陀螺稳定平台的滑膜变结构控制实验研究  

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

作　　者：姚兆[1,2] 刘杰[1] 李允公[1] 衣英刚[2] 高飞[2] 

机构地区：[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

出　　处：《兵工学报》2011年第8期1019-1024,共6页Acta Armamentarii

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。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.

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 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]