全景式航空相机的离散滑模控制  

Discrete-time sliding-mode control in panoramic aerial camera

作　　者：张雪菲[1,2,3] 丁亚林[1,2] 李昕阳[1,2,3] 陈志超[1,2,3] 

机构地区：[1]中国科学院航空光学成像与测量重点实验室 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [3]中国科学院研究生院,北京100039

出　　处：《控制理论与应用》2012年第9期1163-1168,共6页Control Theory & Applications

基　　金：国家“863”高技术研究发展计划资助项目(2009AA7010102)

摘　　要：为了提高全景式航空相机镜筒速度控制系统的动态特性,使其具有响应速度快且超调小的特点,本文提出一种基于降维状态观测器的离散滑模控制方法,对镜筒角速度、角加速度进行观测,并对其速度系统进行控制.针对高氏趋近律带来的控制抖振和稳态抖振问题,本文采用幂次函数趋近律的方法,并对这种方法进行了无抖振理论分析以及稳定性证明.最后以某全景式航空相机作为实验平台,将基于幂次函数趋近律的离散滑模控制应用到镜筒速度控制系统中.实验结果表明,本文提出的控制方法能够有效地减小系统的抖振,使镜筒速度控制系统表现出良好的动态品质.A discrete-time sliding-mode control method based on reduced-order state observer is proposed to provide fast response and small overshoot for the drawtube control system of a panoramic aerial camera. In this method, the angular velocity and acceleration of the camera are measured for controlling the velocity system, and a power-function reaching law is proposed to substitute the conventional reaching law for suppressing the control chattering and the steady- state chattering caused by the conventional reaching law. The non-chattering characteristics and the system stability are analyzed theoretically. This controller has been applied to control the drawtube system of a panoramic aerial camera on an experimental platform; the experiment results show that this control scheme can effectively eliminate the chattering and make the drawtube system achieve desired dynamical performances.

关 键 词：全景式航空相机 降维状态观测器 角速度 角加速度 趋近律 离散滑模控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]