Double integral sliding mode control based on ESO for stabilized platform of seeker

Zhang Mingyue; Liu Hui; Chu Hairong; Zhang Yulian; Sun Tingting; Miao Xikui

doi:10.3788/IRLA201847.0817009

Volume 47 Issue 8

Aug. 2018

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Article Navigation > Infrared and Laser Engineering > 2018 > 47(8): 817009-0817009(9)

Zhang Mingyue, Liu Hui, Chu Hairong, Zhang Yulian, Sun Tingting, Miao Xikui. Double integral sliding mode control based on ESO for stabilized platform of seeker[J]. Infrared and Laser Engineering, 2018, 47(8): 817009-0817009(9). doi: 10.3788/IRLA201847.0817009

Citation:

Zhang Mingyue, Liu Hui, Chu Hairong, Zhang Yulian, Sun Tingting, Miao Xikui. Double integral sliding mode control based on ESO for stabilized platform of seeker[J]. Infrared and Laser Engineering, 2018, 47(8): 817009-0817009(9). doi: 10.3788/IRLA201847.0817009

Double integral sliding mode control based on ESO for stabilized platform of seeker

doi: 10.3788/IRLA201847.0817009

1.
Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;
2.
Key Laboratory of Electro-Optical Countermeasures Test &Evaluation Technology,Luoyang Electronic Equipment Test Center of China,Luoyang 471000,China

Received Date: 2018-03-13
Rev Recd Date: 2018-04-17
Publish Date: 2018-08-25

Abstract

In order to reduce the influence of disturbances on the stabilized platform of seeker, an improved double integral sliding mode controller(DISMC) based on extended state observer(ESO) was proposed in this paper. Firstly, the second order extended state observer was used to estimate the unknown disturbances of the system. Secondly, a double integral sliding mode controller was adopted to achieve low steady-state error tracking; meanwhile, the improved power reaching law was adopted to reduce the chatting magnitude. Finally, the performances of tracking and disturbance rejection rate were carried out on the stabilized platform of seeker. The results showed that compared with the traditional PI controller based on disturbance observer(PI-DOB), when the system tracked the trapezoidal wave at 3()/s, response time of LOS rate was reduced by 48 ms, and the standard deviation of tracking error was reduced by 0.013 1 ()/s with the proposed controller. Meanwhile, the turntable generated a periodic motion with sin(t), 3sin(5t) and 7sin(2t) respectively to simulate the motion of the carrier, the disturbance rejection rates were increased by 2.91%, 0.45%, 0.7% respectively. In conclusion, the DISMC-ESO has better performance in dynamic response and disturbance rejecting for stabilized platform of seeker.
- stabilized platform of seeker,
- double integral sliding mode controller,
- disturbance rejection rate,
- ESO

References

[1]	Jin Chaoqiong, Zhang Bao, Li Xiantao, et al. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer[J]. Journal of Jilin University (Engineering and Technology Edition), 2017, 47(6):1876-1885. 晋超琼, 张葆, 李贤涛, 等.基于扰动观测器的光电稳定平台摩擦补偿策略[J]. 吉林大学学报(工学版), 2017, 47(6):1876-1885.
[2]	Zhou Taopin, Li Younian. Analysis and adaptive compen-sation of seeker disturbance torque[J]. Infrared and Laser Engineering, 2013, 42(7):1830-1834. (in Chinese)周桃品, 李友年. 位标器干扰力矩的分析与自适应补偿[J]. 红外与激光工程, 2013, 42(7):1830-1834.
[3]	Mohammad Sheikh Sofla, Mohammad Zareinejad, Mohsen Parsa, et al. Integral based sliding mode stabilizing a camera platform using kalman filter attitude estimation[J]. Mechatronics, 2017, 44:42-51.
[4]	Li Xiantao, Zhang Bao, Sun Jinghui, et al. ADRC based on disturbance frequency adaptive of aerial photoelectrical stabilized platform[J]. Infrared and laser Engineering, 2014, 43(5):1574-1581. (in Chinese)李贤涛, 张葆, 孙敬辉, 等. 航空光电稳定平台扰动频率自适应的自抗扰控制[J]. 红外与激光工程, 2014, 43(5):1574-1581.
[5]	Hassan K Khalil. Nonlinear System[M]. Translated by Zhu Yisheng, et al. Beijing:Publishing House of Electronics Industry, 2011. (in Chinese) (美)Hassan K Khalil.非线性系统[M]. 朱义胜,等译. 北京:电子工业出版社, 2011.
[6]	Atta Oveis, Tamara Nestorovi. Robust observer-based adaptive fuzzy sliding mode controller[J]. Mechanical Systems and Signal Processing, 2016, 76-77:58-71.
[7]	Syuan-Yi Chen, Sheng-Sian Gong. Hierarchical double integral sliding-mode control for second-order under actuated systems[C]//CACS International Automatic Control Conference, 2014:173-178.
[8]	Dong Lili, Zhang Yao, Gao Zhiqiang. A robust decentralized load frequency controller for interconnected power systems[J]. ISA Transactions, 2012, 51:410-419.
[9]	Pradhan R. Subudhi B. Double integral sliding mode MPPT control of a photovoltaic system[C]//IEEE Transactions on Control System Technology, 2016, 24:285-292.
[10]	Freidovich L B, Khalil H K. Performance recovery of feedback-linearization-based designs[C]//IEEE Trans Autom Control, 2008, 53:2324-2334.
[11]	Kumar J, Kumar V, Rana K P S. Efficient reaching law for SMC with PID surface applied to a manipulator[C]//Computational Intelligence on Power, Energy and Controls with Their Impact on Humanity, IEEE, 2017:51-56.
[12]	Chun Yin, Chen Yangquan, Zhong Shouming. Fractional-order power rate type reaching law for sliding mode control of uncertain nonlinear system[C]//Proceedings of 19th World Congress The international Federation of Automatic Control Cape Town, 2014:2369-5374.
[13]	Tan S C, Lai Y M, Chi K. T. Indirect sliding mode control of power converters via double integral sliding surface[J]. IEEE Transactions on Power Electronics, 2008, 23(2):600-611.
[14]	Mu Enxu, Ma Zhenqun, Feng Bin, et al. Friction compensation strategy for numerical control machine tools by reversing character analyzing[J]. Journal of Xi'an Jiao Tong Universigy, 2014, 48(8):47-53. (in Chinese)牟恩旭, 马振群, 冯斌, 等.利用数控机床换向特性分析的摩擦误差补偿方法[J]. 西安交通大学学报, 2014, 48(8):47-53.
[15]	Zhao Jianzhou, He Chao, Zhang Yuhe. An experimental study of compensation algorithms for backlash nonlinearity of servo systems[J]. Journal of Beijing Institute of Technology, 2000, 20(3):317-321. (in Chinese)赵建周, 何超, 张宇河. 伺服系统间隙非线性补偿算法的研究[J]. 北京理工大学学报, 2000, 20(3):317-321.
[16]	Zhu Huazheng, Fan Dapeng, Ma Dongxi, et al. Disturbance isolation index of seeker servo system and its test[J]. Optics and Precision Enginnering, 2009, 17(8):1993-1998. (in Chinese)朱华征, 范大鹏, 马东玺, 等.导引头伺服系统隔离度与测试[J]. 光学精密工程, 2009, 17(8):1993-1998.

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通讯作者: 陈斌, bchen63@163.com

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沈阳化工大学材料科学与工程学院沈阳 110142

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Double integral sliding mode control based on ESO for stabilized platform of seeker

1. Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China;

2. Key Laboratory of Electro-Optical Countermeasures Test &Evaluation Technology,Luoyang Electronic Equipment Test Center of China,Luoyang 471000,China

Received Date: 2018-03-13

Rev Recd Date: 2018-04-17

Publish Date: 2018-08-25

Key words:

stabilized platform of seeker /
double integral sliding mode controller /
disturbance rejection rate /
ESO

Abstract: In order to reduce the influence of disturbances on the stabilized platform of seeker, an improved double integral sliding mode controller(DISMC) based on extended state observer(ESO) was proposed in this paper. Firstly, the second order extended state observer was used to estimate the unknown disturbances of the system. Secondly, a double integral sliding mode controller was adopted to achieve low steady-state error tracking; meanwhile, the improved power reaching law was adopted to reduce the chatting magnitude. Finally, the performances of tracking and disturbance rejection rate were carried out on the stabilized platform of seeker. The results showed that compared with the traditional PI controller based on disturbance observer(PI-DOB), when the system tracked the trapezoidal wave at 3()/s, response time of LOS rate was reduced by 48 ms, and the standard deviation of tracking error was reduced by 0.013 1 ()/s with the proposed controller. Meanwhile, the turntable generated a periodic motion with sin(t), 3sin(5t) and 7sin(2t) respectively to simulate the motion of the carrier, the disturbance rejection rates were increased by 2.91%, 0.45%, 0.7% respectively. In conclusion, the DISMC-ESO has better performance in dynamic response and disturbance rejecting for stabilized platform of seeker.

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Reference (16)

[1]	Jin Chaoqiong, Zhang Bao, Li Xiantao, et al. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer[J]. Journal of Jilin University (Engineering and Technology Edition), 2017, 47(6):1876-1885. 晋超琼, 张葆, 李贤涛, 等.基于扰动观测器的光电稳定平台摩擦补偿策略[J]. 吉林大学学报(工学版), 2017, 47(6):1876-1885.
[2]	Zhou Taopin, Li Younian. Analysis and adaptive compen-sation of seeker disturbance torque[J]. Infrared and Laser Engineering, 2013, 42(7):1830-1834. (in Chinese)周桃品, 李友年. 位标器干扰力矩的分析与自适应补偿[J]. 红外与激光工程, 2013, 42(7):1830-1834.
[3]	Mohammad Sheikh Sofla, Mohammad Zareinejad, Mohsen Parsa, et al. Integral based sliding mode stabilizing a camera platform using kalman filter attitude estimation[J]. Mechatronics, 2017, 44:42-51.
[4]	Li Xiantao, Zhang Bao, Sun Jinghui, et al. ADRC based on disturbance frequency adaptive of aerial photoelectrical stabilized platform[J]. Infrared and laser Engineering, 2014, 43(5):1574-1581. (in Chinese)李贤涛, 张葆, 孙敬辉, 等. 航空光电稳定平台扰动频率自适应的自抗扰控制[J]. 红外与激光工程, 2014, 43(5):1574-1581.
[5]	Hassan K Khalil. Nonlinear System[M]. Translated by Zhu Yisheng, et al. Beijing:Publishing House of Electronics Industry, 2011. (in Chinese) (美)Hassan K Khalil.非线性系统[M]. 朱义胜,等译. 北京:电子工业出版社, 2011.
[6]	Atta Oveis, Tamara Nestorovi. Robust observer-based adaptive fuzzy sliding mode controller[J]. Mechanical Systems and Signal Processing, 2016, 76-77:58-71.
[7]	Syuan-Yi Chen, Sheng-Sian Gong. Hierarchical double integral sliding-mode control for second-order under actuated systems[C]//CACS International Automatic Control Conference, 2014:173-178.
[8]	Dong Lili, Zhang Yao, Gao Zhiqiang. A robust decentralized load frequency controller for interconnected power systems[J]. ISA Transactions, 2012, 51:410-419.
[9]	Pradhan R. Subudhi B. Double integral sliding mode MPPT control of a photovoltaic system[C]//IEEE Transactions on Control System Technology, 2016, 24:285-292.
[10]	Freidovich L B, Khalil H K. Performance recovery of feedback-linearization-based designs[C]//IEEE Trans Autom Control, 2008, 53:2324-2334.
[11]	Kumar J, Kumar V, Rana K P S. Efficient reaching law for SMC with PID surface applied to a manipulator[C]//Computational Intelligence on Power, Energy and Controls with Their Impact on Humanity, IEEE, 2017:51-56.
[12]	Chun Yin, Chen Yangquan, Zhong Shouming. Fractional-order power rate type reaching law for sliding mode control of uncertain nonlinear system[C]//Proceedings of 19th World Congress The international Federation of Automatic Control Cape Town, 2014:2369-5374.
[13]	Tan S C, Lai Y M, Chi K. T. Indirect sliding mode control of power converters via double integral sliding surface[J]. IEEE Transactions on Power Electronics, 2008, 23(2):600-611.
[14]	Mu Enxu, Ma Zhenqun, Feng Bin, et al. Friction compensation strategy for numerical control machine tools by reversing character analyzing[J]. Journal of Xi'an Jiao Tong Universigy, 2014, 48(8):47-53. (in Chinese)牟恩旭, 马振群, 冯斌, 等.利用数控机床换向特性分析的摩擦误差补偿方法[J]. 西安交通大学学报, 2014, 48(8):47-53.
[15]	Zhao Jianzhou, He Chao, Zhang Yuhe. An experimental study of compensation algorithms for backlash nonlinearity of servo systems[J]. Journal of Beijing Institute of Technology, 2000, 20(3):317-321. (in Chinese)赵建周, 何超, 张宇河. 伺服系统间隙非线性补偿算法的研究[J]. 北京理工大学学报, 2000, 20(3):317-321.
[16]	Zhu Huazheng, Fan Dapeng, Ma Dongxi, et al. Disturbance isolation index of seeker servo system and its test[J]. Optics and Precision Enginnering, 2009, 17(8):1993-1998. (in Chinese)朱华征, 范大鹏, 马东玺, 等.导引头伺服系统隔离度与测试[J]. 光学精密工程, 2009, 17(8):1993-1998.

Double integral sliding mode control based on ESO for stabilized platform of seeker

doi: 10.3788/IRLA201847.0817009

Abstract

References

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通讯作者: 陈斌, bchen63@163.com

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