基于分层结构与等效滑模控制的机载光电吊舱运动控制研究

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中图分类号：V279 文献标志码：A 文章编号：1671-8755（2025）02-0068-12

Research on Motion Control of Airborne Optoelectronic Pod Based on Hierarchical Structure and Equivalent Sliding Mode Control

XIE Yu， MENG Qianyi，LIU Shuangli （School of Information and Control Engineering， Southwest University of Science and Technology， Mianyang 621010，Sichuan，China）

Abstract：To address the issuesof poor anti-interference abilityand insufcient environmental adaptability of photoelectric pods carried on fixed-wing aircraft in complex aerial environments，based on kinematics analysis and dynamic modeling，the motion control of two-axis and two-frame airborne photoelectric pod was studied by combining hierarchical structure and equivalent sliding mode control. The controller of the azimuth subsystem uses a finite-time adaptive equivalent sliding mode controler to minimize the convergence time. The step signal is tracked during simulation，and the convergence time is shortest （1.26 s）. The controller of the pitching subsystem adopts the equivalent sliding mode controller based on the nonlinear disturbance observer to reduce the steady-state error. The steady-state error is minimum （0.2×10-4） ） when tracking sinusoidal signal during simulation. The control accuracy and stability of the proposed controller are proved by experiments.

Keywords：Airborne optoelectronic pod；Kinematic analysis；Dynamics modeling；Hierarchical structure；Equivalent sliding mode control

在现代军事冲突中，机载光电吊舱的作用日益凸显。（剩余13919字）