针对光电跟踪转台的高精度跟踪问题, 设计了一种反步滑模控制系统和算法,该算法在反步控制的基础上引入滑模控制, 提高了控制器的鲁棒性。通过仿真分析可知, 该算法相较于反步控制算法和PID控制算法性能得到了提升, 其中, 阶跃跟踪响应速度提高21%以上, 正弦跟踪稳态精度和随机干扰下的稳态精度均提高两个数量级, 脉冲干扰稳定时间减少0.7 s以上,很好地保证了光电跟踪转台的跟踪精度。

Aiming at the high precision tracking problem of photoelectric tracking turntable,a backstepping sliding mode control system and algorithm are designed.Sliding mode control is introduced in the algorithm based on backstepping control,which improves the robustness of the controller.Through the simulation analysis,it can be seen that the performance of the algorithm is greatly improved compared with that of the backstepping control algorithm and the PID control algorithm.The step tracking response speed is increased by more than 21%,and the steady-state accuracy of the sinusoidal tracking and the steady-state accuracy under random disturbance are improved by two orders of magnitude,the pulse interference stabilization time isreduced by more than 0.7 s.The tracking accuracy of the photoelectric tracking turntable are well guaranteed.