陀螺稳定平台非线性摩擦的灰色滑模控制

为了减小摩擦扰动对陀螺稳定平台伺服跟踪性能的影响,设计了一种灰色滑模控制器。以某型号导引头陀螺稳定平台为实际对象,分析了系统中摩擦的非线性特性,从机械和控制两方面探讨了减小摩擦的措施。基于稳定平台的单轴控制模型,设计了滑模控制律,采用GM(1,1)灰色预测算法估计扰动量,将其作为控制律中的补偿分量,同时应用灰色预测方法对滑模控制策略进行预测输出,有效地减弱了滑模控制的抖动现象。在陀螺稳定平台上实际测试表明,该灰色滑模控制能够在无系统摩擦模型的情况下,有效减小摩擦扰动对系统控制的影响,与PID控制相比,明显提高了控制系统的鲁棒性和稳态精度。

Nonlinear friction grey sliding mode control for gyro stabilized platform

To reduce friction disturbance in the servo control system of gyro stabilized platforms,a grey sliding mode controller is designed.Based on the gyro stabilized platform of a TV seeker,the nonlinear character of friction in the system is analyzed,and some useful proposals for reducing disturbances are propounded from mechanicalness and control both aspects.To the single axis control model of the stabilized platform,the sliding mode rule is founded.The value of extraneous disturbances is estimated by using GM(1,1) grey prediction algorithm,and then it is added to the sliding mode control rule as the compensating part.At the same time,the value of the switching function is predicted by the grey prediction method,by which the control chattering phenomenon is reduced greatly.The real testing shows the grey sliding mode controller can reduce the influence of friction disturbance effectively without knowing the model of system friction.Comparing with the PID method,the proposed controller improve the robustness and stable precision of control systems clearly.