为了提升高精度光电跟踪系统(ETS)的跟踪精度和其处理不确定性的能力, 设计了一种1型模糊滑模控制方法, 模糊控制用于在线自适应调整滑模控制(SMC)切换项参数; 并采用区间2型模糊滑模控制(IT2FSMC)方法来提高系统处理不确定性的能力,进而提升跟踪精度, 同时降低SMC抖振; 此外, 用粒子群优化算法来保证选取的SMC参数相对最优, 并对提出的各种控制方法进行了理论分析和实验对比。结果表明, IT2FSMC能在降低SMC抖振的同时将SMC的稳态误差降低54.43%。仿真和实验分析验证了所提出控制方法在ETS中的有效性。

In order to solve the problem of insufficient tracking accuracy of high-precision electro-optical tracking system (ETS) and to improve its ability to deal with uncertainty, a fuzzy sliding mode control method was designed first. The fuzzy logic control was used to adaptively adjust the switching term parameters of the sliding mode control (SMC) on line. Secondly, an interval type-2 fuzzy sliding mode control (IT2FSMC) method was designed to improve the ability of the system to deal with the uncertainty, and then to improve the tracking accuracy, so as to reduce the chattering of SMC. In addition, particle swarm optimization algorithm was used to ensure that the selected SMC parameters are relatively optimal. The proposed control methods were analyzed theoretically and compared experimentally. The results show that IT2FSMC can reduce SMC steady-state error by 54.43% while reducing the chattering of SMC. Simulation and experimental analysis verify the effectiveness of the proposed control method in ETS.