采用滑模观测器的机载激光通信视轴精度控制

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。

Precision control of airborne laser communication optical axis using sliding mode observer

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.