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Focusing on the suspending stabilization problem for the floated inertial platform, the 6-DOF (degree-of-freedom) equation of motion for the stabilized platform is derived based on the disturbance analysis of the platform and the mode of the suspending support system. To solve the disturbance of the external environments, mode parameter uncertainty, unmodeled dynamics and measurement noise, the sliding mode controller based on the extended high-gain observer are proposed. Simulations indicate that the stabilization structure could isolate the external disturbance and improve the anti-interference ability of the platform; the high precision and quick stabilization control are realized by the proposed controller. Compared with the previous research, the dynamic and stabilization performance of the proposed controller is increased by 50%.
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Keywords:
- floated inertial platform /
- suspending stabilization /
- extended high-Gain observer /
- sliding mode control
[1] Hanching G W, Thomas C W 2008 IEEE Control Systems 2 65
[2] Gully S W 1975 Seventh Biennial Guidance Test Symposium New Mexico, October 10-12, 1975 p128
[3] Zhang G H, Tang G F 1994 Journal of Hydroynamics. Ser. B 1 86
[4] Sifter D J, Henderson V D 1990 Eighth Biennial Guidance Test Symposium New Mexico, May 21-26, 1990 p109
[5] Rui J B, Jing G C, Xu B Y 1993 Strength and Environment 90 45 (in Chinese) [芮嘉白, 金观昌, 徐秉业 1993 强度与环境 90 45]
[6] Qi D L, Yang J, Zhang J L 2010 Chin. Phys. B 19 100506
[7] Kong C C, Chen S H 2009 Chin. Phys. B 18 91
[8] Liu F C, Song J Q 2008 Acta Phys. Sin. 57 4729 (in Chinese) [刘福才, 宋佳秋 2011 57 4729]
[9] Liu S, Lu L, Li G 2012 Acta Phys. Sin. 61 160507 (in Chinese) [柳爽, 吕翎, 李刚 2012 61 160507]
[10] Li M, Liu C X 2010 Chin. Phys. B 19 100504
[11] Yu Y, Mi Z Q, Lin X J 2011 Acta Phys. Sin. 60 070509 (in Chinese) [余洋, 米增强, 刘兴杰 2011 60 070509]
[12] Lu L, Li Y S, Wei L L, Yu M, Zhang M 2012 Acta Phys. Sin 61 120504 (in Chinese) [吕翎, 李雨珊, 韦琳玲, 于淼, 张檬 2012 61 120504]
[13] Zeng G X, X Y 2011 Acta Phys. Sin. 60 014502 (in Chinese) [曾广湘, 薛郁 2011 60 014502]
[14] Liu X C, Xu W, Xiao Y Z 2008 Acta Phys. Sin 57 1465 (in Chinese) [李秀春, 徐伟, 肖玉柱 2008 57 1465]
[15] Wang X Y, Wu X J 2007 Acta Phys. Sin 56 1988 (in Chinese) [王兴元, 武相军 2007 56 1988]
[16] Zhao J L, Wang J, Wei W 20011 Acta Phys. Sin. 56 1988 (in Chinese) [赵建利, 王京, 魏伟 2011 60 100203]
[17] Zhao J L, Wang J, Wei W 20012 Acta Phys. Sin. 56 1988 (in Chinese) [赵建利, 王京, 魏伟 2012 61 100209]
[18] Shahid N, Hassan K K 2011 IEEE Transactions on Automatic Control 56 802
[19] Itkis U 1976 Control Systems of Variable Structure (New York: Wiley) pp4-16
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[1] Hanching G W, Thomas C W 2008 IEEE Control Systems 2 65
[2] Gully S W 1975 Seventh Biennial Guidance Test Symposium New Mexico, October 10-12, 1975 p128
[3] Zhang G H, Tang G F 1994 Journal of Hydroynamics. Ser. B 1 86
[4] Sifter D J, Henderson V D 1990 Eighth Biennial Guidance Test Symposium New Mexico, May 21-26, 1990 p109
[5] Rui J B, Jing G C, Xu B Y 1993 Strength and Environment 90 45 (in Chinese) [芮嘉白, 金观昌, 徐秉业 1993 强度与环境 90 45]
[6] Qi D L, Yang J, Zhang J L 2010 Chin. Phys. B 19 100506
[7] Kong C C, Chen S H 2009 Chin. Phys. B 18 91
[8] Liu F C, Song J Q 2008 Acta Phys. Sin. 57 4729 (in Chinese) [刘福才, 宋佳秋 2011 57 4729]
[9] Liu S, Lu L, Li G 2012 Acta Phys. Sin. 61 160507 (in Chinese) [柳爽, 吕翎, 李刚 2012 61 160507]
[10] Li M, Liu C X 2010 Chin. Phys. B 19 100504
[11] Yu Y, Mi Z Q, Lin X J 2011 Acta Phys. Sin. 60 070509 (in Chinese) [余洋, 米增强, 刘兴杰 2011 60 070509]
[12] Lu L, Li Y S, Wei L L, Yu M, Zhang M 2012 Acta Phys. Sin 61 120504 (in Chinese) [吕翎, 李雨珊, 韦琳玲, 于淼, 张檬 2012 61 120504]
[13] Zeng G X, X Y 2011 Acta Phys. Sin. 60 014502 (in Chinese) [曾广湘, 薛郁 2011 60 014502]
[14] Liu X C, Xu W, Xiao Y Z 2008 Acta Phys. Sin 57 1465 (in Chinese) [李秀春, 徐伟, 肖玉柱 2008 57 1465]
[15] Wang X Y, Wu X J 2007 Acta Phys. Sin 56 1988 (in Chinese) [王兴元, 武相军 2007 56 1988]
[16] Zhao J L, Wang J, Wei W 20011 Acta Phys. Sin. 56 1988 (in Chinese) [赵建利, 王京, 魏伟 2011 60 100203]
[17] Zhao J L, Wang J, Wei W 20012 Acta Phys. Sin. 56 1988 (in Chinese) [赵建利, 王京, 魏伟 2012 61 100209]
[18] Shahid N, Hassan K K 2011 IEEE Transactions on Automatic Control 56 802
[19] Itkis U 1976 Control Systems of Variable Structure (New York: Wiley) pp4-16
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