Design and implementation of disturbance sliding mode observer for enhancing the dynamic control precision of inertial stabilization platform

doi:10.23919/JSEE.2025.000027

Journal of Systems Engineering and Electronics ›› 2025, Vol. 36 ›› Issue (3): 791-802.doi: 10.23919/JSEE.2025.000027

• CONTROL THEORY AND APPLICATION • Previous Articles

Design and implementation of disturbance sliding mode observer for enhancing the dynamic control precision of inertial stabilization platform

Zhidong ZHANG¹(), Gongliu YANG¹^,²(), Qingzhong CAI¹^,*(), Jing FAN³(), Tao LI⁴()

¹ School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China
² School of Mechanical Engineering, Zhejiang University, Hangzhou 310058, China
³ Systems Engineering Research Institute, Beijing 100094, China
⁴ Beijing Institute of Space Long March Vehicle, Beijing 100076, China

Received:2024-07-23 Accepted:2025-02-28 Online:2025-06-18 Published:2025-07-10
Contact: Qingzhong CAI E-mail:zzdong@buaa.edu.cn;yanggongliu@buaa.edu.cn;qingzhong_cai@buaa.edu.cn;csscseri0101@yeah.net;eason@matrix-system.com
About author:
ZHANG Zhidong was born in 1992. He received his B.E. degree in measurement and control technology and instrumentation from Harbin Engineering University, Harbin, China, in 2017, and M.E. degree in instrument science and technology from Beihang University, Beijing, China, in 2020. Since September 2020, he has been a Ph.D. candidate of precision instrumentation and mechanism in Beihang University. His research interests include rotation inertial navigation system (RINS) and permanent magnet synchronous motor control. E-mail: zzdong@buaa.edu.cn

YANG Gongliu was born in 1967. He received his Ph.D. degree in precision instrumentation and mechanism from Tsinghua University, Beijing, China, in 2004. He is currently a professor with the School of Mechanical Engineering, Zhejiang University, Hangzhou, China. His current research interests include inertial navigation and cooperative navigation. E-mail: yanggongliu@buaa.edu.cn

CAI Qingzhong was born in 1986. He received his Ph.D. degree in optical engineering from Beihang University, Beijing, China, in 2014. He is currently an associate researcher of the School of Instrumentation and Optoelectronic Engineering in Beihang University. His current research interests include inertial navigation, cooperative navigation and digital twin. E-mail: qingzhong_cai@buaa.edu.cn

FAN Jing was born in 1996. She received her B.E. degree in electrical engineering and automation from Harbin Engineering University, Harbin, China, in 2019, and M.E. degree in control engineering from Beijing Institute of Technology, Beijing, China, in 2022. Since July 2022, she has been an associate engineer in the Systems Engineering Research Institute of China State Shipbuilding Corporation Limited (CSSC), Beijing, China. Her research interests include unmanned aerial vehicles motion planning and control. E-mail: csscseri0101@yeah.net

LI Tao was born in 1983. He received his M.E. degree in flight vehicle design from China Academy of Launch Vehicle Technology, Beijing, China, in 2009. He is currently the senior engineer with Design and Simulation of Spacecraft Control System Group, Beijing Institute of Space Long March Vehicle. His current research interests include flight dynamics, guidance, navigation, control and hardware-in-the-loop simulation of spacecraft. E-mail: eason@matrix-system.com
Supported by:
This work was supported by the National Natural Science Foundation of China (61803015).

Abstract

Abstract:

In order to enhance the dynamic control precision of inertial stabilization platform (ISP), a disturbance sliding mode observer (DSMO) is proposed in this paper suppressing disturbance torques inherent within the system. The control accuracy of ISP is fundamentally circumscribed by various disturbance torques in rotating shaft. Therefore, a dynamic model of ISP incorporating composite perturbations is established with regard to the stabilization of axis in the inertial reference frame. Subsequently, an online estimator for control loop uncertainties based on the sliding mode control algorithm is designed to estimate the aggregate disturbances of various parameters uncertainties and other unmodeled disturbances that cannot be accurately calibrated. Finally, the proposed DSMO is integrated into a classical proportional-integral-derivative (PID) control scheme, utilizing feedforward approach to compensate the composite disturbance in the control loop online. The effectiveness of the proposed disturbance observer is validated through simulation and hardware experimentation, demonstrating a significant improvement in the dynamic control performance and robustness of the classical PID controller extensively utilized in the field of engineering.

Key words: inertial stabilization platform, disturbance suppression, sliding mode observer, robust control

Zhidong ZHANG, Gongliu YANG, Qingzhong CAI, Jing FAN, Tao LI. Design and implementation of disturbance sliding mode observer for enhancing the dynamic control precision of inertial stabilization platform[J]. Journal of Systems Engineering and Electronics, 2025, 36(3): 791-802.

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Parameter	Symbol	Value
Rotational inertia of ISP/(kg·m²)	$ J $	0.256
Torque constant of PMSM/(N·m/A)	$ b $	1.0
System sampling time/s	$ \Delta T $	0.0001
Mean amplitude of gyroscope angular velocity noise/(rad/s)	$ \sigma $	0.0002
Noise power of the gyroscope angular velocity/(rad²/s³)	$ {w_G} $	$ {\sigma ^2} \times \Delta T $

Parameter	Symbol	Value
Rotational inertia of ISP/(kg·m²)	$ J $	0.3
Torque constant of PMSM/(N·m/A)	$ b $	1.1

Control scheme	PPE
PID	0.000 716
PID+DSMO	0.000 158

Control scheme	PPE
PID	0.007 756
PID+DSMO	0.003 749

Parameter	Symbol	Value
Rotational inertia of ISP/(kg·m²)	$ {J_0} $	0.173
Gyroscope zero-bias stability/((°)/h)	$ {\varepsilon _G} $	1/1000
Torque constant of PMSM/(N·m/A)	$ {b_0} $	1.14

Design and implementation of disturbance sliding mode observer for enhancing the dynamic control precision of inertial stabilization platform

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