Date
- 2026-10-16
AI Technical Summary
[0004]本发明提出了一种船用反无人机稳定云台抗扰控制方法及系统，旨在解决现有技术中存在的船用稳定云台在四级海况低频大幅扰动下抗扰能力弱、抖振明显、控制精度不足的技术问题
[0039]本发明的技术效果是：过设计三阶扩张状态观测器实时估计并补偿总扰动，结合平滑饱和函数改进滑模控制抑制抖振，实现了复杂海况下云台的快速、稳定、高精度控制；通过引入前馈扰动补偿机制，准确估计并有效抑制海浪、风力、船舶运动等外界环境及内部参数摄动等复合总扰动，减少了稳态误差，显著提升了跟踪控制精度和鲁棒性；采用饱和函数替代传统符号函数，从结构上消除高频抖振，实现控制输入平滑连续，有效减少云台机械结构和永磁同步电机的损耗；三阶扩张状态观测器高精度扰动估计与改进滑模控制的组合算法，协同优化控制精度与响应速度，使系统在复杂海况下仍能维持较高的响应速度和极低的超调量，较传统PID和普通滑模控制响应速度最高提升33.33%，稳态误差最大降低60%，且能在±0.018rad动态误差内实现无抖振稳态控制。
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Abstract
Description
Technical Field
[0001] This invention relates to the field of high-precision servo control technology, and in particular to a method and system for anti-interference control of a shipborne anti-UAV stabilized gimbal. Background Technology
[0002] Currently, common control methods for stabilized gimbals mainly include PID control and sliding mode control. PID control has a simple structure and is easy to implement in engineering, but due to its inherent linearity, it is difficult to maintain a stable attitude under complex sea conditions and cannot meet the requirements for high-precision line-of-sight stabilization. Sliding mode control has strong robustness and is insensitive to parameter changes and external disturbances, but traditional sliding mode control relies on a sign function to drive the system to the sliding surface, which is prone to generating high-frequency chattering near the sliding surface, accelerating the mechanical wear of the gimbal structure, shortening the actuator life, and reducing the line-of-sight stabilization accuracy.
[0003] To address the chattering problem in sliding mode control, various improvement schemes have been proposed in existing technologies, such as introducing a saturation function into the reaching law, employing an integral sliding surface, and designing novel reaching laws. However, these schemes still suffer from insufficient disturbance rejection capability and limited chattering suppression effect. In recent years, composite control methods based on extended state observers have received widespread attention. Extended state observers can treat internal uncertainties and external disturbances as a total disturbance and estimate them in real time, improving the system's disturbance rejection capability through feedforward compensation. However, the existing combination schemes of extended state observers and sliding mode control still need optimization in balancing disturbance estimation accuracy, chattering suppression effect, and control smoothness, making it difficult to meet the high-precision control requirements of marine stabilization gimbals in complex sea conditions. Summary of the Invention
[0004] This invention proposes a disturbance rejection control method and system for a shipborne anti-UAV stabilized gimbal, aiming to solve the technical problems of weak disturbance rejection capability, obvious jitter, and insufficient control accuracy of existing shipborne stabilized gimbals under low-frequency large disturbances in sea state 4.
[0005] In a first aspect, the present invention provides a method for anti-interference control of a shipborne anti-drone stabilized gimbal, comprising:
[0006] Step S1: Establish a dynamic model of the shipborne anti-drone stabilized gimbal, and unmodeled dynamics in the gimbal and external sea waves and wind disturbances are unified into a total disturbance.
[0007] Step S2: Design a third-order linear extended state observer to estimate the angular position, angular velocity and total disturbance of the gimbal in real time, and use the bandwidth parameterization method to tune the observer gain.
[0008] Step S3: Design an improved sliding mode controller, introduce a smoothing saturation function into the sliding mode reaching law to suppress control chattering, and introduce the total disturbance estimated in step S2 as a feedforward compensation amount into the sliding mode controller to generate disturbance rejection control quantity;
[0009] Step S4: Based on the Lyapunov direct method, prove the global asymptotic stability of the closed-loop system containing the third-order linear extended state observer and the improved sliding mode controller.
[0010] Furthermore, the dynamic model established in S1 is specifically as follows:
[0011] ;
[0012] in, The angular velocity of the gimbal; This refers to the angular acceleration of the gimbal. For system control input; These are known constant coefficients related to the electromagnetic parameters of the motor; These are known constant coefficients related to the control input gain; This represents the total disturbance.
[0013] Furthermore, the third-order linear extended state observer designed in step S2 is as follows:
[0014] ;
[0015] in, This refers to the actual angle position of the gimbal; , , These are the observed values for the gimbal's angular position, angular velocity, and the total disturbance, respectively. and Same dimensions With the same dimensions as angular velocity, Same dimensions as total disturbance; , , This is the observer gain.
[0016] Furthermore, the method for tuning the observer gain using the bandwidth parameterization method in step S2 is as follows:
[0017] ;
[0018] in, The bandwidth of the observer is selected through simulation and optimization based on the main frequency characteristics of the marine wave disturbance.
[0019] Furthermore, the sliding surface function of the improved sliding mode controller in step S3... Defined as:
[0020] ;
[0021] ;
[0022] ;
[0023] in, For tracking error; The derivative of the tracking error; From the perspective of the target; These are the parameters of the sliding surface.
[0024] Furthermore, the smoothing saturation function used to suppress chattering in step S3... Defined as:
[0025] ;
[0026] in, is the boundary layer thickness constant, which is dimensionless.
[0027] Furthermore, the disturbance rejection control quantity generated in step S3 for:
[0028] ;
[0029] in, Target angular acceleration; and These are the sliding mode control parameters; This is an estimate of the total disturbance, and .
[0030] Furthermore, in step S4, the Lyapunov function used to prove the global asymptotic stability of the closed-loop system is... The construction is as follows:
[0031] ;
[0032] in, Let Lyapunov function be the sliding mode term. Let Lyapunov function be the observation error term. For the observation error vector, To estimate the state vector, The actual state vector, , , It is a symmetric positive definite matrix; by proof... By combining the Lassalle invariant set principle, the sliding mode variable is ensured. With observation error All converge asymptotically to zero.
[0033] In a second aspect, the present invention provides a marine anti-drone stabilized gimbal anti-jamming control system, the system being used to execute the method, the system comprising:
[0034] An attitude sensor is used to collect the angular position and angular velocity information of the stabilized gimbal in real time.
[0035] The controller integrates a third-order linear extended state observer module and an improved sliding mode controller module; the third-order linear extended state observer module is used to estimate the total system disturbance; the improved sliding mode controller module is used to calculate a smooth disturbance rejection control quantity based on the tracking error and the estimated total disturbance.
[0036] A driver is used to receive control signals output by the controller and generate drive signals.
[0037] The actuator is a permanent magnet synchronous motor that drives the stable gimbal to rotate according to the drive signal.
[0038] Furthermore, the controller also includes a limiting unit, which limits the amplitude of the calculated disturbance rejection control quantity and outputs it to the driver to meet the physical constraints of the actuator.
[0039] The technical advantages of this invention are as follows: By designing a third-order extended state observer to estimate and compensate for total disturbances in real time, and combining this with a smooth saturation function to improve sliding mode control and suppress chattering, fast, stable, and high-precision control of the gimbal under complex sea conditions is achieved; by introducing a feedforward disturbance compensation mechanism, the complex total disturbances caused by external environmental factors such as waves, wind, and ship motion, as well as internal parameter perturbations, are accurately estimated and effectively suppressed, reducing steady-state error and significantly improving tracking control accuracy and robustness; by using a saturation function to replace the traditional sign function, high-frequency chattering is eliminated structurally, achieving smooth and continuous control input and effectively reducing losses in the gimbal's mechanical structure and permanent magnet synchronous motor; the combination algorithm of high-precision disturbance estimation by the third-order extended state observer and improved sliding mode control synergistically optimizes control accuracy and response speed, enabling the system to maintain a high response speed and extremely low overshoot under complex sea conditions. Compared with traditional PID and ordinary sliding mode control, the response speed is improved by up to 33.33%, the steady-state error is reduced by up to 60%, and chatter-free steady-state control can be achieved within ±0.018 rad dynamic error. Attached Figure Description
[0040] Figure 1 This is a flowchart illustrating an anti-interference control method for a shipborne anti-UAV stabilized gimbal proposed in an embodiment of the present invention.
[0041] Figure 2 A schematic diagram of the hardware structure of a shipborne anti-drone stabilized gimbal anti-interference control system provided in an embodiment of the present invention;
[0042] Figure 3 This is a schematic diagram of the structural block of the LESO and SMC composite control method provided in an embodiment of the present invention;
[0043] Figure 4 A schematic diagram of the step response curves of three control methods under disturbance conditions provided in the embodiments of the present invention;
[0044] Figure 5 This is a schematic diagram of the control input curves for three control methods under disturbance conditions provided in the embodiments of the present invention. Detailed Implementation
[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0046] Addressing the technical problem mentioned in the background art where shipborne anti-drone gimbals suffer from line-of-sight jitter and low tracking accuracy due to low-frequency large-amplitude disturbances in sea state 4, this invention proposes an anti-disturbance control method for a shipborne anti-drone gimbal. This stabilized gimbal uses a permanent magnet synchronous motor as the actuator and operates in sea state 4 (dominant wave frequency 0.1-0.3Hz, equivalent disturbance torque...). The requirement is to achieve a stable accuracy of the line of sight within ±0.02 rad.
[0047] refer to Figures 1 to 5 As shown, the specific steps include:
[0048] Step S1: Establish the dynamic model of the shipborne anti-drone stabilized gimbal. Considering that the electrical time constant of the permanent magnet synchronous motor is much smaller than the mechanical time constant, and neglecting the current loop dynamics of the motor, the electrical transfer function of the motor is approximated as:
[0049]
[0050] In the formula: Total inductance of the motor; for Operator; This is the equivalent resistance of the motor circuit.
[0051] The output torque of a motor is defined as:
[0052]
[0053] In the formula: Electromagnetic torque coefficient of the motor , ; The back electromotive force coefficient of the motor; Angular velocity of the motor shaft ; This refers to the amplifier stage gain. For system control input.
[0054] Therefore, the mechanical dynamics equation of the gimbal system is:
[0055]
[0056] In the formula: The equivalent rotational inertia of the overall gimbal system ; Gimbal angular acceleration ; Disturbance torque caused by friction of the gimbal shaft and external interference factors .
[0057] Combining equations (2) and (3), we can obtain the complete dynamic equation of the gimbal system as follows:
[0058]
[0059] See , For the known parts during modeling, let them be respectively... , Internal uncertainties within the system, as well as external disturbances such as waves, wind, and ship motion, are all considered as a total disturbance. For the total disturbance and let The model then simplifies to:
[0060] ;
[0061] in, This represents the total disturbance.
[0062] Step S2: Design a third-order linear extended state observer that matches the characteristics of marine wave disturbances. Adjust the observed values through observation error feedback to quickly approximate the actual state, achieving real-time estimation of the gimbal's angular position, angular velocity, and total disturbance. Treating the total disturbance as an extended state, and assuming the first derivative of the disturbance is approximately zero based on the slow, time-varying speed regulation characteristics of the motor system, construct the system's augmented state-space model as follows:
[0063]
[0064] In the formula: This is a new state variable expanded by the total disturbance to be observed.
[0065] The third-order linear extended state observer is designed as follows:
[0066]
[0067] In the formula: , , They are respectively states , and total disturbance The observed values; The observation gain is used to adjust the observation convergence speed. The observer's design philosophy is to utilize the output estimation error. Feedback is used to correct the state estimates, thereby enabling Approaching rapidly .
[0068] The observation gain coefficient is precisely tuned using the bandwidth parameterization method, and the typical pole placement relationship is as follows:
[0069]
[0070] In the formula: The observation bandwidth is initially set to [value to be inserted here]. To match the wave disturbance characteristics of marine applications, the observation bandwidth is initially set to [value to be inserted here]. To address the low-frequency large-amplitude disturbance characteristics of marine gimbals, simulation debugging and iterative optimization were conducted to balance the disturbance estimation speed and the measurement noise suppression effect to select the optimal value, ensuring that the observer can quickly and accurately estimate the total system disturbance and meet the accuracy control requirements.
[0071] For shipborne anti-drone gimbals, considering that the dominant wave frequency in sea state 4 is 0.1-0.3Hz (approximately 0.63-1.88 rad / s), in order to enable the observer to quickly track disturbances in this frequency band while effectively suppressing high-frequency measurement noise, this embodiment selects the observer bandwidth through simulation debugging. At this point, the observer's response time is approximately 0.2 seconds, enabling it to accurately estimate low-frequency large disturbances.
[0072] Step S3: Define the sliding mode surface function, design the control law based on sliding mode control theory, introduce a smooth saturation function to replace the sign function in traditional sliding mode control, suppress high-frequency chattering during the sliding mode approach process; introduce the total disturbance estimated by the extended state observer into the sliding mode control law, and offset the disturbance influence through feedforward compensation to reduce the gain requirement of the sliding mode robust term and further improve the control smoothness.
[0073] The sliding surface function is defined as:
[0074]
[0075] in, The Herwitz stability condition must be satisfied, such as taking a value of 15.
[0076] The output displacement error and its derivative of the stabilized gimbal system are defined as follows:
[0077]
[0078] In the formula: From the perspective of the target, This is the actual output angle of the system.
[0079] The saturation function used to suppress high-frequency chattering during sliding mode approach is defined as:
[0080]
[0081] In the formula: It is a constant greater than 0; in this example, it is taken as 0.05.
[0082] The designed synovial control law is as follows:
[0083]
[0084] In the formula: , , which are the sliding mode control parameters.
[0085] Introducing the total disturbance estimated by the extended state observer into the sliding mode control law, the improved sliding mode control law is:
[0086]
[0087] In the formula: This is an estimate of the total disturbance, used for feedforward compensation. It directly cancels out the disturbance's effects, thus increasing the switching gain of the sliding mode controller. A smaller value can be selected (10 in this embodiment, while traditional sliding mode typically requires 50 or more), thereby further reducing residual chattering. Control value The unit is volt (Volt). ).
[0088] Step S4: Based on Lyapunov theory, prove the global asymptotic stability of the closed-loop system to ensure that the system state and observation error can converge to zero. Combined with the dynamic characteristics of the gimbal system, adjust the numerical parameters through simulation to achieve the optimal balance between disturbance estimation accuracy, response speed and chatter suppression effect.
[0089] Define the total Lyapunov function of the closed-loop system as:
[0090]
[0091] in, Let Lyapunov function be the synovial term. Let Lyapunov function be the observation error term. For the observation error vector ( To estimate the state vector, (the actual state vector). It is a symmetric positive definite matrix.
[0092] By analyzing the time reciprocal of the Lyapunov function ,prove By combining the principle of Lassalle invariant sets, it is found that the closed-loop system is globally asymptotically stable, and both the sliding membrane variable and the observation error can asymptotically converge to zero.
[0093] Combined with appendix Figure 3 This invention utilizes a composite control structure based on a linear ESO and an improved sliding mode controller to achieve high-precision trajectory tracking and disturbance suppression of the controlled object. An external reference signal module inputs the desired trajectory xd and its derivative dxd to the sliding mode controller (SMC). The actual output signal y of the stabilized gimbal is input to the linear extended state observer (LESO). The LESO estimates the system states z1, z2, and the total disturbance z3 in real time and feeds the state estimates back to the SMC for calculation. Simultaneously, the disturbance estimate output by the LESO is converted by a gain of 1 / b and then calculated with the control quantity us output by the SMC to achieve feedforward disturbance compensation. The external unknown disturbance d is converted by a gain of b and then superimposed onto the control loop. The compensated control quantity uc is input to the controlled object, i.e., the stabilized gimbal, driving the system output y to track the desired signal, forming a closed-loop control. This effectively reduces chattering in sliding mode control and improves the system's steady-state accuracy and anti-interference capability. (See attached diagram.) Figure 4 The ESO-SMC composite control method of this invention, compared with traditional PID and ordinary SMC control under the same disturbance conditions, shows the angle step response curves. Traditional PID control has a slow response speed, large overshoot, and significant steady-state fluctuations; ordinary SMC has a slightly improved response speed, but still exhibits small overshoot and steady-state oscillations. The method of this invention has a fast response speed, improving upon other methods by 33.33% and 16.13% respectively; the overshoot is significantly smaller, there is no obvious chattering, and it can quickly converge to the steady-state error, reducing the mean error by 36.67% and 9.52% respectively compared to other methods. (See attached diagram.) Figure 5 Compared with traditional PID and ordinary SMC control input curves, the method of this invention has a smooth control input throughout the entire process, with no obvious high-frequency jitter and almost no obvious fluctuations in the steady state stage. This effectively avoids mechanical shock and improves the stability of system operation.
[0094] Based on the same inventive concept, embodiments of the present invention also provide a marine anti-drone stabilized gimbal anti-interference control system, the system being used to execute the aforementioned method, such as... Figure 2 As shown, the system includes:
[0095] An attitude sensor is used to collect the angular position and angular velocity information of the stabilized gimbal in real time.
[0096] The controller integrates a third-order linear extended state observer module and an improved sliding mode controller module; the third-order linear extended state observer module is used to estimate the total system disturbance; the improved sliding mode controller module is used to calculate a smooth disturbance rejection control quantity based on the tracking error and the estimated total disturbance.
[0097] A driver is used to receive control signals output by the controller and generate drive signals.
[0098] The actuator is a permanent magnet synchronous motor that drives the stable gimbal to rotate according to the drive signal.
[0099] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.
Claims
1. A method for anti-interference control of a shipborne anti-UAV stabilized gimbal, characterized in that, include: Step S1: Establish a dynamic model of the shipborne anti-drone stabilized gimbal, and unmodeled dynamics in the gimbal and external sea waves and wind disturbances are unified into a total disturbance. Step S2: Design a third-order linear extended state observer to estimate the angular position, angular velocity and total disturbance of the gimbal in real time, and use the bandwidth parameterization method to tune the observer gain. Step S3: Design an improved sliding mode controller, introduce a smoothing saturation function into the sliding mode reaching law to suppress control chattering, and introduce the total disturbance estimated in step S2 as a feedforward compensation amount into the sliding mode controller to generate disturbance rejection control quantity; Step S4: Based on the Lyapunov direct method, prove the global asymptotic stability of the closed-loop system containing the third-order linear extended state observer and the improved sliding mode controller.
2. The method according to claim 1, characterized in that, The dynamic model established in S1 is specifically as follows: ； in, The angular velocity of the gimbal; This refers to the angular acceleration of the gimbal. For system control input; These are known constant coefficients related to the electromagnetic parameters of the motor; These are known constant coefficients related to the control input gain; This represents the total disturbance.
3. The method according to claim 2, characterized in that, The third-order linearly extended state observer designed in step S2 is: ； in, This refers to the actual angle position of the gimbal; , , These are the observed values for the gimbal's angular position, angular velocity, and the total disturbance, respectively. and Same dimensions With the same dimensions as angular velocity, Same dimensions as total disturbance; , , This is the observer gain.
4. The method according to claim 3, characterized in that, The method for tuning the observer gain using the bandwidth parameterization method in step S2 is as follows: ； in, The bandwidth of the observer is selected through simulation and optimization based on the main frequency characteristics of the marine wave disturbance.
5. The method according to claim 1, characterized in that, The sliding surface function of the improved sliding mode controller in step S3 Defined as: ； ； ； in, For tracking error; The derivative of the tracking error; From the perspective of the target; These are the parameters of the sliding surface.
6. The method according to claim 1, characterized in that, The smoothing saturation function used to suppress chattering in step S3 Defined as: ； in, is the boundary layer thickness constant, which is dimensionless.
7. The method according to claim 6, characterized in that, The disturbance rejection control quantity generated in step S3 for: ； in, Target angular acceleration; and These are the sliding mode control parameters; This is an estimate of the total disturbance, and .
8. The method according to claim 1, characterized in that, The Lyapunov function used in step S4 to prove the global asymptotic stability of the closed-loop system The construction is as follows: ； in, Let Lyapunov function be the sliding mode term. Let Lyapunov function be the observation error term. For the observation error vector, To estimate the state vector, The actual state vector, , , It is a symmetric positive definite matrix; by proof... By combining the Lassalle invariant set principle, the sliding mode variable is ensured. With observation error All converge asymptotically to zero.
9. A marine anti-drone stabilized gimbal anti-interference control system, characterized in that, The system is used to perform the method according to any one of claims 1-8, the system comprising: An attitude sensor is used to collect the angular position and angular velocity information of the stabilized gimbal in real time. The controller integrates a third-order linear extended state observer module and an improved sliding mode controller module; the third-order linear extended state observer module is used to estimate the total system disturbance; the improved sliding mode controller module is used to calculate a smooth disturbance rejection control quantity based on the tracking error and the estimated total disturbance. A driver is used to receive control signals output by the controller and generate drive signals. The actuator is a permanent magnet synchronous motor that drives the stable gimbal to rotate according to the drive signal.
10. The system according to claim 9, characterized in that, The controller also includes a limiting unit, which limits the amplitude of the calculated disturbance rejection control quantity and outputs it to the driver to meet the physical constraints of the actuator.