陀螺稳定平台的滑膜变结构控制实验研究

摘要

针对高精度陀螺稳定平台快速隔离扰动、稳定视轴的要求,设计了以挠性陀螺为惯性传感器的双轴陀螺稳定平台.介绍了该平台的结构,分析了影响平台稳定精度的因素,并针对速率陀螺反馈加传统PID控制不能实现稳定角度无静差的问题,尝试了一种滑膜变结构控制策略.试验结果表明,采用滑膜变结构控制方法后,陀螺稳定平台精度可提高50％以上.%In view of the requirements of isolating disturbances and stabilizing optical axis of high-precision gyro stabilized platform, a double-axis stabilized platform system centering on the flexible gyro was designed. The gyro stabilized platform's structure were introduced and it' s error sources was analyzed.In order to eliminate the steady-state angle error which occurs in rate gyro feedback and traditional PID control scheme, a sliding mode variable structure control scheme is presented. The results show that the gyro stabilized platform accuracy can improve 50% above after using sliding mode variable structure control.