四轴陀螺稳定平台分区离散变结构控制策略及优化方法

为了有效提高四轴陀螺稳定平台伺服系统全姿态控制精度,针对变结构分区控制过程中台体大角度晃动问题,提出一种优化的四轴陀螺稳定平台控制回路分区离散变结构控制策略。在分析四轴平台框架系统运动学方程的基础上,给出了随动式分区离散变结构控制策略,通过分析执行机构与被控角速度之间的相关程度,对随动式分区离散变结构控制策略进行优化。为了进一步减小变换区域时的切换扰动,在随动式分区离散变结构控制基础上提出一种稳定式分区离散变结构控制方法,对变结构区域进行了整合和优化,有效避免了运动状态在不同区域之间切换造成的台体晃动。仿真结果表明,随动式分区离散变结构控制策略优化前后相比,X 方向台体晃动角速度减小63.5%,Y 方向台体晃动角速度减小84.5%;稳定式分区离散变结构控制策略优化前后相比,X 方向台体晃动角速度减小29.0%,Y 方向台体晃动角速度减小57.3%,有效减小了平台台体在变结构控制切换过程中的晃动,提高了控制精度。

Partitioned Discrete Variable Structure Control Strategy and Optimization Method of Four Axis Gyro-stabilized Platform

In order to effectively improve the full attitude control accuracy of the four-axis gyro-stabilized platform servo system, aiming at the large angle sway problem of the platform in the process of partitioned variable structure control, an optimized partitioned discrete variable structure control strategy for the control loop of the gyro-stabilized platform is proposed. Based on the analysis of the kinematics equation of the gyro-stabilized platform frame system, the following partitioned discrete variable structure control strategy is given. By analyzing the correlation degree between the actuator and the controlled angular velocity, the control strategy of the following partitioned discrete variable structure control is optimized. In order to further reduce the switching disturbance in the transformation area, a stable partitioned discrete variable structure control method is proposed based on the following partitioned discrete variable structure control, which integrates and optimizes the variable structure area, and effectively avoids the shaking caused by the motion state switching between different areas. The simulation results show that, compared with the control strategy before and after optimization, the swaying angular velocity of the platform in the X direction decreases by 63.5%, the swaying angular velocity of the platform in the Y direction decreases by 84.5%, the swaying angular velocity of the platform in the X direction decreases by 29.0%, and the swaying angular velocity of the platform in the Y direction decreases by 57.3%, which effectively reduced the platform sway in the switching process of the variable structure control and improves the control accuracy.