| 采用滑模观测器的机载激光通信视轴精度控制 |
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| 引用本文： | 王东辉,孔国利,陈书立. 采用滑模观测器的机载激光通信视轴精度控制[J]. 红外与激光工程, 2022, 51(3): 20210460-1-20210460-7. DOI: 10.3788/IRLA20210460 |
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| 作者姓名： | 王东辉 孔国利 陈书立 |
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| 作者单位： | 1.河南职业技术学院 机电工程学院，河南 郑州 450046 |
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| 基金项目： | 国家自然科学基金青年科学基金(61603344)；河南省高等学校青年骨干教师基金（2017GGJS227） |
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| 摘 要： | 为了提高机载激光通信系统在机体振动和机械摩擦等扰动下的视轴对准精度，提出了一种基于滑模观测器的反步滑模控制方法。首先建立了机载激光通信系统的数学模型，然后通过设计的滑模观测器对扰动值进行估计，同时针对指令转换模块、激光通信模块和电机模块逐步设计了反步滑模控制律，实现对机载激光通信系统视轴的高精度控制。实验结果表明:提出的方法与分数阶PID控制方法相比突出了更优的快速性和准确性，响应时间仅为0.4 s，最大空间对准误差仅为0.3 m，设计的滑模观测器能够快速、准确地估计出扰动值，响应时间仅为0.3 s，最大估计误差分别仅为0.1 m/s、0.06 (°)/s2 和0.07 A/s，大幅提高了机载激光通信系统中视轴的对准精度。
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| 关 键 词： | 机载激光通信系统 视轴对准 扰动 滑模观测器 反步滑模控制 |
| 收稿时间： | 2021-12-07 |
Precision control of airborne laser communication optical axis using sliding mode observer |
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| Affiliation: | 1.School of Mechanical and Electrical Engineering, Henan Polytechnic, Zhengzhou 450046, China2.School of Information Engineering, Zhengzhou University of Technology, Zhengzhou 450044, China3.School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, China |
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| Abstract: | To improve the optical axis alignment accuracy of airborne laser communication system under the disturbance of body vibration and mechanical friction, a back-stepping sliding mode control method based on sliding mode observer was proposed. Firstly, the mathematical model of the airborne laser communication system was established, and then the disturbance value was estimated by the designed sliding mode observer. At the same time, the back-stepping sliding mode control law was gradually designed for the command conversion module, laser communication module and motor module, which realized the high-precision control for the optical axis of the airborne laser communication system. The experimental results show that the proposed method has better rapidity and accuracy than the fractional PID control method, the response time is only 0.4 s, the maximum space alignment error is only 0.3 m, the designed sliding mode observer can estimate the disturbance value quickly and accurately, the response time is only 0.3 s, and the maximum estimation error is only 0.1 m/s, 0.06 (°)/s2 and 0.07 A/s, which greatly improves the alignment accuracy of the optical axis in the airborne laser communication system. |
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