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针对高精度光电伺服稳定平台系统中摩擦和非线性干扰对跟踪精度的影响问题,采用加性分解原理将稳定平台系统分解为主系统和辅系统.主系统负责视轴的跟踪,对名义模型设计基于加速度控制的比例—微分(PD)控制器.辅系统负责视轴的稳定,并设计了非线性扩张状态观测器(nonlinear extended state observer,NESO),对等效干扰进行有效的估计和补偿;结合有限时间收敛理论和滑模控制理论设计滑模补偿器,进一步补偿未知干扰.利用李亚普诺夫理论证明系统的稳定性.Matlab仿真结果验证了本方法的有效性.
Aiming at the influence of friction and non-linear interference on tracking accuracy in high-precision electro-optical servo-stabilized platform system, the steady-state platform system is decomposed into main system and auxiliary system by means of additive decomposition principle.The main system is responsible for the tracking of the visual axis, Proportional-differential (PD) controller based on acceleration control, the auxiliary system is responsible for the stability of the boresight and designs a nonlinear extended state observer (NESO) to effectively estimate and compensate the equivalent interference. The finite-time convergence theory and sliding mode control theory are used to design the sliding mode compensator to further compensate the unknown interference. The system stability is proved by Lyapunov theory. The Matlab simulation results verify the effectiveness of the proposed method.