陀螺稳定平台的滑膜变结构控制实验研究

兵工学报 ›› 2011, Vol. 32 ›› Issue (8): 1019-1024.

陀螺稳定平台的滑膜变结构控制实验研究

姚兆^1,2，刘杰¹，李允公¹，衣英刚²，高飞²

(1．东北大学机械工程与自动化学院，辽宁沈阳 110004；2．装甲兵技术学院，吉林长春 130117)

收稿日期:2011-03-04 修回日期:2011-03-04 上线日期:2019-04-12
通讯作者: 姚兆 E-mail:yaozhao_1979@126.com
作者简介:姚兆(1979—)，男，讲师，博士研究生

Experiment Research of Sliding Mode Variable Structure Control for GYRO Stabilized Platform

YAO Zhao^1,2 , LIU Jie¹ , LI Yun-gong¹， YI Ying-gang²， GAO Fei²

(1.School of Mechanical Engineering & Automation, Northeastern University, Shenyang 110004, Liaoning, China;2.Armor Technique Institute of PLA, Changchun 130117, Jilin, China)

Received:2011-03-04 Revised:2011-03-04 Online:2019-04-12
Contact: YAO Zhao E-mail:yaozhao_1979@126.com

摘要/Abstract

摘要： 针对高精度陀螺稳定平台快速隔离扰动、稳定视轴的要求，设计了以挠性陀螺为惯性传感器的双轴陀螺稳定平台。介绍了该平台的结构，分析了影响平台稳定精度的因素，并针对速率陀螺反馈加传统PID控制不能实现稳定角度无静差的问题，尝试了一种滑膜变结构控制策略。试验结果表明，采用滑膜变结构控制方法后，陀螺稳定平台精度可提高50%以上。针对高精度陀螺稳定平台快速隔离扰动、稳定视轴的要求，设计了以挠性陀螺为惯性传感器的双轴陀螺稳定平台。介绍了该平台的结构，分析了影响平台稳定精度的因素，并针对速率陀螺反馈加传统PID控制不能实现稳定角度无静差的问题，尝试了一种滑膜变结构控制策略。试验结果表明，采用滑膜变结构控制方法后，陀螺稳定平台精度可提高50%以上。

关键词: 工程控制论, 陀螺稳定平台, 瞄准线稳定, 滑膜变结构控制, 挠性陀螺

Abstract: In view of the requirements of isolating disturbances and stabilizing optical axis of high-precision gyro stabilized platform, a double-axis stabilized platform system centering on the flexible gyro was designed. The gyro stabilized platform’s structure were introduced and it’s error sources was analyzed. In order to eliminate the steady-state angle error which occurs in rate gyro feedback and traditional PID control scheme, a sliding mode variable structure control scheme is presented. The results show that the gyro stabilized platform accuracy can improve 50% above after using sliding mode variable structure control. 〓〓〓

Key words: engineering cybernetics, gyro stabilized platform, line of sight stabilization, sliding mode variable structure control, flexible gyro

中图分类号:

TP273₊.2

姚兆，刘杰，李允公，衣英刚，高飞. 陀螺稳定平台的滑膜变结构控制实验研究[J]. 兵工学报, 2011, 32(8): 1019-1024.

YAO Zhao , LIU Jie , LI Yun-gong， YI Ying-gang， GAO Fei. Experiment Research of Sliding Mode Variable Structure Control for GYRO Stabilized Platform[J]. Acta Armamentarii, 2011, 32(8): 1019-1024.

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