【摘要】 为提升三轴光纤陀螺惯性平台在多源非线性干扰下的稳定控制精度提出一种融合等效输入干扰(EID)估计器与自适应反演积分滑模控制(ABISMC)的复合控制方法，在建立三轴惯性平台的台体合成动力学模型基础上利用EID估计器在线估计扰动，将EID估计器的估计结果代入到反演积分滑模控制中，避免符号函数引起的抖振。设计自适应误差补偿律动态修正EID估计器误差，进一步优化系统性能。在复合控制方法与传统PID方法的比较中，相同干扰条件下，由阶跃干扰引起的台体轴转角幅值减少25.70″(62.62%)。结果表明，高性能复合控制方法实现了稳定性能、响应速度的同步提升，有效增强了稳定回路的控制精度与抗干扰能力。更多还原

【Abstract】 To improve the stable control accuracy of the three-axis fiber optic gyroscope inertial platform under multi-source nonlinear interference, the study proposes a composite control method to integrate the equivalent input interference(EID) estimator and the adaptive inversion integral sliding mode control(ABISMC). Based on the establishment of the platform body synthesis dynamics model of the three-axis inertial platform, The study estimates the disturbances online with EID estimator. When the estimation result of the EID estimator into the inversion integral sliding mode control is substituted, buffering can be avoided caused by the sign function. The study designs an adaptive error compensation law to dynamically correct the error of the EID estimator and further optimize the system performance. In the comparison between the compound control method and the traditional PID method, under the same interference conditions, the amplitude of the platform body axis rotation angle caused by step interference decreases by 25.70 "(62.62%). The result shows that the high-performance composite control method achieves the synchronous improvement of stability performance and response speed, and effectively enhances the control accuracy and anti-interference ability of the stable loop.更多还原