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针对航空遥感惯性稳定平台中齿隙非线性带来的不稳定问题,结合反演控制和滑模控制的优点,在传统反演控制的每一步迭代过程引入与齿轮运动状态相关的基于连续饱和函数的动态滑模面,设计了相应的滑模反演控制器。在保证了系统误差快速收敛的同时,抑制了反演过程中的误差积累,实现了系统非线性误差精确补偿。仿真实验结果表明,与传统反演控制相比,滑模反演控制显著降低了齿隙非线性对系统动态性能的影响,有效提高了系统对期望角位置、角速度的跟踪性能。
Aiming at the instability caused by the non-linearity of backlash in the inertial stable platform of aerial remote sensing, combining the advantages of inversion control and sliding mode control, the iterative process of traditional inversion control is introduced into the system based on the continuous saturation function The dynamic sliding mode surface, the corresponding sliding mode inversion controller is designed. While ensuring the rapid convergence of the system error, the error accumulation in the inversion process is suppressed, and the system nonlinear error is accurately compensated. Simulation results show that, compared with traditional inversion control, sliding mode inversion control significantly reduces the influence of backlash nonlinearity on the system dynamic performance, and effectively improves the tracking performance of the system to the desired angular position and angular velocity.