Abstract
Due to the process defects and imperfection of drivers, permanent magnet synchronous motors (PMSM) are problematic to control. There is still a lack of effective high-performance control methods for inertial stabilized platforms based on PMSM currently. At present, the most frequently used method is sliding mode control (SMC), but traditional sliding mode control cannot overcome the contradiction between high performance and system chattering. In order to solve this problem and improve the system reliability and pointing accuracy, a new approach law for the sliding mode controller is proposed in this paper. In view of the large periodic torque ripple in PMSM, an iterative learning controller (ILC) is introduced to compensate for the disturbance. Based on these, aimed at suppressing all kinds of real-time disturbances in the working environment of the system, the extended state observer (ESO) is brought into the servo system to observe the lumped disturbance of the system, and the total disturbance observed is compensated into the sliding mode controller, so as to better suppress the system chattering and enhance the system’s ability of resisting external disturbance. Experiments are carried out on an inertial stabilization platform based on DSP + CPLD. The final experiments verify that the SMC with the new approach, combined with ILC and ESO, is of outstanding performance when compared with the traditional proportional integral (PI) + disturbance observer (DOB) control scheme.
Highlights
At present, a direct current (DC) torque motor is widely used to drive the load in the inertial stabilization platform
The experimental conditions are: uniform tracking with speed of 10◦ /s, sine wave tracking with amplitude of 10◦ /s and frequency of 10 Hz, and triangular wave tracking with amplitude of 10◦ /s and frequency of 1Hz
sliding mode control (SMC) + extended state observer (ESO) + iterative learning controller (ILC) control scheme proposed in this paper greatly reduces the phase lag, and the
Summary
A direct current (DC) torque motor is widely used to drive the load in the inertial stabilization platform. The DC torque motor has the shortcomings of large volume and poor heat dissipation, as well as the high-frequency and non-linear interference brought to the system by using mechanical commutation, which reduces the system’s reliability. Due to the defects of the PMSM itself and the poor working environment of various inertial stabilization platforms, it is arduous for linear control schemes, such as proportional integral (PI) control and the linear quadratic regulator, to achieve desirable control performance. For the inertial stabilization platform for long-distance reconnaissance in particular, the servo stabilization accuracy directly affects the imaging quality [2]. A more advanced control scheme needs to be introduced into the servo system of the inertial stabilization platform driven by PMSM
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