全景式航空相机的离散滑模控制

Discrete-time sliding-mode control in panoramic aerial camera

中文关键词  全景式航空相机  降维状态观测器  角速度  角加速度  趋近律  离散滑模控制

英文关键词  panoramic aerial camera  reduced-order state observer  angular velocity  angular acceleration  reaching law  discrete-time sliding-mode control

中文摘要

      为了提高全景式航空相机镜筒速度控制系统的动态特性, 使其具有响应速度快且超调小的特点, 本文提出一种基于降维状态观测器的离散滑模控制方法, 对镜筒角速度、角加速度进行观测, 并对其速度系统进行控制. 针对高氏趋近律带来的控制抖振和稳态抖振问题, 本文采用幂次函数趋近律的方法, 并对这种方法进行了无抖振理论分析以及稳定性证明. 最后以某全景式航空相机作为实验平台, 将基于幂次函数趋近律的离散滑模控制应用到镜筒速度控制系统中. 实验结果表明, 本文提出的控制方法能够有效地减小系统的抖振, 使镜筒速度控制系统表现出良好的动态品质.

英文摘要

      A discrete-time sliding-mode control method based on reduced-order state observer is proposed to provide fast response and small overshoot for the drawtube control system of a panoramic aerial camera. In this method, the angular velocity and acceleration of the camera are measured for controlling the velocity system, and a power-function reaching law is proposed to substitute the conventional reaching law for suppressing the control chattering and the steadystate chattering caused by the conventional reaching law. The non-chattering characteristics and the system stability are analyzed theoretically. This controller has been applied to control the drawtube system of a panoramic aerial camera on an experimental platform; the experiment results show that this control scheme can effectively eliminate the chattering and make the drawtube system achieve desired dynamical performances.