Nonlinear friction grey sliding mode control for gyro stabilized platform

作者：Yang Pu^*; Li Qi

来源：Systems Engineering and Electronics, 2008, 30(7): 1328-1332.

• Chattering phenomenon
• Friction disturbance
• GM(1 ,1)
• Grey prediction
• Gyrostabilized platforms
• Nonlinear characters
• Nonlinear frictions
• PID method
• Reduce friction
• Servo-control systems
• Single-axis
• Sliding modes
• Sliding-mode controllers
• Sling mode control
• Stabilized platform
• TV seeker

To reduce friction disturbance in the servo control system of gyro stabilized platforms, a grey sliding mode controller is designed. Based on the gyro stabilized platform of a TV seeker, the nonlinear character of friction in the system is analyzed, and some useful proposals for reducing disturbances are propounded from mechanicalness and control both aspects. To the single axis control model of the stabilized platform, the sliding mode rule is founded. The value of extraneous disturbances is estimated by using GM(1, 1) grey prediction algorithm, and then it is added to the sliding mode control rule as the compensating part. At the same time, the value of the switching function is predicted by the grey prediction method, by which the control chattering phenomenon is reduced greatly. The real testing shows the grey sliding mode controller can reduce the influence of friction disturbance effectively without knowing the model of system friction. Comparing with the PID method, the proposed controller improve the robustness and stable precision of control systems clearly.

• 出版日期2008
• 单位南京大学