基于改进NDO复合控制在像旋补偿机构的应用  

Application of Improved NDO Composite Control in Image Rotation Compensation Mechanism

作　　者：王嘉辰 任彦[1] 刘宁 WANG Jiachen;REN Yan;LIU Ning(Inner Mongolia University of Science&Technology,Baotou 014000,China)

机构地区：[1]内蒙古科技大学,内蒙古包头014000

出　　处：《电光与控制》2023年第11期120-126,共7页Electronics Optics & Control

基　　金：国家自然科学基金(620630271);内蒙古科技计划项目(2020GG0048);内蒙古自治区高等学校青年科技英才支持计划资助项目(NJYT22057);内蒙古自然科学基金(2023MS06001);自治区直属高校基本科研业务费项目(2023RCTD028)。

摘　　要：针对扰动会对航空成像系统像旋补偿伺服机构跟踪精度产生影响的问题,提出一种改进型复合控制算法。首先,针对等效扰动,提出一种基于有限时间双曲正弦跟踪微分器(FSTD),用来构造改进非线性干扰观测器(NDO),使系统对参数摄动不敏感且对扰动估计更加精确;其次,为了提升系统的跟踪精度,结合变速趋近律的思想设计新型高阶滑模控制器(N-HSMC),保证系统快速性的同时还能有效削弱抖振;最后,通过仿真对比验证了所提算法的有效性。As for the image rotation compensation servo mechanism in the aerial imaging system,the disturbances will influence its tracking accuracy.To solve the problem,an improved composite control algorithm is proposed.Firstly,as for the equivalent disturbance,a finite-time hyperbolic sinusoidal tracking differentiator(FSTD)is proposed to construct an improved Nonlinear Disturbance Observer(NDO),which makes the system insensitive to parameter perturbation and more accurate in disturbance estimation.Secondly,in order to improve the tracking accuracy of the system,a New High-order Sliding Mode Controller(N-HSMC)is designed by using the idea of the variable-speed reaching law,which ensures the rapidity of the system and also effectively reduces chattering.Finally,through a comparative simulation,the effectiveness of the proposed method is verified.

关 键 词：伺服系统 跟踪微分器 非线性干扰观测器 变速趋近律 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]