Disturbance compensation and improved sliding-mode control of stabilized platform for seekers

doi:10.3788/OPE.20182608.2057

CIOMP OpenIR

	Disturbance compensation and improved sliding-mode control of stabilized platform for seekers
	Zhang, Ming-Yue; Liu, Hui; Zhao, Wei-Wei; Chu, Hai-Rong; Zhou, Man; Miao, Xi-Kui; Zhang, Fan
	2018
发表期刊	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
ISSN	1004924X
卷号	26 期号:8 页码:2057-2066
摘要	A control scheme consisting of a disturbance compensation method and an improved sliding mode controller was proposed to improve the disturbance rejection rate of the stabilized platform used in a seeker. Firstly, the disturbances were divided into friction torque and rest disturbances. The friction parameters based on the Stribeck friction model were identified. An extended high-gain observer was designed to estimate the rest disturbances in the system dynamics, and the convergence condition of the estimation error was set. Meanwhile, the peaking phenomenon of the observer was reduced by saturating the estimates. Then, an improved sliding mode controller was chosen to control the servo system, and a Lyapunov-based analytical method was employed to ensure the convergence of the tracking error. Lastly, experiments on the stabilized platform and the seeker were carried out to validate the control scheme. By using the proposed control scheme, the dead zone at low angular velocity caused by friction was eliminated, and the steady precision was increased by 0.032 8 ()/s, when tracking a trapezoidal wave of 1 ()/s. In addition, the disturbance rejection rate was increased by a minimum of 0.57%, when the three-axis turntable was disturbed by typical disturbance conditions. It can be concluded that the control scheme can improve disturbance rejection. 2018, Science Press. All right reserved.
关键词	Sliding mode control Angular velocity Controllers Disturbance rejection Friction
DOI	10.3788/OPE.20182608.2057
收录类别	EI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/60638
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Zhang, Ming-Yue,Liu, Hui,Zhao, Wei-Wei,et al. Disturbance compensation and improved sliding-mode control of stabilized platform for seekers[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2018,26(8):2057-2066.
APA	Zhang, Ming-Yue.,Liu, Hui.,Zhao, Wei-Wei.,Chu, Hai-Rong.,Zhou, Man.,...&Zhang, Fan.(2018).Disturbance compensation and improved sliding-mode control of stabilized platform for seekers.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,26(8),2057-2066.
MLA	Zhang, Ming-Yue,et al."Disturbance compensation and improved sliding-mode control of stabilized platform for seekers".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 26.8(2018):2057-2066.

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