惯性平台稳定回路的变结构控制

本文讨论了惯性平台稳定回路的变结构滑模控制规律的设计问题。在二自由度陀螺稳定平台中，稳定回路通常按角度输入进行设计，但是这种系统的动态误差主要来自舰船摇摆时轴上的摩擦力矩引起的稳定误差，因此，用经典方法设计的控制规律在实际使用中动态误差较大。本文用变结构滑模控制方法设计了控制规律，仿真结果表明变结构稳定回路的抗干扰能力和跟踪性能得到了较大的改善，提高了惯性稳定平台的可靠性和精度。

The Variable Structure Control of the Stabilizing Circuits for Inertial Platform

This paper discusses the design problem of the variable structure sliding mode control for the inertial platform stabilizing circuits. In the platform stabilized by the twofreedom gyros,the stabilizing circuits are usually designed according to the angular inputs. However, the dynamic errors of the system are mainly induced by the friction moment of the axes when the ship is rocking. So when the classical control is applied, the dynamic errors are greater than expected. In the paper, the variable structure sliding mode control rule is applied. The simulations show that the stabilizing circuit with variable structure control is greatly improved in the tracking performance and the ability of resisting the moment disturbance, the reliability and dynamic accuracy of the platform are also improved.