基于反步积分滑模摩擦补偿的光电伺服转台控制

针对光电伺服转台在目标搜索、瞄准时出现角度跟踪误差较大、爬行、抖振等问题，本文结合反步法、自适应滑模、LuGre模型的优势，提出了一种反步自适应积分滑模摩擦补偿控制策略。首先根据光电伺服转台工作环境复杂多变的特点，引入环境因子，建立了改进的LuGre模型，然后在李雅普诺夫框架下分步设计子系统与控制律。引入多个自适应律消除参数不确定对系统的影响，采用双非线性摩擦观测器进行摩擦扰动补偿，采用积分滑模增强系统鲁棒性并减小系统稳态误差。由李雅普诺夫定理证明可知系统全局稳定。仿真结果表明，这种新型控制策略能有效抑制摩擦扰动，提高系统角度跟踪精度，可以满足光电伺服转台的高精度跟踪控制的要求。

Electro-Optical Servo Turntable Control Based on Backstepping Integral Sliding Mode Friction Compensation

To solve the problems of having big angle tracking errors, crawling and chattering in target searching, and aiming of having an electro-optical servo turntable, we combine the advantages of backstepping, an adaptive sliding mode, and the LuGre model and propose a backstepping adaptive integral sliding mode friction compensation control strategy. First, according to the complex and changeable environment of the electro-optical servo turntable, we establish an improved LuGre model by introducing environmental factors. Then, we design the subsystems and control laws step by step under the Lyapunov framework and introduce several adaptive laws to eliminate the influence of parameter uncertainty on the system. We use a dual nonlinear friction observer to compensate for the friction disturbance and use the integral sliding mode to enhance the robustness and reduce the steady-state error of the system. The Lyapunov theorem proves that the system is globally asymptotically stable. The simulation results show that the new control strategy can effectively suppress the friction disturbance and improve the angle tracking accuracy of the system, which can meet the requirements of the high-precision tracking control of the electro-optical servo turntable.