基于离散滑模变结构的惯稳回路控制研究  

Sliding Mode Control of Inertial Platform Stabilization Loop

作　　者：刘义[1] 郭建都[1] 梅林[1] 

机构地区：[1]中国北方车辆研究所,北京100072

出　　处：《指挥控制与仿真》2010年第6期113-115,共3页Command Control & Simulation

摘　　要：为进一步提高惯稳系统的稳定精度,设计了滑模变结构控制器(SMC)。采用指数趋近率设计时,通过调整等速趋近参数ε和指数趋近参数q,来减小抖振并提高趋近速度。以某实际惯稳平台数学模型为控制对象进行仿真时,由于系统限制,提出以陀螺输出信号近似代替SMC的理论输入值。仿真结果表明,采用SMC算法的系统在跟踪精度和抗干扰能力上明显优于传统PID,系统抖振非常微弱,可以忽略不计。To make a further improvement in stabilizing accuracy of inertial system,a sliding mode controller is designed.When index asymptotic law is used to design the system,the chattering can be restrained and asymptotic speed can be accelerate by adjusting the fixed speed asymptotic parameterand index asymptotic parameter.Author use one real inertial platform to simulate,and adopt gyro output signal to instead academic input value of SMC approximately.The simulation shows that,trackbility and disturbance rejection ability of the SMC system is better than custom PID obviously,and the chattering is too tiny to be neglected.

关 键 词：惯稳回路 滑模变结构 PID 指数趋近率 

分 类 号：U666.1[交通运输工程—船舶及航道工程]