【摘要】 针对船载空间光通信外部环境和转台内部非线性不确定性的影响导致跟踪精度下降的问题,提出了基于扩张状态观测器的滑模控制(SMC-ESO)算法。该算法使用扩张状态观测器对非线性干扰力矩造成的转台内部扰动和船体摆动造成的转台外部扰动进行观测和估计,并将扰动估计值作为滑模控制器的补偿量,进而消除扰动对控制器的影响,提高滑模控制器的控制性能。仿真结果表明:提出的SMC-ESO算法比比例积分微分(PID)算法在抗扰性能上提高了44.22%,能够满足粗跟踪应用控制需求。更多还原

【Abstract】 A sliding mode control algorithm based on extended state observer(SMC-ESO) is proposed to solve the problem of tracking accuracy decrease due to the external environment of ship borne space optical communication and the influence of nonlinear model uncertainty inside the turntable. This algorithm uses the extended state observer to observe and estimate the internal disturbance of the turntable caused by the nonlinear disturbance moment and the external disturbance caused by the ship’s swing, and takes the estimated disturbance value as the compensation of the sliding mode controller, so as to eliminate the influence of the disturbance on the controller and improve the control performance of the sliding mode controller. The simulation results of transmission mechanism show that the proposed SMC-ESO algorithm can improve the disturbance rejection performance by 44.22% compared with the proportional integral differential(PID) algorithm, and can meet the control requirements of coarse tracking application.更多还原