浮球式惯导平台的自适应模糊滑模稳定控制  

Adaptive fuzzy sliding mode stabilization control for floated inertial platform

作　　者：李安梁[1] 蔡洪[1] 白锡斌[1] 

机构地区：[1]国防科技大学航天科学与工程学院,湖南长沙410073

出　　处：《国防科技大学学报》2013年第6期41-45,共5页Journal of National University of Defense Technology

基　　金：航天科技创新基金资助项目(201105)

摘　　要：针对浮球式惯导平台的惯性空间稳定问题,提出了一种基于模糊逻辑的自适应滑模控制方案。该方法利用滑模控制器保证了系统的稳定性和快速性,解决了浮球式惯导平台参数不确定、未建模动态等未知干扰问题;基于滑模控制器的设计问题,利用模糊逻辑和自适应控制律,调节滑模控制器的参数,估计并补偿系统的外界干扰及不确定性等干扰,增强系统对随机不确定性的适应能力,提高控制系统的鲁棒性和控制精度;利用Laypunov方法证明了控制系统的稳定性与收敛性。仿真结果表明,该方法可以有效减低滑模控制控制输入抖振问题,实现浮球式惯导平台的高精度惯性空间稳定,且稳定精度高于0.1″。A control algorithm of adaptive sliding mode control based on fuzzy logic is proposed for the inertial stabilization problem of the floated inertial platform （FLIP）. The sliding mode control was used to solve the parameters uncertainness and unmodeled dynamics of the FLIP, which guarantees the stability and rapidity of the system. Then, by focusing on the design problem of the sliding mode control, the gain of a sliding mode control was adjusted by using the fuzzy logic with an adaptive tuning algorithm, which enhanced the adaptability for random uncertainty and improved the robust performance and the stabilization accuracy of the controller. Finally, the stability and convergence of the control system were proven by using the Lyapunov method. The simulation results demonstrate that the proposed method can eliminate the input chattering of the sliding mode control efficiently, and the inertial stabilization of the FLIP is realized with the accuracy higher than0. 1 ＂

关 键 词：浮球式惯导平台 稳定控制 自适应模糊滑模控制 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]