海上小型漂浮式卫星天线非光滑PID控制研究

以有界扰动标准二阶积分系统为对象，研究了一种快速高稳、扰动抑制能力强的非光滑控制器，证明了这种非光滑控制器的稳定性，验证了它的强扰动抑制能力；研究了海洋环境扰动的特性，构建了不同扰动的物理模型，分析了非光滑控制器对不同扰动的抑制能力；基于新的非光滑控制器设计了小型漂浮式卫星天线方位非光滑PID控制器，应用于海上军侦察卫星天线的方位控制.通过仿真实验和半实物实验验证了天线方位非光滑PID控制器可以实现天线姿态的快速稳定控制，可以很好地抑制海洋环境中的扰动，保证天线与目标卫星间的高质量通信. 

Non-Smooth PID Controller of a Small Floating Satellite Antenna in Sea

A novel non-smooth controller of the second order control system with a disturbance was proposed to control the attitude of a small floating satellite antenna in sea.Aiming at the standard second order integral system with a bounded disturbance,a novel non-smooth controller with a better rapidity,stability and strong disturbance rejection was studied.Several works were carried out including the stability proving,the strong disturbance rejection validating,sea disturbance properties analyzing,the models developing,and the disturbance rejection ability analyzing with different disturbances.Finally,a non-smooth PID azimuth controller of a small floating antenna was constructed based on the novel non-smooth controller to control the antenna's azimuth.Simulation and part experiment results validate that,the non-smooth PID controller of the small floating satellite antenna can quickly and steadily control the antenna's azimuth,and well reject the disturbances in sea to ensure a communication quality between the antenna and the target satellite.