| 宋辰,张士峰,白锡斌.浮球式惯性平台的自适应模糊滑模转动控制[J].装备环境工程,2018,15(1):6-11. SONG Chen,ZHANG Shi-feng,BAI Xi-bin.Rotational Control of Adaptive Fuzzy Sliding Mode for Floated Inertial Platform[J].Equipment Environmental Engineering,2018,15(1):6-11. |
| 浮球式惯性平台的自适应模糊滑模转动控制 |
| Rotational Control of Adaptive Fuzzy Sliding Mode for Floated Inertial Platform |
| 投稿时间：2017-10-21 修订日期：2018-01-15 |
| DOI：10.7643/ issn.1672-9242.2018.01.002 |
| 中文关键词: 浮球式惯性平台 自适应模糊滑模控制 转动控制 |
| 英文关键词:floated inertial platform adaptive fuzzy sliding mode control rotational control |
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| 中文摘要: |
| 目的 选择一种稳定的控制方法使力矩器能够完成高精度的转动控制。方法 选择自适应模糊滑模控制解决球体的转动控制问题。该方法是在滑模控制的基础上，利用自适应模糊系统逼近滑模控制中的切换控制项，使得该方法不但拥有滑模控制所具有的稳定性和鲁棒性的优点，而且有效地抑制了滑模控制的抖振问题，得到振幅较小且变化平缓的控制输出。结果 自适应模糊滑模控制的跟踪误差在0.01°以内，且跟踪状态下控制输出信号的斜率不超过40 000 step/s。结论 该方法能够在力矩器的能力范围内保证球体转动的精度，满足自标定自对准时转动精度低于0.01°的要求。 |
| 英文摘要: |
| Objective To choose a stable control strategy to achieve high-accuracy rotational control. Methods Adaptive fuzzy sliding mode control was chosen to control the rotation. This kind of control was applied with adaptive fuzzy system based on sliding mode control to approach and replace variable controller. Thus, it not only possessed stability and robustness, but also dramatically suppressed problematic chattering and smoothed the output of control. Results The tracking error of the method was under 0.01°, and the gradient of control output was under 40 000 step/s. Conclusion Under the capability of torquers, this method can drive sphere rotating accurately, less than 0.01°, as self-calibration and self-alignment needed. |
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