针对扰动会对航空成像系统像旋补偿伺服机构跟踪精度产生影响的问题, 提出一种改进型复合控制算法。首先, 针对等效扰动, 提出一种基于有限时间双曲正弦跟踪微分器(FSTD), 用来构造改进非线性干扰观测器(NDO), 使系统对参数摄动不敏感且对扰动估计更加精确; 其次, 为了提升系统的跟踪精度, 结合变速趋近律的思想设计新型高阶滑模控制器(N-HSMC), 保证系统快速性的同时还能有效削弱抖振; 最后, 通过仿真对比验证了所提算法的有效性。

As for the image rotation compensation servo mechanism in the aerial imaging system, the disturbances will influence its tracking accuracy.To solve the problem, an improved composite control algorithm is proposed.Firstly, as for the equivalent disturbance, a finite-time hyperbolic sinusoidal tracking differentiator (FSTD) is proposed to construct an improved Nonlinear Disturbance Observer (NDO), which makes the system insensitive to parameter perturbation and more accurate in disturbance estimation.Secondly, in order to improve the tracking accuracy of the system, a New High-order Sliding Mode Controller (N-HSMC) is designed by using the idea of the variable-speed reaching law, which ensures the rapidity of the system and also effectively reduces chattering.Finally, through a comparative simulation, the effectiveness of the proposed method is verified.