|本期目录/Table of Contents|

[1]杨蒲,李奇.陀螺稳定平台模糊自调整滑模解耦控制[J].电机与控制学报,2008,(05):580-585.
　YANG Pu,LI Qi.Fuzzy self-adjusting sliding mode decoupling control for gyro stabilized platform[J].,2008,(05):580-585.
点击复制

陀螺稳定平台模糊自调整滑模解耦控制(PDF)
分享到：

《电机与控制学报》[ISSN:1007-449X/CN:23-1 408/TM]

卷:
期数:
2008年05
页码:
580-585
栏目:
出版日期:
2008-09-15

文章信息/Info

Title:
Fuzzy self-adjusting sliding mode decoupling control for gyro stabilized platform
作者:
杨蒲1; 李奇2
1.南京航空航天大学自动化学院; 2.东南大学自动化学院
Author(s):
YANG Pu1; LI Qi2
1.School of Automation; Nanjing University of Aeronautics and Astronautics; Nanjing; 2.School of Automation; Southeast University
关键词:
滑模解耦控制;  模糊控制;  边界层;  稳定平台
Keywords:
sliding mode decoupling control;  fuzzy control;  boundary layer;  stabilized platform
分类号:
TP273
DOI:
-
文献标志码:
A
摘要:
针对陀螺稳定平台系统中轴系间耦合因素对控制性能的影响,设计了一种模糊自调整滑模解耦控制算法。根据非线性微分几何理论,建立了稳定平台输入输出解耦控制,在此基础之上加入了模型参考滑模控制。所设计的滑模控制律采用了分层结构,在边界层内引入了非线性项,同时边界层厚度由一种模糊自调整方法实时改变,从而有效降低了滑模控制在实际应用中的抖振现象,提高了系统的解耦精确度。通过在某型号电视导引头陀螺稳定平台系统中测试,表明了该解耦控制方法的有效性和可行性;同PID等常用方法相比较,该方法的控制效果明显优于其他控制方法,有效提高了稳定平台系统的鲁棒性和跟踪精确度。
Abstract:
To reduce the coupling influence among axes on the control performance of gyro stabilized platform,a fuzzy self-adjusting sliding mode control algorithm was designed.Based on the differential geometry theory,the input-output decoupling control of the stabilized platform was founded.Then,a mode-following sliding mode control was added to it.The sliding mode control adopted the boundary layer structure,and a nonlinear item was used inside the boundary layer.At the same time,the width of the boundary layer was changed by a fuzzy self-adjusting method, which reduced the sliding mode control chattering and increased the decoupling precision effectively. Experiments on the gyro stabilized turntable of a TV guidance head show the effectiveness and feasibility of the decoupling control method. Compared with usual methods, such as PID control, this method has better control performance and improves robustness and tracking precision of the system effectively.

参考文献/References:

［1］姬伟, 李奇. 陀螺稳定平台伺服系统非线性特性补偿控制［J］. 电气传动, 2005, 35(7):31-34.

JI W, LI Q. Nonlinear characteristic compensation control for gyro stabilized platform servo system［Ｊ］. Electric Drive,2005,35(7):31-34.

［2］XU J X, LEE T H, PAN Y J. On the sliding mode control for DC servo mechanisms in the presence of unmodeled dynamics［J］. Mechatronics, 2003, 13(1):755-770.

［3］HU T L, ZHU J H, SUN Z Q. Robust adaptive neural control of a class of MIMO nonlinear systems ［J］. Tsinghua Science and Technology, 2007, 12(1): 14-21.

［4］CHEN C C, LIN Y F. Application of feedback linearization to the tracking and almost disturbance decoupling control of multiinput multioutput nonlinear system ［J］. IEEE Processing of Control Theory and Applications, 2006, 153(3):331-341.

［5］刘金琨. 滑模变结构控制MATLAB仿真［M］. 北京: 清华大学出版社, 2005.

［6］CHOU W D, LIN F J, HUANG P K. Fuzzy slidingmode controlled induction motor servo drive based on realtime genetic algorithm ［J］. Journal of the Chinese Institute of Engineers, 2004, 27(1):35-47.

［7］HUNG L C, CHUNG H Y. Fuzzy slidingmode control with rule adaptation for nonlinear systems［J］. Expert Systems, 2006, 23(4): 226-240.

［8］WO Z W, CHUNG H Y, LIN J J, A PID type fuzzy controller with selftuning scaling factors［J］. Fuzzy Sets and Systems, 2000, 115(3): 321-326.

［9］李军伟,赵克定,吴盛林.一种基于模糊补偿的自适应控制在液压转台中的应用［J］.航空学报, 2003, 24(1): 72-74.

LI J W, ZHAO K D, WU S L. Application of adaptive control in hydraulic simulator based on fuzzy compensator［J］. Acta Aeronautica et Astronautica Sinica, 2003, 24(1): 72-74.

［10］杨蒲,李奇.三轴陀螺稳定平台控制系统设计与实现［J］. 中国惯性技术学报, 2007, 15(2):171-176.

YANG P, LI Q. Design and realization of control system for threeaxis gyro stabilized platform［J］. Journal of Chinese Inertial Technology, 2007, 15(2):171-176.

相似文献/References:

[1]程明,束亚刚,孔祥新.定子双馈电双凸极电机的模糊自适应PI控制[J].电机与控制学报,2008,(06):691.
　CHENG Ming,SHU Ya-gang,KONG Xiang-xin.Fuzzy adaptive PI control of stator-doubly-fed doubly salient motor[J].,2008,(05):691.
[2]彭书华,李华德,苏中,等.不确定参数电动舵机滑模变结构控制[J].电机与控制学报,2009,(01):128.
　PENG Shu-hua,LI Hua-de,SU Zhong,et al.Sliding mode variable structure control of electric steering engine with uncertain parameters[J].,2009,(05):128.
[3]朱磊,付永领,赵竞全,等.数字式座舱压力调节系统模糊增益调度控制[J].电机与控制学报,2009,(04):571.
　ZHU Lei,FU Yong-ling,ZHAO Jing-quan.Fuzzy gain scheduling control to digital cabin pressure regulating system[J].,2009,(05):571.
[4]王丽梅,武志涛,左涛,等.永磁直线电机自构式模糊神经网络控制器设计[J].电机与控制学报,2009,(05):643.
　WANG Li-mei,WU Zhi-tao,ZUO Tao.PMLSM self-constructing fuzzy neural network controller design[J].,2009,(05):643.
[5]王占友,谢顺依.改进BLDC转矩性能的模糊控制器的设计[J].电机与控制学报,2009,(06):913.
　WANG Zhan-you,XIE Shun-yi.Design of fuzzy controller for improving torque performance of brushless DC motor[J].,2009,(05):913.
[6]刘华山,朱世强,王宣银.扭矩输入有界的机器人模糊PD轨迹跟踪[J].电机与控制学报,2010,(01):78.
　LIU Hua-shan,ZHU Shi-qiang,WANG Xuan-yin.Trajectory tracking control for robot manipulators with bnounded torque inputs via fuzzy PD[J].,2010,(05):78.
[7]刘延斌,张宏敏,赵新华.3-RRRT并联机器人鲁棒自适应模糊滑模控制[J].电机与控制学报,2009,(增刊1):87.
　LIU Yan-bin,ZHANG Hong-min,ZHAO Xin-hua.Robust adaptive fuzzy sliding-mode control method of 3-RRRT parallel robot[J].,2009,(05):87.
[8]武俊峰,王世明.一种基于模糊控制的两步法预测控制方法[J].电机与控制学报,2010,(07):75.
　WU Jun-feng,WANG Shi-ming.Research method on a two-step general predictive control based on fuzzy control[J].,2010,(05):75.
[9]卢达,赵光宙,李楠,等.包含零矢量的永磁同步电机直接转矩控制[J].电机与控制学报,2010,(09):1.
　LU Da,ZHAO Guang-zhou,LI Nan.Direct torque control with zero-voltage vector for a permanent magnet synchronous motor[J].,2010,(05):1.
[10]张艳杰,徐丙垠,熊立新,等.一种基于SRD模糊控制的风力机模拟器[J].电机与控制学报,2011,(01):38.
　ZHANG Yan-jie,XU Bing-yin,XIONG Li-xin,et al. Wind turbine simulator based on fuzzy control of SRD[J].,2011,(05):38.

备注/Memo

备注/Memo:
收稿日期:2008-03-01
作者简介: 杨 蒲(1977-), 男, 博士, 研究方向为陀螺稳定平台、伺服控制、滑模控制、智能控制等；
                  李 奇(1963-), 男,博士, 教授, 博士生导师, 研究方向为系统优化、智能控制、工业自动化和综合自动化。
更新日期/Last Update: 2008-12-12