Abstract

This paper researches an accurate and cooperative stability control method for the vehicle-mounted parallel stabilized platform to isolate the external random interference caused by rugged terrains. An adaptive backstepping sliding mode controller is designed by combining the adaptive method and backstepping design method. The position and pose of the platform are calculated in real time as feedback quantity and a closed-loop controller overall pose is designed. Simulation and experimental results show that the vehicle-mounted parallel stabilized platform can quickly and accurately adjust the pose of the upper platform to keep horizontal when the vehicle runs on rugged terrains.

摘要

本文研究了一种车载平行稳定平台的精确协同稳定控制方法，以隔离崎岖地形造成的外部随机干扰。将自适应方法与反推设计方法相结合，设计了一种自适应反推滑模控制器。实时计算平台位姿作为反馈量，设计闭环控制器整体位姿。仿真和实验结果表明，当车辆在崎岖地形上行驶时，车载平行稳定平台能够快速准确地调整上平台位姿保持水平。