基于滑模变结构控制的光电稳定平台控制策略研究

光电跟踪系统在载体运动的过程中会受到各种扰动，对系统的跟踪性能产生不利影响。滑模控制拥有较好的鲁棒性，在工程上容易实现，可考虑运用在这类系统中。使用摩擦反馈并将速度环滑模控制与跟踪环PID控制相结合，可得到一种应用于光电跟踪系统的滑模变结构控制策略，它提升了光电稳定平台的稳定精度，同时具有一定的鲁棒性，能使运行中的系统在外界环境变化时对变化的扰动有一定的适应能力。以二维伺服转台为被控对象设计了滑模控制器，进行仿真实验并与现有基于PID方法的控制方案对比。对比结果表明：在给定扰动下，基于滑模变结构控制策略的光电稳定平台将速度环稳定误差从72″/s降低到了12″/s，均方根从37.0″/s降低到了1.46″/s，提出的滑模变结构控制器对提升光电稳定平台的稳定精度有一定作用。

Control Strategy for Photoelectric Stabilized Platform Based on Sliding Mode Variable Structure Control

The photoelectric tracking system is subject to disturbances in the moving process of carrier, which has a negative impact on the tracking performance of the system. Sliding mode control has good robustness and can beeasily implemented, so it can be considered in such systems. Using friction feedback and combining sliding mode control for velocity loop with PID control for tracking loop, a sliding mode variable structure control strategy applicable to photoelectric tracking system is proposed. It improves the stability and accuracy of the photoelectric stabilization platform, and at the same time, it has certain robustness, which enables the running system to have certain adaptability to the changing disturbances when the external environment changes. The sliding mode controller is designed for the two-dimensional servo turntable, and then simulated and compared with the available PID-based control scheme.The comparative test results show that under given disturbances, the stability error of velocity loop of the photoelectric stabilization platform based on the sliding mode control strategy is reduced from 72″/s (arc-seconds per second) to 12″/s, and the root mean square is reduced from 37.0″/s to 1.46″/s. The effect of the proposed sliding mode controller on improving the stability and accuracy of the photoelectric stabilization platform has been verified.