Disturbance compensation and improved sliding-mode control of stabilized platform for seekers

被引：0
|
作者：
Zhang M.-Y. [1 ]
Liu H. [1 ]
Zhao W.-W. [1 ,2 ]
Chu H.-R. [1 ]
Zhou M. [1 ,2 ]
Miao X.-K. [3 ]
Zhang F. [1 ]
机构：
[1] Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, Changchun
[2] University of Chinese Academy of Sciences, Beijing
[3] Luoyang Electronic Equipment Test Center of China, Key Laboratory of Electro-Optical Countermeasures Test & Evaluation Technology, Luoyang
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2018年 / 26卷 / 08期
关键词：
Disturbance rejection rate; Extended high-gain observer; Friction compensation; Improved sliding mode controller;
D O I：
10.3788/OPE.20182608.2057
中图分类号：
学科分类号：
摘要：
A control scheme consisting of a disturbance compensation method and an improved sliding mode controller was proposed to improve the disturbance rejection rate of the stabilized platform used in a seeker. Firstly, the disturbances were divided into friction torque and rest disturbances. The friction parameters based on the Stribeck friction model were identified. An extended high-gain observer was designed to estimate the rest disturbances in the system dynamics, and the convergence condition of the estimation error was set. Meanwhile, the peaking phenomenon of the observer was reduced by saturating the estimates. Then, an improved sliding mode controller was chosen to control the servo system, and a Lyapunov-based analytical method was employed to ensure the convergence of the tracking error. Lastly, experiments on the stabilized platform and the seeker were carried out to validate the control scheme. By using the proposed control scheme, the dead zone at low angular velocity caused by friction was eliminated, and the steady precision was increased by 0.032 8 (°)/s, when tracking a trapezoidal wave of 1 (°)/s. In addition, the disturbance rejection rate was increased by a minimum of 0.57%, when the three-axis turntable was disturbed by typical disturbance conditions. It can be concluded that the control scheme can improve disturbance rejection. © 2018, Science Press. All right reserved.
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页码：2057 / 2066
页数：9
相关论文
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