浮球式惯导平台悬浮稳定问题的动力学建模与控制

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%. 关键词： 浮球式惯导平台 悬浮稳定 高增益扩张观测器 滑模控制

Control and modeling of suspending stabilization problom for floated inertial platform

Focusing on the suspending stabilization problem for the floated inertial platform, the 6-DOF (degree-of-freedom) equation of motion for the stabilized platform is derived based on the disturbance analysis of the platform and the mode of the suspending support system. To solve the disturbance of the external environments, mode parameter uncertainty, unmodeled dynamics and measurement noise, the sliding mode controller based on the extended high-gain observer are proposed. Simulations indicate that the stabilization structure could isolate the external disturbance and improve the anti-interference ability of the platform; the high precision and quick stabilization control are realized by the proposed controller. Compared with the previous research, the dynamic and stabilization performance of the proposed controller is increased by 50%.
Keywords： floated inertial platform suspending stabilization extended high-Gain observer sliding mode control