论文部分内容阅读
针对单通道三轴惯性平台控制器鲁棒性较差,控制效果容易受到平台轴间耦合因素影响的问题,利用滑模变结构控制方法解决带有动力调谐陀螺敏感器的三轴惯性平台系统的控制精度,改善系统动态性能。通过基坐标变换将子系统转换为易于滑模控制器设计的形式,利用非线性方程和非线性动力学算子设计全局滑模面,可有效提高系统鲁棒性,明显降低轴间耦合因素对控制输出量的影响。仿真结果表明,基于三轴平台设计的全局滑模控制器可有效解决基于单通道设计的滑模控制器带来的系统耦合问题。
To solve the problem that the single-channel three-axis inertial platform controller is poor in robustness and the control effect is easily affected by the coupling between the platform axis, the sliding mode variable structure control method is used to solve the three-axis inertial platform system with the power- Control accuracy, improve system dynamic performance. Transforming the subsystem into a form easy to design with sliding mode controller through the base coordinate transformation, designing the global sliding mode by nonlinear equation and nonlinear dynamics operator can effectively improve the system robustness and obviously reduce the influence of coupling factors between axes Control the effect of output. The simulation results show that the global sliding mode controller based on the three-axis platform can effectively solve the system coupling problem caused by the single-channel-based sliding mode controller.