Sliding Mode Control of the Optoelectronic Stabilized Platform Based on the Exponential Approach Law

摘要

As the tracking target of the optoelectronic tracking system changes, higher requirements are placed on the tracking accuracy of the optoelectronic tracking system. The optoelectronic tracking system will be subjected to various nonlinear disturbances during the actual operation, which affects the tracking accuracy of the system. In the process of designing traditional PID controllers, the nonlinear factors existing in the system are often neglected. The controller designed by this method is difficult to improve the tracking accuracy of the system. Therefore, in order to improve the tracking accuracy of the optoelectronic tracking system, the primary task is to improve the anti-disturbance capability of the system. This paper uses a sliding mode controller, which has the advantages of fast response, insensitivity to parameter changes and disturbances, to suppress the interference of external disturbances on the system. Among them, the sliding model surface adds the integral term of the position error, and the control law adopts the improved exponential approach law, which effectively suppresses the chattering phenomenon of the sliding mode controller and improves the anti-disturbing ability of the optoelectronic tracking system. The simulation results verify the effectiveness and superiority of the sliding mode control strategy designed in this paper.