基于快速终端滑模的并联式节能平台复合前馈稳定控制策略

A control strategy is proposed to address issues such as nonlinearity, external attitude disturbances, and system lag in the attitude stability control of parallel three-degree-of-freedom stabilizing platforms. This strategy combines fast terminal sliding mode control (FTSMC) with composite feedforward control. The FTSMC method enhances disturbance rejection capability and tracking accuracy during electric cylinder position tracking, while the composite feedforward control strategy introduces feedforward control on the basis of feedback control of the platform's kinematic model, effectively improving system response speed and compensating for lag caused by platform detection environment disturbances and stability control. To address the high energy consumption issue during high-load operation, an air balance structure is introduced to enhance platform load capacity, save energy, and compensate for air cylinder disturbances in the sliding mode control strategy. The proposed control strategy is validated through simulation and physical platform experiments. The results indicate that the proposed control strategy achieves a maximum attenuation of environmental disturbances up to 92.1% and demonstrates higher response speed and stability control accuracy. The energy-saving efficiency of the air balance structure reaches up to 38.8%.