Sliding mode control of inertially stabilized platform based on fuzzy switching gain adjustment

被引：0
|
作者：
Zhou X. [1 ,2 ]
Shu T. [1 ]
Lyu Z. [1 ]
Sun B. [1 ]
机构：
[1] School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing
[2] Research Institute of Frontier Science, Beihang University, Beijing
来源：
Yi Qi Yi Biao Xue Bao/Chinese Journal of Scientific Instrument | 2021年 / 42卷 / 12期
关键词：
Chattering reduction; Fuzzy sliding mode control; Inertially stabilized platform; Multi-source disturbance;
D O I：
10.19650/j.cnki.cjsi.J2108370
中图分类号：
学科分类号：
摘要：
To realize the high-precision control of the inertially stabilized platform (ISP) in the complex multi-source disturbance environment, a high-precision control method of the ISP based on the fuzzy sliding mode is proposed. By suppressing the total disturbance, the influence of the multi-source disturbance is reduced, which improves the control accuracy of the ISP. Firstly, all disturbances suffered by the ISP are regarded as an entirety. Based on the sliding mode equivalent control, a global fast terminal sliding mode controller is designed to realize the system state quickly and accurately to the equilibrium state without leaving the sliding mode surface. Secondly, to enhance the robustness and chattering of the control system at the same time, this article fuses fuzzy switching gain regulation on the basis of the sliding mode control platform. By designing the fuzzy rules, the switching gain in sliding mode control of the inertial stabilization platform is adjusted in real time to eliminate the influence of interference by using the switching gain. Finally, simulations and experiments are carried out. Results show that the sliding mode control method based on the fuzzy switching gain adjustment method can improve stability accuracy and disturbance rejection ability. Compared with PID control and global fast terminal sliding mode controller, the stability accuracy values are improved by 32.7% and 15.3%, respectively. © 2021, Science Press. All right reserved.
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页码：263 / 271
页数：8
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