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以浮球式惯导平台的悬浮稳定为研究对象,全面分析了平台的干扰特性,建立了液浮支撑模型,推导了在受扰条件下稳定部件的六自由度运动方程.针对外部环境、流场阻力、模型参数不确定、未建模动态和测量噪声等干扰问题,设计了基于高增益扩张观测器的滑模控制器.数值仿真表明,液浮稳定结构可以有效隔离外界干扰的影响,提高平台的抗干扰能力;所提出的控制方法可以有效抑制系统的抖振,实现平台的高精度快速稳定控制.与前期的研究相比,控制器的动态响应和稳定性能提升了50%.
Taking the floating stability of the floating ball inertial navigation platform as the research object, the disturbance characteristics of the platform are comprehensively analyzed, and the liquid-floating support model is established, and the six degree-of-freedom equations of motion of the stable component under the disturbed condition are deduced. According to the external environment, The sliding mode controller based on the high-gain dilatometer is designed. The numerical simulation shows that the liquid-floated structure can effectively isolate the influence of external disturbance and improve The proposed control method can effectively suppress the chattering of the system and realize the rapid and stable control of the platform with high precision.Compared with the previous research, the controller’s dynamic response and stability are improved by 50%.