高技术通讯2011，Vol.21Issue(2)：173-178,6.DOI:10.3772/j.issn.1002-0470.2011.02.011
陀螺稳定跟踪平台的滑模摩擦补偿双环控制研究
A study of sliding model friction-compensation double loop control of a gyro stabilized tracking platform
摘要
Abstract
A control principle and a control effect are researched aiming at the applications of gyro stabilized tracking platform (GSP) for miniature ground mobile robot. According to the analysis of single loop control structure for GSP tracking platform, a conclusion that the external moment disturbance equals to the attitude disturbance of the load in the stabilizationloop of the inertial space and the friction disturbance between centers for the motor rotation aix is obtained. To solve this prolem, a double loop stabilization method is proposed, which consists of a sliding model variable structure control (SMC) and a PID stabilization loop, and the SMC is to compensate the friction in velocity loop for GSP. The sliding model controller serves the function of velocity control based on the Stribeck model friction compensation, which is the inner loop for the stabilization platform control. The gyro angular velocity feedback serves the function of stabilization loop for the inertial space. Simulations and experiments are made to compare their perfonnances, and it is validated that the double loop control gets the better performance than the single loop PID stabilization method.关键词
稳定平台/滑模/双环稳定/摩擦补偿/StribeckKey words
stabilized tracking platform/sliding mode/ double loop stabilization/ friction compensation/ Stribeck引用本文复制引用
陈殿生,李鹏,陈彧欣,王田苗..陀螺稳定跟踪平台的滑模摩擦补偿双环控制研究[J].高技术通讯,2011,21(2):173-178,6.基金项目
国家科技部国际科技合作(2008DFR70100)资助项目. （2008DFR70100）
