| 引用本文: | 张雪菲,丁亚林,李昕阳,陈志超.全景式航空相机的离散滑模控制[J].控制理论与应用,2012,29(9):1163~1168.[点击复制] |
| ZHANG Xue-fei,DING Ya-lin,LI Xin-yang,CHEN Zhi-chao.Discrete-time sliding-mode control in panoramic aerial camera[J].Control Theory and Technology,2012,29(9):1163~1168.[点击复制] |
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| 全景式航空相机的离散滑模控制 |
| Discrete-time sliding-mode control in panoramic aerial camera |
| 摘要点击 2085 全文点击 1439 投稿时间：2011-10-18 修订日期：2012-03-16 |
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| DOI编号 10.7641/j.issn.1000-8152.2012.9.CCTA111173 |
| 2012,29(9):1163-1168 |
| 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 |
| 基金项目 国家“863”高技术研究发展计划资助项目(2009AA7010102). |
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| 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. |